CN108451642A - A kind of mechanically decoupled quick-changing mechanism for single hole operating robot - Google Patents
A kind of mechanically decoupled quick-changing mechanism for single hole operating robot Download PDFInfo
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- 230000007246 mechanism Effects 0.000 title claims abstract description 468
- 238000013461 design Methods 0.000 claims abstract description 12
- 230000007704 transition Effects 0.000 claims description 82
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 32
- 238000009434 installation Methods 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 38
- 230000008859 change Effects 0.000 description 12
- 239000007787 solid Substances 0.000 description 11
- 238000001356 surgical procedure Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 210000004247 hand Anatomy 0.000 description 6
- 238000011161 development Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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Abstract
The invention discloses a kind of mechanically decoupled quick-changing mechanism for single hole operating robot, it is made of the first joint driving mechanism, second joint driving mechanism, third joint driving mechanism, the 4th joint driving mechanism, the 5th joint driving mechanism, the 6th joint driving mechanism, the 7th joint driving mechanism, the 8th joint driving mechanism and base housing, base outer cover, connector and retaining mechanism etc..Surgical instrument quick-changing mechanism uses mechanically decoupled mechanism, completely solves the mutual movement coupled problem generated when each joint rotation of surgical instrument executing agency；Mechanically decoupled mechanism is mounted on the base, the structure design of surgical instrument executing agency can be simplified, is conducive to the volume production of surgical instrument executing agency.The mechanically decoupled quick-changing mechanism for single hole operating robot of the present invention have the advantages that easy disassembly, be easy to adjustment, accurate positioning, rigidity it is larger, it is rationally distributed, minimize, be light-weighted.
Description
Technical field
The present invention relates in a kind of micro-wound surgical operation field Medical Devices more particularly to one kind being suitable for thoracic cavity and abdomen
The quick-changing mechanism of the minimally invasive surgery single hole operating robot of the Minimally Invasive Surgery operation of chamber.
Background technology
It is known as 20th century medical science to one of the significant contribution of human civilization using laparoscope as the minimally invasive surgery of representative,
Minimally Invasive Surgery operation refers to that doctor is insinuated into progress hand in vivo by elongated surgical instrument by the miniature incision of human body surface
Art operation.It is compared with traditional open surgery with operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time is fast
The advantages that, reach the curative effect identical as traditional open surgery.Manually operated Minimally Invasive Surgery instrument is passive operation form, generally
End only has there are one freedom of motion.Doctor, which applies to drive by finger, in surgical procedure realizes end apparatus movement, and according to
The various complex operations including suturing, knotting are smoothly completed by the kinematic dexterity of doctor's arm and wrist.But for
For assisting minimally-invasive surgery robot system, since the operation of surgical instrument is completed by robot, and system of robot
System itself does not have the flexibility of people's operation.Therefore, higher is proposed to the design of micro-wound operation robot Special surgical instrument
Requirement.To adapt to the requirement of Minimally Invasive Surgery, the design of surgical instrument should meet that small, operation is flexible, various informative, is convenient for
It is installed with robot arm, has enough rigidity and intensity, is suitable for medical environment requirement (such as repeatedly disinfection).Especially perform the operation
Instrument should have more degree of freedom to meet requirement on flexibility, just adapt to the complicated operations operation such as suture knotting.
In micro-wound operation robot surgical procedure, operation tool is the portion being uniquely in contact with human lesion tissue
Point, and the robot part of surgical procedure is directly executed, therefore, the performance of operation tool is that minimally-invasive surgery robot system is comprehensive
Close the key point of performance.To adapt to the requirement of modernization Minimally Invasive Surgery, the design of operation tool should meet delicate structure, operation
Flexibly, various informative, be easily changed, be suitble to requirements, the especially operation tool such as medical environment that should have more degree of freedom with full
Sufficient requirement on flexibility, and to be easily changed the surgical procedure that could realize complexity.Therefore, the surgical device to match with operation tool
The performance of tool is also the important component of minimally-invasive surgery robot system comprehensive performance, and performance indicator not only affects operation
The use of tool also directly determines the design objective and layout type of main body system.In short, operation tool and fast replacing device
Performance is to embody the key factor of surgical robot system overall performance level.
In the world, the existing more set model machines of minimally-invasive surgery robot system research field have reached commercial clinical application water
It is flat, including da Vinci, Zeus, LAPROTEK system etc..Development by studying surgical robot system finds operation tool
System is mainly made of tool portion and fast replacing device.The development trend of tool portion is to be passed from bar transmission, low degree-of-freedom to silk
Dynamic, multiple degrees of freedom development, though structure increasingly simplifies, function becomes stronger and stronger；Fast replacing device is then gradually to tight
Gather type, integrated-type development, performance also become more and more efficiently, stablize.Existing two sets are commercialized micro-wound operation robots
The four-degree-of-freedom operation tool system being driven using silk, but there are still topology layout dispersion, shape rulers for these operation tool systems
The shortcomings of very little larger, so operation tool system still has prodigious development potentiality.
Research and development in China, minimally invasive surgery single hole operating robot are still in infancy, especially to tool system of performing the operation
Research also have larger gap compared with foreign technology, therefore, exploitation silk transmission, surgical instrument with degrees of freedom and match
The more stable efficient fast replacing device of performance promotes related-art technology progress to be of great significance to filling the domestic gaps.It grinds
Study carefully exploitation and possesses the surgical instrument with degrees of freedom system of different silk driving forms and quick change mode for being promoted from existing system
China has far reaching significance in the science of the scientific research field, technology status.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of easy disassembly, it is easy to adjustment, positioning standard
Really, rigidity is larger, rationally distributed minimize, is light-weighted for the mechanically decoupled fast of minimally invasive surgery single hole operating robot
Converting mechanism, it can be clamped operation tool auxiliary doctor and implement minimally invasive single-hole surgical.
The present invention provides a kind of easy disassembly, be easy to adjustment, accurate positioning, the miniaturization that rigidity is larger, rationally distributed,
The light-weighted mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot, concrete scheme are as follows：
A kind of mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot, including a fixed seat,
First, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism is installed in the fixed seat；
First, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism is mounted on same
On a pedestal, the joint driving mechanism of described first, second, third, fourth, the five, the six, the 7th and the 8th is each by one
A interface clutch discs execute instrument with the operation and are connected；
First, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism passes through steel wire rope
The first, second, third, fourth, the five, the six, the 7th and the 8th joint of corresponding driving surgical instrument executing agency M is held respectively
The rotation of row mechanism；
First joint driving mechanism includes a motor, and motor-driven gear axis rotation is connected, the tooth
Wheel shaft is connected with interface clutch discs corresponding thereto；
The second, third, fourth, fifth is identical with the structure of the 6th joint driving mechanism, includes respectively an electricity
Machine, the motor drive sun wheel shaft rotation, big sun gear and small sun gear, big sun gear are equipped in the sun wheel shaft
It is engaged with three planetary gears on planet carrier gear axis with small sun gear, three planetary gears and small sun gear external toothing,
Three planetary gears and big sun gear internal messing, three planetary gears are uniformly distributed around sun wheel shaft axis, the planet carrier gear axis
Interface clutch discs corresponding thereto are connected；
Described the 7th is identical with the structure of the 8th joint driving mechanism, includes respectively a motor, which drives too
The rotation of positive wheel shaft, is equipped with big sun gear and small sun gear in the sun wheel shaft, big sun gear and small sun gear and peace
Three planetary gears engagement on planet carrier, three planetary gears and small sun gear external toothing, three planetary gears and big sun gear
Internal messing, three planetary gears are uniformly distributed around sun wheel shaft axis, the planet carrier and interface clutch discs phase corresponding thereto
Even；
Transition there are one being respectively mounted between first, second, third, fourth, the 5th and the 6th joint driving mechanism
Gear shaft；It is separately installed with one between 6th and the 7th joint driving mechanism and the 8th joint driving mechanism
Transition gear axle；It is fitted without transition gear axle between 7th and the 8th joint driving mechanism；
Transition between the gear shaft of first joint driving mechanism and first, second joint driving mechanism
Gear shaft external toothing, the transition gear axle between first, second joint driving mechanism drive with the second joint
The big sun gear external toothing of mechanism；
Between the planet carrier gear axis of the second joint driving mechanism and second, third described joint driving mechanism
Transition gear axle external toothing, the transition gear axle between second, third described joint driving mechanism closes with the third
Save the big sun gear external toothing of driving mechanism；
Between the planet carrier gear axis and the third, the 4th joint driving mechanism of the third joint driving mechanism
Transition gear axle external toothing, transition gear axle between the third, the 4th joint driving mechanism closes with the described the 4th
Save the big sun gear external toothing of driving mechanism；
Between the planet carrier gear axis and the four, the 5th joint driving mechanisms of 4th joint driving mechanism
Transition gear axle external toothing, the transition gear axle between the four, the 5th joint driving mechanisms closes with the described the 5th
Save the big sun gear external toothing of driving mechanism；
Between the planet carrier gear axis and the five, the 6th joint driving mechanisms of 5th joint driving mechanism
Transition gear axle external toothing, the transition gear axle between the five, the 6th joint driving mechanisms closes with the described the 6th
Save the big sun gear external toothing of driving mechanism；
Between the planet carrier gear axis and the six, the 7th joint driving mechanisms of 6th joint driving mechanism
Transition gear axle external toothing, the transition gear axle between the six, the 7th joint driving mechanisms with it is described
The big sun gear external toothing of 7th joint driving mechanism；
Between the planet carrier gear axis and the six, the 8th joint driving mechanisms of 6th joint driving mechanism
The transition gear axle external toothing, the transition gear axle between the six, the 8th joint driving mechanisms with
The big sun gear external toothing of 8th joint driving mechanism.
Further, by bearing axial restraint, bearing is fixed at the gear shaft both ends of first joint driving mechanism
On pedestal.
Further, the planet carrier tooth of the second, third, fourth, fifth and the 6th joint driving mechanism
Three axis pins are stretched out in wheel shaft one end, and three axis pins of planet carrier gear axis are inserted into respectively in the centre bore of three planetary gears, planet
Frame gear shaft one end passes through three planetary gear axial restraints, sun gear by bearing axial restraint, the planet carrier gear axis other end
Respectively by bearing axial restraint, one of bearing is fixed in sun wheel shaft and big sun gear for axis and big sun gear both ends,
Other two bearing is fixed on the base, and one end of planet carrier gear axis is formed with interface clutch discs to be interference fitted.
Further, three axis pins are stretched out in described planet carrier one end of the 7th and the 8th joint driving mechanism,
Three axis pins of planet carrier are inserted into respectively in the centre bore of three planetary gears, and planet carrier one end passes through bearing axial restraint, planet
The frame other end by three planetary gear axial restraints, sun wheel shaft and big sun gear both ends respectively by bearing axial restraint,
In a bearing be fixed in sun wheel shaft and big sun gear, other two bearing is fixed on the base, one end of planet carrier with
Interface clutch discs form interference fit.
Further, between the first, second, third, fourth, the 5th and the 6th joint driving mechanism and described
The mistake installed between 6th joint driving mechanism and the 7th joint driving mechanism and the 8th joint driving mechanism
Gear shaft both ends are crossed by bearing axial restraint, bearing is fixed on the base.
Further, the joint driving mechanism of the second, third, fourth, fifth, the six, the 7th and the 8th is described
Small sun gear and sun wheel shaft section be in " D " font, " D " shaped sections of small sun gear and sun wheel shaft form interference and match
It closes, small sun gear is circumferentially fixed by " D " shaped sections with sun wheel shaft.
Further, it described first, second, third, fourth, the five, the 6th single-row on the pedestal goes here and there successively
Connection arrangement；7th joint driving mechanism and the 8th joint driving mechanism and the 6th joint driving mechanism are in parallel on the pedestal
Arrangement.
Further, the pedestal includes base housing and base outer cover, and the base housing is fixed equipped with twice
Position boss, base housing two sides are respectively equipped with two stay bolt holes, and the stay bolt hole is connected with base outer cover.
Further, there are two the base outer covers, it is mounted and fixed to the both sides of base housing respectively；Base outer cover
Guide chute is designed above, and guide chute top is in " horn mouth " shape, to facilitate the installation of surgical instrument executing agency, pedestal
Guide chute end and intermediate channel bottom are in " circular arc " shape sliding slot slot bottom of " circular arc " shape, guide chute end and middle part above outer cover
Opening direction is vertical with guide chute axis direction, and the guide chute end of " circular arc " shape and intermediate channel bottom and surgical device
The fixed pin shaft of tool executing agency forms " interference " cooperation, to prevent the fixed pin shaft of surgical instrument executing agency from base outer cover
It " is skidded off " in guide chute end and intermediate channel bottom above, surgical instrument executing agency is caused " to be detached " with quick-changing mechanism；
Further, surgical instrument executing agency can be installed to quick-changing mechanism along the guide chute above base outer cover
On；Design is there are two stay bolt hole on base outer cover, two stay bolt holes above base outer cover and the length above base housing
The long axially bored line of bolt hole is vertical, and base outer cover and base housing are adjusted when base outer cover being facilitated to be mounted and fixed on base housing
Relative mounting positions.
Further, the quick-changing mechanism pedestal for minimally invasive surgery single hole operating robot, further includes a use
In the retaining mechanism being fixed to surgical instrument executing agency on pedestal；The retaining mechanism includes two groups, and every group includes one
A locking hook, one end of two locking hooks are rotatably mounted on the same base outer cover, and the locking hook other end is equipped with recessed
Slot, corresponding position is equipped with boss on surgical instrument executing agency shell, and the groove of locking hook above executes machine with surgical instrument
The boss cooperation of corresponding position is used for fixation surgical instrument executing agency on structure shell.
Advantageous effect：
The mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot of the present invention, compared with prior art
It has the advantages that：
1. the present invention for minimally invasive surgery single hole operating robot mechanically decoupled quick-changing mechanism easy disassembly, be easy to
Adjustment, accurate positioning, rigidity is larger, rationally distributed, miniaturization, lightweight.
2. surgical instrument quick-changing mechanism using mechanically decoupled, completely solves each joint rotation of surgical instrument executing agency
The mutual movement coupled problem generated.
3. by adjusting relative installation between base outer cover and base housing, leading above base outer cover can be adjusted
To relative installation between the interface clutch discs above sliding slot and base housing, to make surgical instrument executing agency M install
When on to quick-changing mechanism N, the interface clutch discs above surgical instrument executing agency M can be with the interface clutch above base housing
Disk can coordinate just to be driven in place, and the interface clutch above surgical instrument executing agency M will not be caused because of interference
Disk can not coordinate with the interface clutch discs above base housing.
4. making horn mouth at the top of the guide chute above tool apron outer cover, surgical instrument executing agency M is made to be fit into soon
More convenient and quicker when converting mechanism N；Guide chute curve can guarantee that cutter driving disk slides naturally and be docked without interfering；It leads
The phase of surgical instrument executing agency M and quick-changing mechanism N can be accurately positioned using interference fit to sliding slot end and intermediate channel bottom
To installation site.Surgical instrument executing agency M is fit into and removes from the front upper places quick-changing mechanism N, meets custom operation direction,
It reduces installation and removes difficulty.
5. surgical instrument executing agency M can be accurately and reliably fixed to above quick-changing mechanism N by locked by hooks mechanism；
It can easily lock and unclamp surgical instrument executing agency M.
6. the interface clutch discs above quick-changing mechanism N use single-row arrangement, make surgical instrument executing agency M in submounts
Fixed point between the arm of force it is longer, be more advantageous in ensure surgical instrument executing agency M submounts fixation.
7. the interface clutch discs above quick-changing mechanism N use single-row arrangement, motor and interface clutch discs " coaxially arranged ", can
With by second joint driving mechanism, third joint driving mechanism, the 4th joint driving mechanism, the 5th joint driving mechanism, the 6th
The single-row arrangement of motor of joint driving mechanism, the 7th joint driving mechanism and the 8th joint driving mechanism reduces multiple quick changes
The possibility interfered when mechanism co-operating, space layout are reasonable.
8. not designing on surgical instrument executing agency M, in this way may be used the design of mechanically decoupled mechanism on quick-changing mechanism N
To simplify the structure design of surgical instrument executing agency M, be conducive to surgical instrument executing agency M mass productions.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is not necessarily pressed
Only it is to be illustratively described the present invention according to ratio, drawings discussed below is only some embodiments in the present invention, is not limit
The system present invention, for those of ordinary skill in the art, without having to pay creative labor, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is a kind of double end class of mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot of the invention
The instrument decoupling-structure right side regards schematic diagram.
Fig. 2 is a kind of double end class of mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot of the invention
Instrument decoupling-structure schematic front view.
Fig. 3 is a kind of double end class of mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot of the invention
Instrument decoupling-structure schematic top plan view.
Fig. 4 is a kind of single head class of mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot of the invention
The instrument decoupling-structure right side regards schematic diagram.
Fig. 5 is a kind of single head class of mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot of the invention
Instrument decoupling-structure schematic front view.
Fig. 6 is that a kind of mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot of the invention is held with instrument
The assembly right side of row mechanism regards schematic diagram.
Fig. 7 is that a kind of mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot of the invention is held with instrument
The assembly schematic front view of row mechanism.
Fig. 8 is that a kind of mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot of the invention is held with instrument
The assembly schematic top plan view of row mechanism.
Fig. 9 is outside a kind of pedestal of mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot of the invention
Cover structure schematic diagram.
Figure 10 is a kind of double end of mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot of the invention
The two structure right side of class instrument decoupling-structure embodiment regards schematic diagram.
Figure 11 is a kind of double end of mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot of the invention
Two structure of the main view of class instrument decoupling-structure embodiment.
Figure 12 is a kind of single head of mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot of the invention
The two structure right side of class instrument decoupling-structure embodiment regards schematic diagram.
Figure 13 is a kind of single head of mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot of the invention
Two structure of the main view of class instrument decoupling-structure embodiment.
Figure 14-Figure 16 is the partial enlarged view in Fig. 7.
Figure 17-Figure 18 is the partial enlarged view in Fig. 8.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
The explanation of label is specifically omitted in the label below：1_4~8_10 represent be：1_4、2_10、3_10、4_
10、5_10、6_10、7_10、8_10；2_3~8_3 represent be：2_3、3_3、4_3、5_3、6_3、7_3、8_3；2_4~8_4
Represent be：2_4、3_4、4_4、5_4、6_4、7_4、8_4；2_10~6_10 represent be：2_10、3_10、4_10、5_10、
6_10；2_3~6_3 represent be：2_3、3_3、4_3、5_3、6_3；2_6~2_8 represent be：2_6、2_7、2_8；3_6~
3_8 represent be：3_6、3_7、3_8；4_6~4_8 represent be：4_6、4_7、4_8；5_6~5_8 represent be：5_6、5_
7、5_8；6_6~6_8 represent be：6_6、6_7、6_8；7_6~7_8 represent be：7_6、7_7、7_8；8_6~8_8 is represented
Be：8_6、8_7、8_8；1_2_1~6_8_1 represent be：1_2_1、2_3_1、3_4_1、4_5_1、5_6_1、6_7_1、6_
8_1；1_2_2~6_8_3 represent be：1_2_2、2_3_2、2_3_3、3_4_2、3_4_3、4_5_2、4_5_3、5_6_2、5_6_
3、6_7_2、6_7_3、6_8_2、6_8_3。
Embodiment one
Illustrate present embodiment in conjunction with Fig. 1~Fig. 3, Fig. 6~Fig. 9, Figure 14~Figure 18, it is described to be used for minimally invasive surgery single hole hand
The mechanically decoupled quick-changing mechanism of art robot, including a fixed seat 1_1, and installed on the fixed seat 1_1
One joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism the 4, the 5th close
Save the compositions such as driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8.
First joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint
Driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint drive
Mechanism 8 is mounted on the same pedestal 1_1, first joint driving mechanism 1, second joint driving mechanism 2, third joint
Driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint drive
Mechanism 7 and the 8th joint driving mechanism 8 execute machine each by an interface clutch discs 1_4~8_10 and the surgical instrument
Structure M is connected；
First joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint
Driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint drive
By steel wire rope, the first joint executing agency 9 of corresponding driving surgical instrument executing agency M, second joint execute respectively for mechanism 8
Mechanism 10, third joint executing agency 11, the 4th joint executing agency 12, the 5th joint executing agency 13, the 6th joint execute
The rotation of mechanism 14, the 7th joint executing agency 15 and the 8th joint executing agency 16；
First joint driving mechanism 1 includes a motor 1_7, and motor 1_7 passes through shaft joint 1_8 and gear shaft
1_9 is connected, and the gear shaft 1_9 is connected with interface clutch discs 1_4 corresponding thereto；
The second joint driving mechanism 2 includes a motor 2_1, and motor 2_1 passes through shaft joint 2_2 and sun gear
Axis 2_3 is connected, and big sun gear 2_5 and small sun gear 2_4, big sun gear 2_5 and small are equipped on the sun wheel shaft 2_3
Sun gear 2_4 is engaged with three planetary gear 2_6~2_8 on planet carrier gear axis 2_9, three planetary gear 2_6~2_8
With small sun gear 2_4 external toothings, three planetary gear 2_6~2_8 and big sun gear 2_5 internal messings, three planetary gear 2_6~2_8
It is uniformly distributed around sun wheel shaft 2_3 axis, the planet carrier gear axis 2_9 and interface clutch discs 2_10 phases corresponding thereto
Even；
The third joint driving mechanism 3 includes a motor 3_1, and motor 3_1 passes through shaft joint 3_2 and sun gear
Axis 3_3 is connected, and big sun gear 3_5 and small sun gear 3_4, big sun gear 3_5 and small are equipped on the sun wheel shaft 3_3
Sun gear 3_4 is engaged with three planetary gear 3_6~3_8 on planet carrier gear axis 3_9, three planetary gear 3_6~3_8
With small sun gear 3_4 external toothings, three planetary gear 3_6~3_8 and big sun gear 3_5 internal messings, three planetary gear 3_6~3_8
It is uniformly distributed around sun wheel shaft 3_3 axis, the planet carrier gear axis 3_9 and interface clutch discs 3_10 phases corresponding thereto
Even；
4th joint driving mechanism 4 includes a motor 4_1, and motor 4_1 passes through shaft joint 4_2 and sun gear
Axis 4_3 is connected, and big sun gear 4_5 and small sun gear 4_4, big sun gear 4_5 and small are equipped on the sun wheel shaft 4_3
Sun gear 4_4 is engaged with three planetary gear 4_6~4_8 on planet carrier gear axis 4_9, three planetary gear 4_6~4_8
With small sun gear 4_4 external toothings, three planetary gear 4_6~4_8 and big sun gear 4_5 internal messings, three planetary gear 4_6~4_8
It is uniformly distributed around sun wheel shaft 4_3 axis, the planet carrier gear axis 4_9 and interface clutch discs 4_10 phases corresponding thereto
Even；
5th joint driving mechanism 5 includes a motor 5_1, and motor 5_1 passes through shaft joint 5_2 and sun gear
Axis 5_3 is connected, and big sun gear 5_5 and small sun gear 5_4, big sun gear 5_5 and small are equipped on the sun wheel shaft 5_3
Sun gear 5_4 is engaged with three planetary gear 5_6~5_8 on planet carrier gear axis 5_9, three planetary gear 5_6~5_8
With small sun gear 5_4 external toothings, three planetary gear 5_6~5_8 and big sun gear 5_5 internal messings, three planetary gear 5_6~5_8
It is uniformly distributed around sun wheel shaft 5_3 axis, the planet carrier gear axis 5_9 and interface clutch discs 5_10 phases corresponding thereto
Even；
6th joint driving mechanism 6 includes a motor 6_1, and motor 6_1 passes through shaft joint 6_2 and sun gear
Axis 6_3 is connected, and big sun gear 6_5 and small sun gear 6_4, big sun gear 6_5 and small are equipped on the sun wheel shaft 6_3
Sun gear 6_4 is engaged with three planetary gear 6_6~6_8 on planet carrier gear axis 6_9, three planetary gear 6_6~6_8
With small sun gear 6_4 external toothings, three planetary gear 6_6~6_8 and big sun gear 6_5 internal messings, three planetary gear 6_6~6_8
It is uniformly distributed around sun wheel shaft 6_3 axis, the planet carrier gear axis 6_9 and interface clutch discs 6_10 phases corresponding thereto
Even；
7th joint driving mechanism 7 includes a motor 7_1, which passes through shaft joint 7_2 and sun wheel shaft
7_3 is connected, and big sun gear 7_5 and small sun gear 7_4, big sun gear 7_5 and small too are equipped on the sun wheel shaft 7_3
Sun wheel 7_4 is engaged with three planetary gear 7_6~7_8 on planet carrier 7_8, three planetary gear 7_6~7_8 and Sunny
7_4 external toothings, three planetary gear 7_6~7_8 and big sun gear 7_5 internal messings are taken turns, three planetary gear 7_6~7_8 surround the sun
Wheel shaft 7_3 axis are uniformly distributed, and the planet carrier 7_9 is connected with interface clutch discs 7_10 corresponding thereto；
8th joint driving mechanism 8 includes a motor 8_1, which passes through shaft joint 8_2 and sun wheel shaft
8_3 is connected, and big sun gear 8_5 and small sun gear 8_4, big sun gear 8_5 and small too are equipped on the sun wheel shaft 8_3
Sun wheel 8_4 is engaged with three planetary gear 8_6~8_8 on planet carrier 8_8, three planetary gear 8_6~8_8 and Sunny
8_4 external toothings, three planetary gear 8_6~8_8 and big sun gear 8_5 internal messings are taken turns, three planetary gear 8_6~8_8 surround the sun
Wheel shaft 8_3 axis are uniformly distributed, and the planet carrier 8_9 is connected with interface clutch discs 8_10 corresponding thereto；
First joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint
Transition gear axle 1_2_1 there are one being respectively mounted between driving mechanism 4, the 5th joint driving mechanism 5 and the 6th joint driving mechanism 6
~5_6_1；
6th joint driving mechanism 6 and the 7th joint driving mechanism 7 and the 8th joint drive
A transition gear axle 6_7_1 and transition gear axle 6_8_1 is separately installed between mechanism 8；
It is fitted without transition gear between 7th joint driving mechanism 7 and the 8th joint driving mechanism 8
Axis；
The gear shaft 1_9 of first joint driving mechanism 1 and first joint driving mechanism 1 and institute
The transition gear axle 1_2_1 external toothings between the second joint driving mechanism 2 stated, first joint driving mechanism
The transition gear axle 1_2_1 between 1 and the second joint driving mechanism 2 and the second joint driving mechanism
2 big sun gear 2_5 external toothings；
The gear shaft 2_3 of the second joint driving mechanism 2 and the second joint driving mechanism 2 and institute
The transition gear axle 2_3_1 external toothings between the third joint driving mechanism 3 stated, the second joint driving mechanism
The transition gear axle 2_3_1 between 2 and the third joint driving mechanism 3 and the third joint driving mechanism
3 big sun gear 3_5 external toothings；
The planet carrier gear axis 3_9 of the third joint driving mechanism 3 and the third joint drive machine
The transition gear axle 3_4_1 external toothings between structure 3 and the 4th joint driving mechanism 4, the third joint
The transition gear axle 3_4_1 between driving mechanism 3 and the 4th joint driving mechanism 4 and the 4th joint
The big sun gear 4_5 external toothings of driving mechanism 4；
The planet carrier gear axis 4_9 of 4th joint driving mechanism 4 and the 4th joint drive machine
The transition gear axle 4_5_1 external toothings between structure 4 and the 5th joint driving mechanism 5, the 4th joint
The transition gear axle 4_5_1 between driving mechanism 4 and the 5th joint driving mechanism 5 and the 5th joint
The big sun gear 5_5 external toothings of driving mechanism 5；
The planet carrier gear axis 5_9 of 5th joint driving mechanism 5 and the 5th joint drive machine
The transition gear axle 5_6_1 external toothings between structure 5 and the 6th joint driving mechanism 6, the 5th joint
The transition gear axle 5_6_1 between driving mechanism 5 and the 6th joint driving mechanism 6 and the 6th joint
The big sun gear 6_5 external toothings of driving mechanism 6；
The planet carrier gear axis 6_9 of 6th joint driving mechanism 6 and the 6th joint drive machine
The transition gear axle 6_7_1 external toothings between structure 6 and the 7th joint driving mechanism 7, the 6th joint
The transition gear axle 6_7_1 between driving mechanism 6 and the 7th joint driving mechanism 7 and the 7th joint
The big sun gear 7_5 external toothings of driving mechanism 7；
The planet carrier gear axis 6_9 of 6th joint driving mechanism 6 and the 6th joint drive machine
The transition gear axle 6_8_1 external toothings between structure 6 and the 8th joint driving mechanism 8, the 6th joint
The transition gear axle 6_8_1 between driving mechanism 6 and the 8th joint driving mechanism 8 and the 8th joint
The big sun gear 8_5 external toothings of driving mechanism 8；
Further, the both ends gear shaft 1_9 of first joint driving mechanism 1 pass through bearing 1_5 and bearing 1_6 axis
To fixation, bearing 1_5 and bearing 1_6 are fixed on pedestal 1_3.
Further, three pins are stretched out in described one end planet carrier gear axis 2_9 of the second joint driving mechanism 2
Three axis pins of axis, planet carrier gear axis 2_9 are inserted into respectively in the centre bore of three planetary gear 2_6~2_8, planet carrier gear axis
By bearing 2_11 axial restraints, the planet carrier gear axis 2_9 other ends are axially solid by three planetary gear 2_6~2_8 for the one end 2_9
Fixed, respectively by bearing 2_12 and bearing 2_13 axial restraints, bearing 2_12 is solid for sun wheel shaft 2_3 and the both ends big sun gear 2_5
It is scheduled on sun wheel shaft 2_3 and big sun gear 2_5, bearing 2_11 and bearing 2_13 are fixed on pedestal 1_3, planet carrier gear axis
One end of 2_9 forms with interface clutch discs 2_10 and is interference fitted.
Further, three pins are stretched out in described one end planet carrier gear axis 3_9 of the third joint driving mechanism 3
Three axis pins of axis, planet carrier gear axis 3_9 are inserted into respectively in the centre bore of three planetary gear 3_6~3_8, planet carrier gear axis
By bearing 3_11 axial restraints, the planet carrier gear axis 3_9 other ends are axially solid by three planetary gear 3_6~3_8 for the one end 3_9
Fixed, respectively by bearing 3_12 and bearing 3_13 axial restraints, bearing 3_12 is solid for sun wheel shaft 3_3 and the both ends big sun gear 3_5
It is scheduled on sun wheel shaft 3_3 and big sun gear 3_5, bearing 3_11 and bearing 3_13 are fixed on pedestal 1_3, planet carrier gear axis
One end of 3_9 forms with interface clutch discs 3_10 and is interference fitted.
Further, three pins are stretched out in described one end planet carrier gear axis 4_9 of the 4th joint driving mechanism 4
Three axis pins of axis, planet carrier gear axis 4_9 are inserted into respectively in the centre bore of three planetary gear 4_6~4_8, planet carrier gear axis
By bearing 4_11 axial restraints, the planet carrier gear axis 4_9 other ends are axially solid by three planetary gear 4_6~4_8 for the one end 4_9
Fixed, respectively by bearing 4_12 and bearing 4_13 axial restraints, bearing 4_12 is solid for sun wheel shaft 4_3 and the both ends big sun gear 4_5
It is scheduled on sun wheel shaft 4_3 and big sun gear 4_5, bearing 4_11 and bearing 4_13 are fixed on pedestal 1_3, planet carrier gear axis
One end of 4_9 forms with interface clutch discs 4_10 and is interference fitted.
Further, three pins are stretched out in described one end planet carrier gear axis 5_9 of the 5th joint driving mechanism 5
Three axis pins of axis, planet carrier gear axis 5_9 are inserted into respectively in the centre bore of three planetary gear 5_6~5_8, planet carrier gear axis
By bearing 5_11 axial restraints, the planet carrier gear axis 5_9 other ends are axially solid by three planetary gear 5_6~5_8 for the one end 5_9
Fixed, respectively by bearing 5_12 and bearing 5_13 axial restraints, bearing 5_12 is solid for sun wheel shaft 5_3 and the both ends big sun gear 5_5
It is scheduled on sun wheel shaft 5_3 and big sun gear 5_5, bearing 5_11 and bearing 5_13 are fixed on pedestal 1_3, planet carrier gear axis
One end of 5_9 forms with interface clutch discs 5_10 and is interference fitted.
Further, three pins are stretched out in described one end planet carrier gear axis 6_9 of the 6th joint driving mechanism 6
Three axis pins of axis, planet carrier gear axis 6_9 are inserted into respectively in the centre bore of three planetary gear 6_6~6_8, planet carrier gear axis
By bearing 6_11 axial restraints, the planet carrier gear axis 6_9 other ends are axially solid by three planetary gear 6_6~6_8 for the one end 6_9
Fixed, respectively by bearing 6_12 and bearing 6_13 axial restraints, bearing 6_12 is solid for sun wheel shaft 6_3 and the both ends big sun gear 6_5
It is scheduled on sun wheel shaft 6_3 and big sun gear 6_5, bearing 6_11 and bearing 6_13 are fixed on pedestal 1_3, planet carrier gear axis
One end of 6_9 forms with interface clutch discs 6_10 and is interference fitted.
Further, three axis pins, row are stretched out in described one end planet carrier 7_9 of the 7th joint driving mechanism 7
Three axis pins of carrier 7_9 are inserted into respectively in the centre bore of three planetary gear 7_6~7_8, and the one end planet carrier 7_9 passes through bearing 7_
11 axial restraints, the planet carrier 7_9 other ends pass through three planetary gear 7_6~7_8 axial restraints, sun wheel shaft 7_3 and the big sun
The both ends wheel 7_5 are fixed on sun wheel shaft 7_3 and the big sun by bearing 7_12 and bearing 7_13 axial restraints, bearing 7_12 respectively
It takes turns on 7_5, bearing 7_11 and bearing 7_13 are fixed on pedestal 1_3, one end and the interface clutch discs 7_ of planet carrier gear axis 7_9
10 form interference fit.
Further, three axis pins, row are stretched out in described one end planet carrier 8_9 of the 8th joint driving mechanism 8
Three axis pins of carrier 8_9 are inserted into respectively in the centre bore of three planetary gear 8_6~8_8, and the one end planet carrier 8_9 passes through bearing 8_
11 axial restraints, the planet carrier 8_9 other ends pass through three planetary gear 8_6~8_8 axial restraints, sun wheel shaft 8_3 and the big sun
The both ends wheel 8_5 are fixed on sun wheel shaft 8_3 and the big sun by bearing 8_12 and bearing 8_13 axial restraints, bearing 8_12 respectively
It takes turns on 8_5, bearing 8_11 and bearing 8_13 are fixed on pedestal 1_3, one end and the interface clutch discs 8_ of planet carrier gear axis 8_9
10 form interference fit.
Further, first joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3,
It drives between 4th joint driving mechanism 4, the 5th joint driving mechanism 5 and the 6th joint driving mechanism 6 and the 6th joint
The transition gear axle installed between motivation structure 6 and the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8
Respectively by bearing 1_2_2~6_8_3 axial restraints, bearing 1_2_2~6_8_3 is fixed on pedestal 1_ at the both ends 1_2_1~6_8_1
On 3.
Further, the second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4,
The institute of 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8
Small sun gear 2_4~the 8_4 stated is in " D " font, small sun gear 2_4~8_4 and sun gear with the sections sun wheel shaft 2_3~8_3
" D " shaped sections of axis 2_3~8_3 form interference fit, and small sun gear 2_4~8_4 and sun wheel shaft 2_3~8_3 passes through " D "
Shaped sections are circumferentially fixed.
Further, first joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3,
4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6 on the pedestal 1_3 it is single-row according to
Secondary arranged in series；7th joint driving mechanism 7 and the 8th joint driving mechanism 8 and the 6th joint driving mechanism 6 are at the bottom
It is arranged in parallel on seat 1_3.
Further, the pedestal 1_3 includes base housing 1_3_1 and base outer cover 1_3_2, the base housing
1_3_1 is equipped with twice positioning convex platform, and the two sides base housing 1_3_1 are respectively equipped with two stay bolt holes, the stay bolt
Hole is connected with base outer cover 1_3_2.
Further, there are two the base outer cover 1_3_2, it is mounted and fixed to the two of base housing 1_3_1 respectively
Side；Guide chute is designed above base outer cover 1_3_2, guide chute top is in " horn mouth " shape, to facilitate surgical instrument to hold
The installation of row mechanism M, guide chute end and intermediate channel bottom are in " circular arc " shape, guide chute end above base outer cover 1_3_2
And " circular arc " shape sliding slot slot bottom opening direction at middle part is vertical with guide chute axis direction, and the guiding for being somebody's turn to do " circular arc " shape is slided
The fixed pin shaft 1_3_4 of slot end and intermediate channel bottom and surgical instrument executing agency M form " interference " cooperation, to prevent surgical device
The fixed pin shaft 1_3_4 of tool executing agency M from above base outer cover 1_3_2 guide chute end and intermediate channel bottom in it is " sliding
Go out ", cause surgical instrument executing agency M " to be detached " with quick-changing mechanism N；
Further, surgical instrument executing agency M can be installed to quick change along the guide chute above base outer cover 1_3_2
On mechanism N；Design is there are two stay bolt hole on base outer cover 1_3_2, two stay bolt holes and bottom above base outer cover 1_3_2
The long axially bored line in stay bolt hole above seat shell body 1_3_1 is vertical, and base outer cover 1_3_2 is facilitated to be mounted and fixed to base housing 1_
The relative mounting positions of base outer cover 1_3_2 and base housing 1_3_1 are adjusted when on 3_1.
Further, the quick-changing mechanism N pedestal 1_3 for minimally invasive surgery single hole operating robot, further include one
A retaining mechanism 1_3_3 for being fixed to surgical instrument executing agency M on pedestal 1_3；The retaining mechanism 1_3_3 packets
Two groups are included, every group includes that a locking is linked up with, respectively locking hook 1_3_3_1 and locking hook 1_3_3_2, locking hook 1_
3_3_1 and locking hook 1_3_3_2 one end be rotatably mounted on the same base outer cover 1_3_2, locking hook 1_3_3_1 and
The locking hook 1_3_3_2 other ends are equipped with groove, and corresponding position is equipped with boss on surgical instrument executing agency M shells, and locking is hung
The boss cooperation of groove above hook 1_3_3_1,1_3_3_2 and corresponding position on surgical instrument executing agency M shells is used for solid
Determine surgical instrument executing agency M.
The operation principle of the present invention：
The axis realization around gear shaft 1_9 of the interface clutch discs 1_4 of first joint driving mechanism 1 rotates clockwise：It opens
Motor 1_7 on dynamic first joint driving mechanism 1, makes its output shaft rotate clockwise, and drives on the first joint driving mechanism 1
Shaft coupling 1_8, gear shaft 1_9 are rotated clockwise, and drive the interface clutch discs 1_4 on the first joint driving mechanism 1 around gear shaft
The axis both clockwise of 1_9 rotates.One 9_2 of arm section of surgical instrument executing agency M is relative to final drive box connecting sleeve 1_10
Active rotation clockwise and so that one 9_2 of arm section is changed with final drive box connecting sleeve 1_10 relative angles.
The gear shaft 1_9 of first joint driving mechanism 1 and the first joint driving mechanism 1 and second joint driving mechanism 2 it
Between transition gear axle 1_2_1 external toothings, the transition gear between the first joint driving mechanism 1 and second joint driving mechanism 2
The big sun gear 2_5 external toothings of axis 1_2_1 and second joint driving mechanism 2；At this point, the gear shaft of the first joint driving mechanism 1
1_9 drives the transition gear axle 1_2_1 between the first joint driving mechanism 1 and second joint driving mechanism 2 to rotate counterclockwise；The
Transition gear axle 1_2_1 between one joint driving mechanism 1 and second joint driving mechanism 2 drives second joint driving mechanism 2
On the external gear of big sun gear 2_5 rotate clockwise；Three planetary gear 2_6~2_8 in second joint driving mechanism 2 with
Big sun gear 2_5 internal messings, around sun wheel shaft 2_3's while each planetary gear 2_6~2_8 is rotated clockwise around own axes
Axis both clockwise rotates, and three planetary gear 2_6~2_8 drive planet carrier gear axis 2_9 around the axis both clockwise of sun wheel shaft 2_3
Rotation, planet carrier gear axis 2_9 is rotated with mobile interface clutch discs 2_10 around the axis both clockwise of sun wheel shaft 2_3, at this point, second
Small sun gear 2_4, sun wheel shaft 2_3 on joint driving mechanism 2 are not rotated.First joint 9_1 is carrying out rotation clockwise
Second joint 10_1 is also carrying out rotation clockwise simultaneously, and appropriate ratio is arranged, can make second joint 10_1 and the first joint
9_1 " steering is identical, and rotating speed is equal ", one 9_2 of arm section of surgical instrument executing agency M is relative to final drive box connecting sleeve 1_
10 active rotations clockwise and when one 9_2 of arm section and final drive box connecting sleeve 1_10 relative angles being made to change, arm section
Passive rotation does not occur relative to one 9_2 of arm section and two 10_2 of arm section is made not become with one 9_2 relative angles of arm section by two 10_2
Change, achievees the purpose that realize " decoupling " by mechanical structure.
The gear shaft 2_3 of second joint driving mechanism 2 and second joint driving mechanism 2 and third joint driving mechanism 3 it
Between transition gear axle 2_3_1 external toothings, the transition gear between second joint driving mechanism 2 and third joint driving mechanism 3
The big sun gear 3_5 external toothings of axis 2_3_1 and third joint driving mechanism 3；At this point, the gear shaft of second joint driving mechanism 2
2_3 drives the transition gear axle 2_3_1 between second joint driving mechanism 2 and third joint driving mechanism 3 to rotate counterclockwise；The
Transition gear axle 2_3_1 between two joint driving mechanisms 2 and third joint driving mechanism 3 drives third joint driving mechanism 3
On the external gear of big sun gear 3_5 rotate clockwise；Three planetary gear 3_6~3_8 on third joint driving mechanism 3 with
Big sun gear 3_5 internal messings, around sun wheel shaft 3_3's while each planetary gear 3_6~3_8 is rotated clockwise around own axes
Axis both clockwise rotates, and three planetary gear 3_6~3_8 drive planet carrier gear axis 3_9 around the axis both clockwise of sun wheel shaft 3_3
Rotation, planet carrier gear axis 3_9 is rotated with mobile interface clutch discs 3_10 around the axis both clockwise of sun wheel shaft 3_3, at this point, third
Small sun gear 3_4, sun wheel shaft 3_3 on joint driving mechanism 3 are not rotated.Second joint 10_1 is carrying out rotation clockwise
Third joint 11_1 is also carrying out rotation clockwise simultaneously, and appropriate ratio is arranged, can make third joint 11_1 and the first joint
9_1 " steering is identical, and rotating speed is equal ", one 9_2 of arm section of surgical instrument executing agency M is relative to final drive box connecting sleeve 1_
10 active rotations clockwise and when one 9_2 of arm section and final drive box connecting sleeve 1_10 relative angles being made to change, arm section
Passive rotation does not occur relative to two 10_2 of arm section and three 11_2 of arm section is made not occur with two 10_2 relative angles of arm section by three 11_2
Variation achievees the purpose that realize " decoupling " by mechanical structure.
The planet carrier gear axis 3_9 of third joint driving mechanism 3 and third joint driving mechanism 3 and the 4th joint drive machine
Transition gear axle 3_4_1 external toothings between structure 4, the transition between third joint driving mechanism 3 and the 4th joint driving mechanism 4
The big sun gear 4_5 external toothings of gear shaft 3_4_1 and the 4th joint driving mechanism 4；At this point, the row of third joint driving mechanism 3
Carrier gear shaft 3_9 drives the transition gear axle 3_4_1 between third joint driving mechanism 3 and the 4th joint driving mechanism 4 inverse
Hour hands rotate；Transition gear axle 3_4_1 between third joint driving mechanism 3 and the 4th joint driving mechanism 4 drives the 4th to close
The external gear of big sun gear 4_5 in section driving mechanism 4 rotates clockwise；Three planetary gears on 4th joint driving mechanism 4
4_6~4_8 with big sun gear 4_5 internal messings, while each planetary gear 4_6~4_8 is rotated clockwise around own axes around
The axis both clockwise of sun wheel shaft 4_3 rotates, and three planetary gear 4_6~4_8 drive planet carrier gear axis 4_9 around sun wheel shaft 4_
3 axis both clockwise rotation, planet carrier gear axis 4_9 is with mobile interface clutch discs 4_10 around the axis both clockwise of sun wheel shaft 4_3
Rotation, at this point, the small sun gear 4_4, sun wheel shaft 4_3 on the 4th joint driving mechanism 4 are not rotated.Third joint 11_1 into
4th joint 12_1 is also carrying out rotation clockwise while row rotation clockwise, and appropriate ratio is arranged, can make the 4th joint
One 9_2 of arm section of 12_1 and the first joint 9_1 " steering is identical, and rotating speed is equal ", surgical instrument executing agency M is passed relative to end
It moves box connecting sleeve 1_10 active rotations clockwise and one 9_2 of arm section is made to be sent out with final drive box connecting sleeve 1_10 relative angles
When changing, passive rotation does not occur relative to three 11_2 of arm section and makes four 12_2 of arm section and three 11_2 phases of arm section by four 12_2 of arm section
It does not change to angle, achievees the purpose that realize " decoupling " by mechanical structure.
The planet carrier gear axis 4_9 and the 4th joint driving mechanism 4 of 4th joint driving mechanism 4 and the 5th joint drive machine
Transition gear axle 4_5_1 external toothings between structure 5, the transition between the 4th joint driving mechanism 4 and the 5th joint driving mechanism 5
The big sun gear 5_5 external toothings of gear shaft 4_5_1 and the 5th joint driving mechanism 5；At this point, the row of the 4th joint driving mechanism 4
Carrier gear shaft 4_9 drives the transition gear axle 4_5_1 between the 4th joint driving mechanism 4 and the 5th joint driving mechanism 5 inverse
Hour hands rotate；Transition gear axle 4_5_1 between 4th joint driving mechanism 4 and the 5th joint driving mechanism 5 drives the 5th to close
The external gear of big sun gear 5_5 in section driving mechanism 5 rotates clockwise；Three planetary gears on 5th joint driving mechanism 5
5_6~5_8 with big sun gear 5_5 internal messings, while each planetary gear 5_6~5_8 is rotated clockwise around own axes around
The axis both clockwise of sun wheel shaft 5_3 rotates, and three planetary gear 5_6~5_8 drive planet carrier gear axis 5_9 around sun wheel shaft 5_
3 axis both clockwise rotation, planet carrier gear axis 5_9 is with mobile interface clutch discs 5_10 around the axis both clockwise of sun wheel shaft 5_3
Rotation, at this point, the small sun gear 5_4, sun wheel shaft 5_3 on the 5th joint driving mechanism 5 are not rotated.4th joint 12_1 into
5th joint 13_1 is also carrying out rotation clockwise while row rotation clockwise, and appropriate ratio is arranged, can make the 5th joint
One 9_2 of arm section of 13_1 and the first joint 9_1 " steering is identical, and rotating speed is equal ", surgical instrument executing agency M is passed relative to end
It moves box connecting sleeve 1_10 active rotations clockwise and one 9_2 of arm section is made to be sent out with final drive box connecting sleeve 1_10 relative angles
When changing, passive rotation does not occur relative to four 12_2 of arm section and makes five 13_2 of arm section and four 12_2 phases of arm section by five 13_2 of arm section
It does not change to angle, achievees the purpose that realize " decoupling " by mechanical structure.
The planet carrier gear axis 5_9 and the 5th joint driving mechanism 5 of 5th joint driving mechanism 5 and the 6th joint drive machine
Transition gear axle 5_6_1 external toothings between structure 6, the transition between the 5th joint driving mechanism 5 and the 6th joint driving mechanism 6
The big sun gear 6_5 external toothings of gear shaft 5_6_1 and the 6th joint driving mechanism 6；At this point, the row of the 5th joint driving mechanism 5
Carrier gear shaft 5_9 drives the transition gear axle 5_6_1 between the 5th joint driving mechanism 5 and the 6th joint driving mechanism 6 inverse
Hour hands rotate；Transition gear axle 5_6_1 between 5th joint driving mechanism 5 and the 6th joint driving mechanism 6 drives the 6th to close
The external gear of big sun gear 6_5 in section driving mechanism 6 rotates clockwise；Three planetary gears on 6th joint driving mechanism 6
6_6~6_8 with big sun gear 6_5 internal messings, while each planetary gear 6_6~6_8 is rotated clockwise around own axes around
The axis both clockwise of sun wheel shaft 6_3 rotates, and three planetary gear 6_6~6_8 drive planet carrier gear axis 6_9 around sun wheel shaft 6_
3 axis both clockwise rotation, planet carrier gear axis 6_9 is with mobile interface clutch discs 6_10 around the axis both clockwise of sun wheel shaft 6_3
Rotation, at this point, 6 small sun gear 6_4, sun wheel shaft 6_3 are not rotated on the 6th joint driving mechanism.5th joint 13_1 into
6th joint 14_1 is also carrying out rotation clockwise while row rotation clockwise, and appropriate ratio is arranged, can make the 6th joint
One 9_2 of arm section of 14_1 and the first joint 9_1 " steering is identical, and rotating speed is equal ", surgical instrument executing agency M is passed relative to end
It moves box connecting sleeve 1_10 active rotations clockwise and one 9_2 of arm section is made to be sent out with final drive box connecting sleeve 1_10 relative angles
When changing, passive rotation does not occur relative to five 13_2 of arm section and makes six 14_2 of arm section and five 13_2 phases of arm section by six 14_2 of arm section
It does not change to angle, achievees the purpose that realize " decoupling " by mechanical structure.
The planet carrier gear axis 6_9 and the 6th joint driving mechanism 6 of 6th joint driving mechanism 6 and the 7th joint drive machine
Transition gear axle 6_7_1 external toothings between structure 7, the transition between the 6th joint driving mechanism 6 and the 7th joint driving mechanism 7
The big sun gear 7_5 external toothings of gear shaft 6_7_1 and the 7th joint driving mechanism 7；At this point, the row of the 6th joint driving mechanism 6
Carrier gear shaft 6_9 drives the transition gear axle 6_7_1 between the 6th joint driving mechanism 6 and the 7th joint driving mechanism 7 inverse
Hour hands rotate；Transition gear axle 6_7_1 between 6th joint driving mechanism 6 and the 7th joint driving mechanism 7 drives the 7th to close
The external gear of big sun gear 7_5 in section driving mechanism 7 rotates clockwise；Three planetary gears on 7th joint driving mechanism 7
7_6~7_8 with big sun gear 7_5 internal messings, while each planetary gear 7_6~7_8 is rotated clockwise around own axes around
The axis both clockwise of sun wheel shaft 7_3 rotates, and three planetary gear 7_6~7_8 drive planet carrier 7_9 around the axis of sun wheel shaft 7_3
Line rotates clockwise, and planet carrier 7_9 is rotated with mobile interface clutch discs 7_10 around the axis both clockwise of sun wheel shaft 7_3, at this point, the
Small sun gear 7_4, sun wheel shaft 7_3 on seven joint driving mechanisms 7 are not rotated.6th joint 14_1 is carrying out rotation clockwise
While the 7th joint 15_1 also carrying out rotation clockwise, appropriate ratio is set, the 7th joint 15_1 and the first pass can be made
9_1 " steering is identical, and rotating speed is equal " is saved, one 9_2 of arm section of surgical instrument executing agency M is relative to final drive box connecting sleeve
1_10 active rotations clockwise and when one 9_2 of arm section and final drive box connecting sleeve 1_10 relative angles being made to change, arm
Passive rotation does not occur relative to six 14_2 of arm section and seven 15_2 of arm section is made not sent out with six 14_2 relative angles of arm section by seven 15_2 of section
Changing achievees the purpose that realize " decoupling " by mechanical structure.
The planet carrier gear axis 6_9 and the 6th joint driving mechanism 6 of 6th joint driving mechanism 6 and the 8th joint drive machine
Transition gear axle 6_8_1 external toothings between structure 8, the transition between the 6th joint driving mechanism 6 and the 8th joint driving mechanism 8
The big sun gear 8_5 external toothings of gear shaft 6_8_1 and the 8th joint driving mechanism 8；At this point, the row of the 6th joint driving mechanism 6
Carrier gear shaft 6_9 drives the transition gear axle 6_8_1 between the 6th joint driving mechanism 6 and the 8th joint driving mechanism 8 inverse
Hour hands rotate；Transition gear axle 6_8_1 between 6th joint driving mechanism 6 and the 8th joint driving mechanism 8 drives the 8th to close
The external gear of big sun gear 8_5 in section driving mechanism 8 rotates clockwise；Three planetary gears on 8th joint driving mechanism 8
8_6~8_8 with big sun gear 8_5 internal messings, while each planetary gear 8_6~8_8 is rotated clockwise around own axes around
The axis both clockwise of sun wheel shaft 8_3 rotates, and three planetary gear 8_6~8_8 drive planet carrier 8_9 around the axis of sun wheel shaft 8_3
Line rotates clockwise, and planet carrier 8_9 is rotated with mobile interface clutch discs 8_10 around the axis both clockwise of sun wheel shaft 8_3, at this point, the
Small sun gear 8_4, sun wheel shaft 8_3 on eight joint driving mechanisms 8 are not rotated.6th joint 14_1 is carrying out rotation clockwise
While the 8th joint 16_1 also carrying out rotation clockwise, appropriate ratio is set, the 8th joint 16_1 and the first pass can be made
9_1 " steering is identical, and rotating speed is equal " is saved, one 9_2 of arm section of surgical instrument executing agency M is relative to final drive box connecting sleeve
1_10 active rotations clockwise and when one 9_2 of arm section and final drive box connecting sleeve 1_10 relative angles being made to change, arm
Passive rotation does not occur relative to six 14_2 of arm section and eight 16_2 of arm section is made not sent out with six 14_2 relative angles of arm section by eight 16_2 of section
Changing achievees the purpose that realize " decoupling " by mechanical structure.
The axis realization around gear shaft 1_9 of the interface clutch discs 1_4 of first joint driving mechanism 1 rotates counterclockwise：The
The axis realization around gear shaft 1_9 of the interface clutch discs 1_4 of one joint driving mechanism 1 rotates counterclockwise and the first joint drive
The axis realization around gear shaft 1_9 of the interface clutch discs 1_4 of mechanism 1 rotates clockwise " drive path is identical, turns to opposite ".
Second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint drive machine
Structure 5, the 6th joint driving mechanism 6 interface clutch discs 2_10~6_10 the axis around gear shaft 2_3~6_3 realize it is clockwise
Rotation：The axis realization around gear shaft 1_3 with the interface clutch discs 1_4 of the first joint driving mechanism 1 rotates clockwise " transmission
Mode is similar ", it is that the joint driving mechanism actively rotates, while movement is passed to step by step close to surgical instrument executing agency
All joint driving mechanisms of the side in the ends M joint (eight 16_1 of seven 15_1 of joint and joint), are arranged appropriate ratio, can make
(close to the ends surgical instrument executing agency M joint (seven 15_1 of joint and joint eight behind the active cradle head driving mechanism
Side 16_1)) all joint driving mechanisms with the active cradle head driving mechanism " steering is identical, and rotating speed is equal ",
Keep the arm section of the surgical instrument executing agency M of the active cradle head driving mechanisms control (separate relative to previous alternate arm section
The side in the ends surgical instrument executing agency M joint (eight 16_1 of seven 15_1 of joint and joint)) clockwise active rotation and make this
The arm section of the surgical instrument executing agency M of active cradle head driving mechanisms control is with previous alternate arm section (far from surgical instrument
The side in the ends executing agency M joint (eight 16_1 of seven 15_1 of joint and joint)) when changing, this is actively rotated relative angle
Behind joint driving mechanism (side close to the ends surgical instrument executing agency M joint (eight 16_1 of seven 15_1 of joint and joint))
All joint driving mechanisms correspond to control surgical instrument executing agency M arm section relative to the active cradle head driving machine
Passive rotation does not occur and makes behind the active cradle head driving mechanism for the arm section of the surgical instrument executing agency M of structure control
All joint drive machines of (side close to the ends surgical instrument executing agency M joint (eight 16_1 of seven 15_1 of joint and joint))
The surgical instrument for the arm section and the active cradle head driving mechanisms control that structure corresponds to the surgical instrument executing agency M of control executes
The arm section relative angle of mechanism M does not change, and achievees the purpose that realize " decoupling " by mechanical structure.
Second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint drive machine
Structure 5, the 6th joint driving mechanism 6 interface clutch discs 2_10~6_10 the axis around gear shaft 2_3~6_3 realize it is counterclockwise
Rotation：Second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5,
The axis realization around gear shaft 2_3~6_3 of interface clutch discs 2_10~6_10 of 6th joint driving mechanism 6 rotates counterclockwise
With second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5,
The axis realization around gear shaft 2_3~6_3 of interface clutch discs 2_10~6_10 of six joint driving mechanisms 6 rotates clockwise
" drive path is identical, turns to opposite ".
The axis realization around sun wheel shaft 7_3 of the interface clutch discs 7_10 of 7th joint driving mechanism 7 rotates clockwise：
Start the motor 7_1 on the 7th joint driving mechanism 7, its output shaft is made to rotate clockwise, drives on the 7th joint driving mechanism 7
Shaft coupling 7_2, sun wheel shaft 7_3, small sun gear 7_4 rotate clockwise, three planetary gear 7_6~7_8 are and small sun gear
7_4 external toothings, around the axis up time of sun wheel shaft 7_3 while each planetary gear 7_6~7_8 is rotated counterclockwise around own axes
Needle rotates, and three planetary gear 7_6~7_8 drive planet carrier 7_9 to be rotated around the axis both clockwise of sun wheel shaft 7_3, planet carrier 7_9
It is rotated around the axis both clockwise of sun wheel shaft 7_3 with mobile interface clutch discs 7_10.Big sun gear on 7th joint driving mechanism 7
The transition gear axle 6_7_1 external toothings of the external gear of 7_5 and the 7th joint driving mechanism 7 and the 6th joint driving mechanism 6, this
When, the big sun gear 7_5 on the 7th joint driving mechanism 7 is not rotated.Seven 15_2 of arm section of surgical instrument executing agency M relative to
Six 14_2 of arm section active rotations clockwise and so that seven 15_2 of arm section is changed with six 14_2 relative angles of arm section.
The axis realization around sun wheel shaft 7_3 of the interface clutch discs 7_10 of 7th joint driving mechanism 7 rotates counterclockwise：
The axis realization around sun wheel shaft 7_3 of the interface clutch discs 7_10 of 7th joint driving mechanism 7 is rotated counterclockwise closes with the 7th
Save driving mechanism 7 interface clutch discs 7_10 around sun wheel shaft 7_3 axis realization rotate clockwise " drive path is identical,
It turns to opposite ".
The axis realization around sun wheel shaft 8_3 of the interface clutch discs 8_10 of 8th joint driving mechanism 8 rotates clockwise：
Start the motor 8_1 on the 8th joint driving mechanism 8, its output shaft is made to rotate clockwise, drives on the 8th joint driving mechanism 8
Shaft coupling 8_2, sun wheel shaft 8_3, small sun gear 8_4 rotate clockwise, three planetary gear 8_6~8_8 are and small sun gear
8_4 external toothings, axis while each planetary gear 8_6~8_8 wheels are rotated counterclockwise around own axes around sun wheel shaft 8_3 are suitable
Hour hands rotate, and three planetary gear 8_6~8_8 drive planet carrier 8_9 to be rotated around the axis both clockwise of sun wheel shaft 8_3, planet carrier
8_9 is rotated with mobile interface clutch discs 8_10 around the axis both clockwise of sun wheel shaft 8_3.It is big too on 8th joint driving mechanism 8
The transition gear axle 6_8_1 external toothings of the external gear and the 8th joint driving mechanism 8 and the 6th joint driving mechanism 6 of sun wheel 8_5,
At this point, the big sun gear 8_4 on the 8th joint driving mechanism 8 is not rotated.Eight 16_2 of arm section of surgical instrument executing agency M is opposite
Eight 16_2 of arm section is set to change with six 14_2 relative angles of arm section in six 14_2 of arm section active rotations clockwise.
The axis realization around sun wheel shaft 8_3 of the interface clutch discs 8_10 of 8th joint driving mechanism 8 rotates counterclockwise：
The axis realization around sun wheel shaft 8_3 of the interface clutch discs 8_10 of 8th joint driving mechanism 8 is rotated counterclockwise closes with the 8th
Save driving mechanism 8 interface clutch discs 8_10 around sun wheel shaft 8_3 axis realization rotate clockwise " drive path is identical,
It turns to opposite ".
The adjustment of relative installation between base outer cover 1_3_2 and base housing 1_3_1：
Design is there are two stay bolt hole on base outer cover 1_3_2, and the two sides base housing 1_3_1 separately design that there are two long
Bolt hole, two stay bolt holes above base outer cover 1_3_2 are hung down with the long axially bored line in stay bolt hole above base housing 1_3_1
It directly, can be by adjusting base outer cover 1_3_2 and pedestal when two base outer cover 1_3_2 are fixed on base housing 1_3_1
The fixed position relative in the stay bolt hole of shell 1_3_1 is opposite with the installation of base housing 1_3_1 to adjust base outer cover 1_3_2
Position.
Installation between surgical instrument executing agency M and joint driving mechanism N and dismounting：
When surgical instrument executing agency M is installed in joint driving mechanism N, surgical instrument executing agency M along pedestal outside
Cover " horn mouth " shape above 1_3_2 guide chute top slide into above base outer cover 1_3_2 guide chute end and in
Portion's slot bottom, the fixed pin shaft of guide chute end and intermediate channel bottom and surgical instrument executing agency M above base outer cover 1_3_2
" interference " cooperation is formed, while rotating two locking hooks 1_3_3_1,1_3_3_ above two base outer cover 1_3_2 respectively
2, make the boss of the groove and corresponding position on surgical instrument executing agency M shells above locking hook 1_3_3_1,1_3_3_2
Cooperation, to prevent the fixed pin shaft 1_3_4 of surgical instrument executing agency M " sliding from the guide chute above base outer cover 1_3_2
Go out ", cause surgical instrument executing agency M " to be detached " with joint driving mechanism N.Meanwhile the twice positioning on base housing 1_3_1
Boss can be positioned and fixed to surgical instrument executing agency M；
When surgical instrument executing agency M is detached from joint driving mechanism N, while two base outer cover 1_ are rotated respectively
Two lockings hook 1_3_3_1,1_3_3_2 above 3_2, make the groove and hand above locking hook 1_3_3_1,1_3_3_2
The boss separation of corresponding position on art instrument executing agency M shells, surgical instrument executing agency M is along on base outer cover 1_3_2
The guide chute end and intermediate channel bottom in face skid off base outer cover 1_3_2 from the guide chute top of " horn mouth " shape, make hand
Art instrument executing agency M " is detached " with joint driving mechanism N.
Embodiment 2
Illustrate present embodiment in conjunction with Figure 10~Figure 13, on the basis of the technical solution of embodiment one, can will be used for micro-
The layout for creating the mechanically decoupled quick-changing mechanism of surgery single hole operating robot is changed to the structure in 10~Figure 13 of attached drawing.It will be real
Apply the distributing adjustment of the mechanically decoupled quick-changing mechanism for minimally invasive surgery single hole operating robot in the technical solution of example one
For the technical solution of embodiment two, while the layout of the gear box of surgical instrument executing agency M is also adjusted to embodiment two
Technical solution equally can correctly drive and mechanically decoupled.
The above-mentioned mechanically decoupled quick-changing mechanism N for minimally invasive surgery single hole operating robot can be applied to double end class device
The driving of tool and mechanically decoupled is such as clamped class instrument, shears the driving of class instrument and mechanically decoupled；It is used for minimally invasive surgery by above-mentioned
8th joint driving mechanism 8 of the mechanically decoupled quick-changing mechanism of single hole operating robot removes, and such as Fig. 4, Fig. 5, can will use
It is applied to the driving of single head class instrument and mechanically decoupled in the mechanically decoupled quick-changing mechanism of minimally invasive surgery single hole operating robot,
Such as cut class instrument, the driving of 30 ° of hysteroscope class instruments and mechanically decoupled.By above-mentioned for minimally invasive surgery single hole operating robot
The 7th joint driving mechanism 7, the 8th joint driving mechanism 8 of mechanically decoupled quick-changing mechanism remove, and can will be used for minimally invasive outer
The mechanically decoupled quick-changing mechanism of section's single hole operating robot is applied to the driving of 360 ° of hysteroscope class instruments and mechanically decoupled.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
In god and principle, any modification, equivalent replacement, improvement and so on should be included within the scope of the present invention.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. the mechanically decoupled quick-changing mechanism for single hole operating robot, which is characterized in that including a fixed seat, described
Fixed seat on the first, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism is installed；
First, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism is mounted on the same bottom
On seat, the joint driving mechanism of described first, second, third, fourth, the five, the six, the 7th and the 8th connects each by one
Mouth clutch discs execute instrument with the operation and are connected；
First, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism is distinguished by steel wire rope
The first, second, third, fourth, the five, the six, the 7th and the 8th joint of corresponding driving surgical instrument executing agency M executes machine
The rotation of structure.
2. being used for the mechanically decoupled quick-changing mechanism of single hole operating robot as described in claim 1, which is characterized in that described
The first joint driving mechanism include a motor, motor-driven gear axis rotation is connected, the gear shaft and with its phase
Corresponding interface clutch discs are connected；
The second, third, fourth, fifth is identical with the structure of the 6th joint driving mechanism, includes respectively a motor, should
Motor drives sun wheel shaft rotation, is equipped with big sun gear and small sun gear in the sun wheel shaft, big sun gear and small
Sun gear is engaged with three planetary gears on planet carrier gear axis, three planetary gears and small sun gear external toothing, three
Planetary gear and big sun gear internal messing, three planetary gears are evenly distributed with around sun wheel shaft axis, the planet carrier gear axis and with
Its corresponding interface clutch discs is connected；
Described the 7th is identical with the structure of the 8th joint driving mechanism, includes respectively a motor, which drives sun gear
Axis rotates, and is equipped with big sun gear and small sun gear in the sun wheel shaft, big sun gear and small sun gear be mounted on
Three planetary gears on planet carrier engage, three planetary gears and small sun gear external toothing, are nibbled in three planetary gears and big sun gear
It closes, three planetary gears are uniformly distributed around sun wheel shaft axis, and the planet carrier is connected with interface clutch discs corresponding thereto.
3. being used for the mechanically decoupled quick-changing mechanism of single hole operating robot as claimed in claim 2, which is characterized in that described
The first, second, third, fourth, the 5th and the 6th joint driving mechanism between be respectively mounted there are one transition gear axle；Described
It is separately installed with a transition gear axle between 6th and the 7th joint driving mechanism and the 8th joint driving mechanism；Institute
It is fitted without transition gear axle between the 7th and the 8th joint driving mechanism stated；
Transition gear between the gear shaft of first joint driving mechanism and first, second joint driving mechanism
Axis external toothing, the transition gear axle between first, second joint driving mechanism and the second joint driving mechanism
Big sun gear external toothing；
Mistake between the planet carrier gear axis of the second joint driving mechanism and second, third described joint driving mechanism
Gear shaft external toothing is crossed, the transition gear axle between second, third described joint driving mechanism is driven with the third joint
The big sun gear external toothing of motivation structure；The planet carrier gear axis of the third joint driving mechanism and the third, the 4th
Transition gear axle external toothing between joint driving mechanism, the transition gear between the third, the 4th joint driving mechanism
The big sun gear external toothing of axis and the 4th joint driving mechanism；The planet carrier gear of 4th joint driving mechanism
Transition gear axle external toothing between axis and the four, the 5th joint driving mechanisms, the four, the 5th joint drives
The big sun gear external toothing of transition gear axle and the 5th joint driving mechanism between mechanism；It drives in 5th joint
Transition gear axle external toothing between the planet carrier gear axis of motivation structure and the five, the 6th joint driving mechanisms, it is described
The five, the 6th joint driving mechanisms between transition gear axle and the 6th joint driving mechanism big sun gear outside nibble
It closes；Mistake between the planet carrier gear axis and the six, the 7th joint driving mechanisms of 6th joint driving mechanism
Gear shaft external toothing is crossed, the transition gear axle between the six, the 7th joint driving mechanisms and the described the 7th
The big sun gear external toothing of joint driving mechanism；The planet carrier gear axis of 6th joint driving mechanism and described the
Six, the transition gear axle external toothing between the 8th joint driving mechanism, the six, the 8th joint driving mechanisms it
Between the transition gear axle and the 8th joint driving mechanism big sun gear external toothing.
4. being used for the mechanically decoupled quick-changing mechanism of single hole operating robot as claimed in claim 3, which is characterized in that described
The first joint driving mechanism gear shaft both ends by bearing axial restraint, bearing is fixed on the base；Described second,
Three, three axis pins, planet carrier gear are stretched out in described planet carrier gear axis one end of the four, the 5th and the 6th joint driving mechanism
Three axis pins of axis are inserted into respectively in the centre bore of three planetary gears, and planet carrier gear axis one end passes through bearing axial restraint, row
The carrier gear shaft other end passes through bearing axial direction respectively by three planetary gear axial restraints, sun wheel shaft and big sun gear both ends
Fixed, one of bearing is fixed in sun wheel shaft and big sun gear, other two bearing is fixed on the base, planet carrier tooth
One end of wheel shaft forms with interface clutch discs and is interference fitted；The planet carrier of 7th and the 8th joint driving mechanism
Three axis pins are stretched out in one end, and three axis pins of planet carrier are inserted into respectively in the centre bore of three planetary gears, and planet carrier one end passes through
Bearing axial restraint, the planet carrier other end are led to respectively by three planetary gear axial restraints, sun wheel shaft and big sun gear both ends
Bearing axial restraint is crossed, one of bearing is fixed in sun wheel shaft and big sun gear, other two bearing is fixed on pedestal
On, one end of planet carrier is formed with interface clutch discs to be interference fitted；Described the first, second, third, fourth, the 5th and the 6th
Between joint driving mechanism and the 6th joint driving mechanism and the 7th joint driving mechanism and the described the 8th
By bearing axial restraint, bearing is fixed on the base at the transition gear axle both ends installed between joint driving mechanism.
5. being used for the mechanically decoupled quick-changing mechanism of single hole operating robot as claimed in claim 2, which is characterized in that described
The joint driving mechanism of second, third, fourth, fifth, the six, the 7th and the 8th the small sun gear and sun wheel shaft cut
Face is in " D " font, and " D " shaped sections formation of small sun gear and sun wheel shaft is interference fitted, and small sun gear is logical with sun wheel shaft
It is circumferentially fixed to cross " D " shaped sections.
6. being used for the mechanically decoupled quick-changing mechanism of single hole operating robot as described in claim 1, which is characterized in that described
First, second, third, fourth, the five, the 6th single-row on the pedestal be sequentially connected in series arrangement；7th joint drive machine
Structure and the 8th joint driving mechanism are arranged in parallel with the 6th joint driving mechanism on the pedestal.
7. being used for the mechanically decoupled quick-changing mechanism of single hole operating robot as described in claim 1, which is characterized in that into one
Step, the pedestal includes base housing and base outer cover, and the base housing is equipped with twice positioning convex platform, pedestal shell
Body two sides are respectively equipped with two stay bolt holes, and the stay bolt hole is connected with base outer cover.
8. being used for the mechanically decoupled quick-changing mechanism of single hole operating robot as claimed in claim 7, which is characterized in that described
Base outer cover there are two, be mounted and fixed to the both sides of base housing respectively；Guide chute is designed above base outer cover, is oriented to
Sliding slot top is in " horn mouth " shape, to facilitate the installation of surgical instrument executing agency, guide chute end above base outer cover
And intermediate channel bottom is in " circular arc " shape sliding slot slot bottom opening direction and guide chute axis of " circular arc " shape, guide chute end and middle part
Line direction is vertical, and should the guide chute end of " circular arc " shape and the fixed pin shaft at intermediate channel bottom and surgical instrument executing agency
Form " interference " cooperation.
9. being used for the mechanically decoupled quick-changing mechanism of single hole operating robot as claimed in claim 7, which is characterized in that operation
Instrument executing agency can be installed to along the guide chute above base outer cover on quick-changing mechanism；There are two long for design on base outer cover
Bolt hole, two stay bolt holes above base outer cover are vertical with the long axially bored line in stay bolt hole above base housing, facilitate bottom
Seat outer cover adjusts the relative mounting positions of base outer cover and base housing when being mounted and fixed on base housing.
10. being used for the mechanically decoupled quick-changing mechanism of single hole operating robot as claimed in claim 7, which is characterized in that institute
Pedestal is stated, further includes a retaining mechanism for being fixed to surgical instrument executing agency on the pedestal；The locking
Mechanism includes two groups, and every group includes that a locking is linked up with, and one end of two locking hooks is rotatably mounted on the same base outer cover
On, the locking hook other end is equipped with groove, and corresponding position is equipped with boss on surgical instrument executing agency shell, and locking hook is above
Groove and surgical instrument executing agency shell on the boss cooperation of corresponding position be used for fixation surgical instrument executing agency.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810177475.6A CN108451642A (en) | 2018-03-02 | 2018-03-02 | A kind of mechanically decoupled quick-changing mechanism for single hole operating robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810177475.6A CN108451642A (en) | 2018-03-02 | 2018-03-02 | A kind of mechanically decoupled quick-changing mechanism for single hole operating robot |
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| CN108451642A true CN108451642A (en) | 2018-08-28 |
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| CN201810177475.6A Pending CN108451642A (en) | 2018-03-02 | 2018-03-02 | A kind of mechanically decoupled quick-changing mechanism for single hole operating robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108158660A (en) * | 2018-03-02 | 2018-06-15 | 山东大学齐鲁医院 | A kind of single hole surgical robot quick replacement mechanism of the control decoupling with linear joint |
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| CN108309456A (en) * | 2018-03-02 | 2018-07-24 | 山东大学齐鲁医院 | A kind of quick-changing mechanism of control decoupling for single hole operating robot |
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| CN208974100U (en) * | 2018-03-02 | 2019-06-14 | 山东大学齐鲁医院 | A kind of mechanically decoupled quick-changing mechanism for single hole operating robot |
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| CN104758060A (en) * | 2015-04-07 | 2015-07-08 | 哈尔滨工业大学 | Multi-degree-of-freedom flexible robot used for single-port celiac minimally invasive surgery |
| CN106725650A (en) * | 2017-01-04 | 2017-05-31 | 山东大学齐鲁医院 | One kind is used for minimally invasive surgical operation robot quick-changing mechanism |
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