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Space five-degree-of-freedom mechanical arm

A technology of mechanical arms and degrees of freedom, applied in the field of robotics, can solve problems such as high cost, complex structure, and difficult operation, and achieve the effect of light weight, small space volume, flexible and convenient operation

Pending Publication Date: 2017-07-25
HORIZON MICROPORT MEDICAL TECH BEIJING CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, most of the existing robotic arms use servo motors, etc., with complex structures, high costs, and difficult operations. It is difficult to flexibly achieve such high-precision operations in an environment with limited space.

Method used

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  • Space five-degree-of-freedom mechanical arm
  • Space five-degree-of-freedom mechanical arm
  • Space five-degree-of-freedom mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] Such as figure 1 , figure 2 with image 3As shown, the present invention provides a mechanical arm with five degrees of freedom in space, comprising a base 1 on which a first arm 2 is rotatably mounted, the base 1 and the first arm 2 are coaxially arranged, and the first arm 2 and the first arm 2 are arranged coaxially. A first locking joint 7 is provided between the bases 1 (here, "between" should be understood as "between" in structure, rather than "between" in spatial position), and the end of the first arm 2 A second arm 3 is installed on the upper part of the swing, and a second locking joint 8 is provided between the second arm 3 and the first arm 2. The end of the second arm 3 is oscillatingly equipped with a third arm 4. A third locking joint 9 is provided between the three arms 4 and the second arm 3, and the end of the third arm 4 is rotated to be equipped with a fourth arm 5, and the third arm 4 is perpendicular to the fourth arm 5. Setting, a fourth lock...

Embodiment 2

[0030] The present invention provides a mechanical arm with five degrees of freedom in space. Its structure is basically the same as that of Embodiment 1. The difference is that, on the basis of Embodiment 1, the following features are added, and further improvements are made to improve the present invention. performance of the invention.

[0031] Such as Figure 4 As shown, the first locking joint 7 includes a first rotating shaft 701 whose end is fixedly installed on the first arm 2, and a first support seat 702 is fixedly installed on the side of the base 1 away from the first arm 2, and the first rotating shaft 701 runs through the base 1 and is rotatably mounted on the first support seat 702. The first support seat 702 is provided with a first hydraulic chamber 703, and a first piston 704 is slidably installed in the first hydraulic chamber 703. The base 1 is far away from the first support. A friction plate 707 is fixedly installed on one side of the arm 2, a first stop...

Embodiment 3

[0038] Such as Figure 4 , Figure 5 and Figure 6 As shown, the present invention provides a mechanical arm with five degrees of freedom in space, its structure is basically the same as that of Embodiment 1, the difference is that on the basis of Embodiment 2, the following features are added and further improvements are made, The use performance of the present invention is improved.

[0039] The first rotating shaft 701, the second rotating shaft 801, the third rotating shaft, the fourth rotating shaft 1001 and the fifth rotating shaft are all connected to the encoder 12, so as to collect relevant data (for example, swing or rotation angle), realize precise control, and improve automation To a certain extent, the installation method of the encoder 12 is a technical means commonly used by those skilled in the art, and will not be repeated here.

[0040] The overall structural design of the robotic arm is modeled on the human arm, which makes it easier for the operator to o...

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Abstract

The invention relates to a space five-degree-of-freedom mechanical arm, and belongs to the technical field of robots. The space five-degree-of-freedom mechanical arm comprises a base, a first support arm is mounted at the base rotationally, a first locking joint is arranged between the first support arm and the base, a second support arm is mounted at the end of the first support arm in a swinging mode, a second locking joint is arranged between the second support arm and the first support arm, a third support arm is mounted at the end of the second support arm in a swinging mode, a third locking joint is arranged between the third support arm and the second support arm, a fourth support arm is mounted at the end of the third support arm in a swinging mode, a fourth locking joint is arranged between the fourth support arm and the third support arm, a fifth support arm is mounted at the end of the fourth support arm in a swinging mode, and a fifth locking joint is arranged between the fifth support arm and the fourth support arm. The space five-degree-of-freedom mechanical arm is simple in structure, can complete simple joint locking, realizes mechanized operation of micro surgical operation and can be widely applied to medical operations.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a mechanical arm with five degrees of freedom in space. Background technique [0002] In neurosurgery, the types of operations involved include emergency treatment of hypertensive cerebral hemorrhage, biopsy of deep brain lesions, etc. These operations require high precision in operation, because small mistakes can cause brain damage; currently, traditional minimally invasive Surgery requires doctors to have a high level of operating skills, and the use of surgical robots can reduce the difficulty of doctors' operations as much as possible. [0003] However, most of the existing robotic arms use servo motors and other forms, which have complex structures, high costs, and difficult operations. It is difficult to flexibly realize such high-precision operations in an environment with limited space. [0004] Therefore, based on the above problems, in the field of robotics, there is s...

Claims

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Application Information

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IPC IPC(8): B25J18/00A61B34/30
CPCB25J18/00
Inventor 王荣军赵静静张晶田伟超关伟
Owner HORIZON MICROPORT MEDICAL TECH BEIJING CO LTD
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