CN209932970U - Manipulator upright post rotating structure - Google Patents
Manipulator upright post rotating structure Download PDFInfo
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- CN209932970U CN209932970U CN201920373756.9U CN201920373756U CN209932970U CN 209932970 U CN209932970 U CN 209932970U CN 201920373756 U CN201920373756 U CN 201920373756U CN 209932970 U CN209932970 U CN 209932970U
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- stand
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Abstract
The utility model discloses a manipulator stand revolution mechanic, including gyration stand mounting flange and base module support, gyration stand mounting flange set up in on the base module support, gyration stand mounting flange with be provided with cross roller bearing between the base module support. The utility model discloses a manipulator stand revolution mechanic has increased system reliability.
Description
Technical Field
The utility model relates to the field of medical equipment, especially, relate to a manipulator stand revolution mechanic.
Background
The minimally invasive surgery robot can reduce the physical labor of a doctor in the surgery process and achieve the aim of precise surgery. However, in order to achieve the above purpose, a minimally invasive surgery robot needs one upright column to support a plurality of (3-4) manipulators at the same time; or a plurality of upright posts respectively and independently support the respective mechanical arms. When a plurality of manipulators are supported by one upright column, the upright column is required to have enough strength, rigidity and movement precision so as to ensure that when the manipulators move in the operation process, the base (namely a lower part structure of the upright column or a structure formed by combining the lower part of the upright column and a rotary structure) can provide enough rigidity so as to ensure the stability of the tail end of the instrument, and a control algorithm can realize the accurate control of the motion of the tail end of the instrument. Therefore, the connection design of the upright column base and the rotary driving mechanism becomes one of the key technologies to achieve high load capacity, high rigidity and high precision of the whole mechanism.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a manipulator stand revolution mechanic that increases system reliability is provided.
In order to achieve the above object, the utility model provides a manipulator stand revolution mechanic, including gyration stand mounting flange and base module support, gyration stand mounting flange set up in on the base module support, gyration stand mounting flange with be provided with cross roller bearing between the base module support.
In order to improve the bending strength and the movement precision of the upright column, the rotary upright column mounting flange is arranged at the lower part of the upright column.
In order to realize external arrangement of materials and internal arrangement of loads, the upright post is in an I shape.
In order to increase the bending strength of the upright to the maximum extent, the lower end of the upright is provided with an input flange, and the upright is connected with the side wall of the input flange.
In order to increase the stability of the matching of the speed reducer and the output flange, a first groove is formed in the outer side face, far away from the upright post, of the input flange.
In order to reduce the influence of other external forces on the first speed reducer, the output flange is arranged below the input flange, one surface of the output flange is of a convex structure, the first groove of the input flange is connected with the convex structure of the output flange through a key, and the output end of the first speed reducer is connected with the output flange.
To allow for proper spacing of mechanical components above and below a rotary column mounting flange that is spaced from the input flangeThe ratio of the length to the total length of the column is
In order to realize no welding processing deformation, the rotary upright post mounting flange is connected with the crossed roller bearing through bolts.
In order to realize no welding processing deformation, the crossed roller bearing is connected with the base module bracket through a bolt.
In order to reduce the bending moment born by the crossed roller bearing and reduce the height of the center of gravity, the base module support is arranged at the upper end of the revolution structure, the revolution structure further comprises a speed reducer mounting seat, a motor mounting seat and a supporting wall, the motor mounting seat is arranged on the outer wall of the supporting wall, and the height of the speed reducer mounting seat is greater than that of the motor mounting seat.
The utility model has the advantages that: the utility model discloses a manipulator stand column revolution mechanic, is equipped with cross roller bearing between gyration stand column mounting flange and base module support, and the gravity of stand column, side direction upset moment are all undertaken by cross roller bearing, have promoted system reliability; the input flange is connected with the first speed reducer through a key, and the first speed reducer only bears the driving moment and the reverse moment of the rotation of the upright post around the vertical axial direction, so that the influence of other external forces on the first speed reducer is reduced; the upright post is arranged to be I-shaped, and the pivot of the upright post is arranged in front, so that the bending strength and the movement precision of the post are improved.
Drawings
Fig. 1 is a schematic structural view of a column revolving structure of a manipulator according to an embodiment of the present invention.
Fig. 2 is a sectional view of the rotary structure of the upright post of the robot hand according to an embodiment of the present invention at D-D.
Fig. 3 is a schematic structural view of a manipulator lifting and rotating connection structure according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of the robot lifting/lowering/rotating connection structure according to another embodiment of the present invention assembled with a trolley.
Detailed Description
The invention will be further explained with reference to the following figures and examples:
as shown in fig. 1, fig. 2 and fig. 3, the embodiment of the utility model discloses manipulator stand gyration structure, including gyration stand mounting flange 6 and base module support 9, gyration stand mounting flange 6 sets up on base module support 9, is provided with cross roller bearing 10 between gyration stand mounting flange 6 and the base module support 9. The utility model discloses be equipped with cross roller bearing between gyration stand mounting flange base module support, cross roller bearing can select the enough big model of sufficient load parameter, and gravity, the side direction upset moment of stand are whole to be undertaken by cross roller bearing, have promoted system reliability.
In this embodiment, a rotating mast mounting flange 6 is provided at the lower portion of mast 4. Wherein, the upright post 4 is I-shaped. The utility model discloses leading the gyration stand mounting flange of stand (moving the apparent distance to the stand center), setting up gyration stand mounting flange can set up the upper portion of stand on the revolution mechanic, the stand fulcrum antedisplacement increases the holistic stability of stand, further promotes the bending strength and the motion accuracy of stand; the upright post is arranged in an I shape, the mechanical assemblies can be arranged on two sides of the upright post and are arranged on two sides of the I shape according to reasonable arrangement, so that the structure is compact, the space is saved to a greater extent, the bending strength of the upright post is increased, the external arrangement of materials is realized, the internal arrangement of loads is realized, and the rigidity and the motion precision of the system are improved. The mechanical assembly comprises a mounting linear guide rail, a lifting body 18, a screw rod 21, a brake 22 and the like.
In this embodiment, the lower end of the upright 4 is provided with an input flange 5, and the upright 4 is connected with the side wall of the input flange 5. The stand is the I-shaped stand, and two curb plates (also called backup pad) of stand are connected with the lateral wall of input flange, place two curb plates in the input flange outside, and the integral result between furthest expanded cross-section material and the neutral axis to the bending strength that furthest increased the stand.
In this embodiment, input flange 5 is provided with first recess 7 at the lateral surface of keeping away from stand 4, the utility model discloses the first recess that sets up is in order to be connected with the output flange on the speed reducer.
In this embodiment, the output flange 11 is disposed under the input flange 5, one of the surfaces of the output flange 11 is in a convex structure, the first groove 7 of the input flange 5 is connected with the convex structure of the output flange 11 through a key 12, and the output end of the first reducer 14 is connected with the output flange 11. Wherein, the shape of the key 12 is adapted to the gap between the input flange 5 and the output flange 11; the material of the key 12 is metal, rubber or plastic, and may be other materials, which is not limited herein. The input flange is connected with the first speed reducer through a key, and the first speed reducer only bears the driving moment and the reverse moment of the rotation of the upright column around the vertical axial direction, so that the influence of other external forces on the first speed reducer is reduced.
In this embodiment, the ratio of the length of the mounting flange 6 from the input flange 5 to the total length of the column 4 is
The installation flange is arranged in the range, so that a proper space can be reserved for installing a mechanical assembly above and below the installation flange, the bending resistance of the upright post can be improved, and further, the ratio of the length of the installation flange 6 away from the input flange 5 to the total length of the upright post 4 is
Further, the ratio of the length of the mounting flange 6 from the input flange 5 to the total length of the upright post 4 isFurther, the ratio of the length of the mounting flange 6 from the input flange 5 to the total length of the upright post 4 is
In some embodiments, the ratio of the length of the mounting flange 6 from the input flange 5 to the overall length of the mast 4 may also be such that
Or other proportions, not limited herein.
In this embodiment, the rotating column mounting flange 6 is bolted to the cross roller bearing 10. The plates are processed to the required size precision and form and position tolerance grade, non-welding connection modes such as bolts and positioning pins are adopted for connection, factors such as assembly reference and form and position tolerance transmission are fully considered, welding-free processing deformation is achieved, and operation precision is improved.
In the present embodiment, the cross roller bearing 10 is bolted to the base module bracket 9. The plates are processed to the required size precision and form and position tolerance grade, non-welding connection modes such as bolts and positioning pins are adopted for connection, factors such as assembly reference and form and position tolerance transmission are fully considered, welding-free processing deformation is achieved, and operation precision is improved.
In this embodiment, the base module support 9 is disposed at the upper end of the revolving structure 8, the revolving structure 8 further includes a speed reducer mounting seat 15, a motor mounting seat 24 and a supporting wall 25, the motor mounting seat 24 is disposed on the outer wall of the supporting wall 25, and the height of the speed reducer mounting seat 15 is greater than that of the motor mounting seat 24. Wherein, be provided with the hold-in range on first reduction gear 14 and the first motor 23, the first reduction gear that gyration drive parameter and reverse moment decided can suitably select less first reduction gear model to do not influence revolution mechanic inner space, with revolution mechanic space maximize, and greatly reduced cost, provide system reliability. In other embodiments, the first reducer 14 and the first motor 23 are directly connected, and the first motor directly drives the first reducer, not through a timing belt; in other embodiments, the first reducer 14 and the first motor 23 are coupled by means other than a timing belt, such as gears, chain sprockets, etc.
As shown in fig. 1 and 4, the utility model discloses a manipulator support post sets up on manipulator lift gyration connection structure, stand overall structure is about to manipulator lift gyration connection structure and installs on platform truck A, the partial structure (do not contain base module support 9) of revolution structure 8 below base module support 9 sets up in platform truck A and the lower surface joint of base module support 9 is at platform truck A's upper surface, and carry out fixed connection with base module support 9 and platform truck A, fix with base module support 9 and platform truck A in order to carry out revolution structure 8 fixed mounting on platform truck A, through platform truck A conveniently to the manipulator put the position.
The utility model discloses a manipulator stand column revolution mechanic, is equipped with cross roller bearing between gyration stand column mounting flange and base module support, and the gravity of stand column, side direction upset moment are all undertaken by cross roller bearing, have promoted system reliability; the input flange is connected with the first speed reducer through a key, and the first speed reducer only bears the driving moment and the reverse moment of the rotation of the upright post around the vertical axial direction, so that the influence of other external forces on the first speed reducer is reduced; the upright post is arranged to be I-shaped, and the pivot of the upright post is arranged in front, so that the bending strength and the movement precision of the post are improved.
The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the teachings of the present invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The utility model provides a manipulator stand revolution mechanic, its characterized in that, includes gyration stand mounting flange (6) and base module support (9), gyration stand mounting flange (6) set up in on base module support (9), gyration stand mounting flange (6) with be provided with cross roller bearing (10) between base module support (9).
2. The robot column swivel structure according to claim 1, wherein the swivel column mounting flange (6) is provided at a lower part of the column (4).
3. The robot arm upright slewing structure of claim 2, characterized in that the upright (4) is i-shaped.
4. The robot arm column pivoting structure according to claim 2, wherein the lower end of the column (4) is provided with an input flange (5), and the column (4) is connected to a side wall of the input flange (5).
5. The robot column swivel arrangement according to claim 4, characterised in that the input flange (5) is provided with a first groove (7) on the outer side remote from the column (4).
6. The manipulator column swivel structure according to claim 4, characterized in that an output flange (11) is arranged below the input flange (5), one of the output flanges (11) is in a convex structure, the first groove (7) of the input flange (5) is connected with the convex structure of the output flange (11) through a key (12), and the output end of the first reducer (14) is connected with the output flange (11).
7. Robot mast slewing structure according to any of claims 4 to 6, characterized in that the length of the slewing mast mounting flange (6) from the input flange (5) and the total length of the mast (4)
8. The robot column swivel structure according to claim 1, characterized in that the swivel column mounting flange (6) is bolted to the cross roller bearing (10).
9. The robot arm column swivel structure according to claim 8, characterized in that the cross roller bearing (10) is bolted to the base module support (9).
10. The robot arm upright slewing structure of claim 1, wherein the base module support (9) is provided at an upper end of the slewing structure (8), the slewing structure (8) further comprises a reducer mounting seat (15), a motor mounting seat (24) and a support wall (25), the motor mounting seat (24) is provided at an outer wall of the support wall (25), and the height of the reducer mounting seat (15) is greater than that of the motor mounting seat (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920373756.9U CN209932970U (en) | 2019-03-22 | 2019-03-22 | Manipulator upright post rotating structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920373756.9U CN209932970U (en) | 2019-03-22 | 2019-03-22 | Manipulator upright post rotating structure |
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| Publication Number | Publication Date |
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| CN209932970U true CN209932970U (en) | 2020-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920373756.9U Active CN209932970U (en) | 2019-03-22 | 2019-03-22 | Manipulator upright post rotating structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771037A (en) * | 2019-03-22 | 2019-05-21 | 重庆金山医疗机器人有限公司 | A kind of manipulator column revolving structure |
-
2019
- 2019-03-22 CN CN201920373756.9U patent/CN209932970U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771037A (en) * | 2019-03-22 | 2019-05-21 | 重庆金山医疗机器人有限公司 | A kind of manipulator column revolving structure |
| CN109771037B (en) * | 2019-03-22 | 2024-04-30 | 重庆金山医疗机器人有限公司 | Manipulator stand revolution mechanic |
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