CN110916800B - Three-axis type movement device - Google Patents
Three-axis type movement device Download PDFInfo
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- CN110916800B CN110916800B CN201811099763.0A CN201811099763A CN110916800B CN 110916800 B CN110916800 B CN 110916800B CN 201811099763 A CN201811099763 A CN 201811099763A CN 110916800 B CN110916800 B CN 110916800B
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- base
- shaft
- power source
- driving
- driving wheel
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/24—Surgical instruments, devices or methods, e.g. tourniquets for use in the oral cavity, larynx, bronchial passages or nose; Tongue scrapers
-
- 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
Abstract
The invention relates to a three-axis type movement device, which comprises a first base, a first power source, a second base, a second power source, a third base and a workpiece positioning piece. The first power source is arranged on the first base and is provided with a first driving shaft, the second base is connected with the first driving shaft of the first power source through a hollow rotating shaft, so that the second base can rotate around a first axial direction, the second power source is arranged on the first base and is provided with a second driving shaft penetrating through the middle idle shaft, the third base is connected with the second driving shaft, so that the third base can rotate around a second axial direction perpendicular to the first axial direction, and the workpiece positioning part is arranged on the third base and can rotate around a third axial direction perpendicular to the second axial direction. Therefore, the three-axis type movement device can achieve the effects of light volume and high-precision movement.
Description
Technical Field
The present invention relates to a multi-axis type motion device, and more particularly, to a three-axis type motion device with a compact size and high precision.
Background
Surgical robots are widely used in various surgical operations, and many medical actions related to the surgical operation (such as determination of a lesion position or control of a depth of approach) can be accurately grasped by a surgeon with the aid of the surgical robot, thereby greatly reducing any potential medical risks caused by human misoperation. However, the current surgical robot has a problem of being bulky, and thus may require a large space in operation.
Disclosure of Invention
The invention mainly aims to provide a three-axis type movement device which can perform multi-degree-of-freedom high-precision movement and can enable a surgical robot applying the three-axis type movement device to achieve the effect of light and handy volume.
In order to achieve the above objectives, the present invention provides a three-axis exercise device, which comprises a first base, a hollow shaft, a first power source, a second base, a second power source, a third base, and a rotation unit. The first power source is arranged on the first base and is provided with a first driving shaft; the hollow rotating shaft is connected with the first driving shaft, so that the hollow rotating shaft can be driven by the first driving shaft of the first power source to synchronously rotate with the first driving shaft; the second base is connected with the hollow rotating shaft, so that the second base can be driven by the hollow rotating shaft to rotate around a first axial direction relative to the first base; the second power source is arranged on the first base and is provided with a second driving shaft, and the second driving shaft can rotatably penetrate through the hollow rotating shaft; the third base is connected with a second driving shaft of the second power source, so that the third base can be driven by the third base to rotate relative to the second base around a second axial direction perpendicular to the first axial direction; the rotating unit is arranged on the third base and is provided with a workpiece positioning piece, and the workpiece positioning piece can rotate around a third axial direction perpendicular to the second axial direction relative to the third base.
Therefore, the three-axis type movement device can perform multi-degree-of-freedom high-precision movement, is quite suitable for being applied to the surgical robot special for the ear-nose minimally invasive surgery, can achieve the effect of lightening the size, and further can solve the problem that the prior art is large and heavy.
Preferably, the first driving shaft and the first axial direction are parallel to each other, and the second driving shaft and the first axial direction are coaxially corresponding, so that the loss of power during transmission can be reduced.
Preferably, the first power source and the second power source are located on the same side of the first base, so that the bulky components can be concentrated to achieve the effect of light weight.
Preferably, the first base has a first arm and a second arm, one end of the first arm and one end of the second arm are connected to each other, and an included angle between the first arm and the second arm is 90-180 degrees, so that there is enough space for the first base to flash over an object located therebelow, such as the head or other body part of a patient, during the actuation process.
The invention will be described in the following detailed description of embodiments of the invention with reference to the detailed construction, features, assembly or use of the three-axis exercise device provided herein. However, it will be understood by those skilled in the art that the detailed description and specific examples, while indicating the specific embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Drawings
Fig. 1 is an external perspective view of a three-axis type exercising apparatus according to the present invention.
Fig. 2 is a perspective view of the three axis exercise device of the present invention with the housing removed.
Fig. 3 is a front view of the three-axis motion device of the present invention.
Fig. 4 is a rear view of the three-axis exercising device of the invention.
Fig. 5 is a partial cross-sectional view of a three-axis exercise device of the present invention.
Fig. 6 is a side view of the three-axis exercise device of the present invention.
Fig. 7 is a perspective assembly view of a third base and a rotating unit provided in the three-axis type exercising apparatus according to the present invention.
Fig. 8 is an exploded perspective view of a rotary unit provided in the three-axis exercising apparatus according to the present invention.
FIG. 9 is a cross-sectional view taken along line 9-9 of FIG. 7, primarily illustrating the keys in a first position.
FIG. 10 is similar to FIG. 9 and shows primarily the keys in a second position.
[ notation ] to show
10-a three-axis motion device; 12-a housing;
14-a surgical robot; 20-a first base;
21-a first arm; 22-a second support arm;
23-a first carrier plate; 24-a second carrier plate;
25-a third carrier plate; theta-included angle;
30-a first power source; 31-a first motor;
32-a first output shaft; 33-a first reducer;
34-a first drive shaft; 35-a first drive shaft;
40-a hollow rotating shaft; 41-a first transmission unit;
42-a first drive wheel; 43-a second transmission wheel;
44-a first drive belt; 50-a second base;
51-a fourth carrier plate; 52-a fifth carrier plate;
53-disc portion; 60-a second power source;
61-a second motor; 62-a second output shaft;
63-a second reducer; 64-a second drive shaft;
65-a second drive shaft; 70-a third base;
71-a shaft portion; 72-a seat body;
73-containing groove; 74-positioning grooves;
75-a second transmission unit; 76-a third driving wheel;
77-a fourth transmission wheel; 78-a second drive belt;
80-a rotation unit; 81-a bearing;
82-an upper cover; 83-top hole;
84-key hole; 85-workpiece positioning element;
86-a fixation element; 87-keys;
872-a pressing part; 874-a positioning section;
88-a resilient member; p1-first position;
p2-second position; a 1-first axial direction;
a2 — second axial direction; a 3-third axial direction;
90-a controller; 91-a first angle sensor;
92-a second angle sensor.
Detailed Description
The applicant hereby gives notice that, in the embodiments and drawings to be described hereinafter, the same reference numerals will be used to designate the same or similar elements or structural features thereof.
Referring initially to FIG. 1, there is shown an aspect of the present invention in which a three-axis exercise device 10 is installed in a housing 12 and then applied to a surgical robot 14. Referring to fig. 2 and fig. 3, the three-axis exercise device 10 of the present invention is shown after the housing 12 is removed, and mainly includes a first base 20, a first power source 30, a hollow rotating shaft 40, a second base 50, a second power source 60, a third base 70, and a rotating unit 80.
The first base 20 has a first arm 21 and a second arm 22, the bottom end of the first arm 21 is integrally connected to the top end of the second arm 22, and an included angle θ between 90-180 degrees is formed between the first arm 21 and the second arm 22, as shown in fig. 4, through the included angle θ, there is enough space for the first base 20 to flash over an object located therebelow, such as the head or other body parts of a patient, during the operation process, so that the present invention is suitable for being applied to the surgical robot dedicated for the ear-nose minimally invasive surgery. In addition, as shown in fig. 2 and 4, the first arm 21 is used for a controller 90 to assemble and fix, and the second arm 22 sequentially has a first support plate 23, a second support plate 24 and a third support plate 25 from top to bottom.
The first power source 30 has a first motor 31, a first reducer 33 and a first driving shaft 35. The first motor 31 is disposed on the first support plate 23 of the second support arm 22 of the first base 20 and has a first output shaft 32, the first speed reducer 33 is disposed on the second support plate 24 of the second support arm 22 of the first base 20 and has a first transmission shaft 34, as shown in fig. 3 and 6, the first output shaft 32 of the first motor 31 is connected to the first speed reducer 33, the first transmission shaft 34 of the first speed reducer 33 is coaxially connected to the first driving shaft 35, so that the first driving shaft 35 can be driven by the first motor 31 to rotate.
The hollow shaft 40 is rotatably disposed through the third support plate 25 of the second arm 22 of the first base 20 and connected to the first driving shaft 35 of the first power source 30 through a first transmission unit 41. More specifically, as shown in fig. 2, 3 and 6, the first transmission unit 41 has a first transmission wheel 42, a second transmission wheel 43 and a first transmission belt 44, wherein the first transmission wheel 42 is disposed on the third support plate 25 of the second arm 22 of the first base 20 and coaxially connected to the first driving shaft 35, the second transmission wheel 43 is disposed on the third support plate 25 of the second arm 22 of the first base 20 and coaxially connected to the hollow shaft 40, and the first transmission belt 44 is wound around the first transmission wheel 42 and the second transmission wheel 43, so that the first transmission wheel 42 and the second transmission wheel 43 can synchronously rotate.
Therefore, the first driving shaft 35 of the first power source 30 drives the first driving wheel 42 to rotate, then the first driving wheel 42 drives the second driving wheel 43 to rotate through the first driving belt 44, and finally the second driving wheel 43 drives the hollow rotating shaft 40 to rotate together.
The second base 50 is located below the first base 20. As shown in fig. 3 and 5, the top end of the second base 50 has a fourth supporting plate 51 and a fifth supporting plate 52 located below the fourth supporting plate 51, and the bottom end of the second base 50 has a disc portion 53. As shown in fig. 3 and 6, the fourth bearing plate 51 of the second base 50 is coaxially connected to the bottom end of the hollow shaft 40, so that the second base 50 can be driven by the hollow shaft 40 to rotate relative to the first base 20 about a first axial direction a1, wherein the first axial direction a1 is parallel to the first driving shaft 35 of the first power source 30. In addition, the rotation angle of the second base 50 can be sensed by a first angle sensor 91, as shown in fig. 2, the first angle sensor 91 is mounted on the third support plate 25 of the second arm 22 of the first base 20 and electrically connected to the controller 90, so that the first angle sensor 91 can transmit the sensing result to the controller 90 for determination.
The second power source 60 is located on the same side of the first base 20 as the first power source 30. The second power source 60 has a second motor 61, a second speed reducer 63 and a second driving shaft 65, the second motor 61 is disposed on the first support plate 23 of the second support arm 22 of the first base 20 and has a second output shaft 62, the second speed reducer 63 is disposed on the second support plate 24 of the second support arm 22 of the first base 20 and has a second transmission shaft 64, as shown in fig. 3 and 6, the second output shaft 62 of the second motor 61 is connected to the second speed reducer 63, the second transmission shaft 64 of the second speed reducer 63 is coaxially connected to the second driving shaft 65, and the second driving shaft 65 penetrates through the hollow rotating shaft 40 and coaxially corresponds to the first axial direction a1, so that the second driving shaft 65 can be driven by the second motor 61 to rotate relative to the hollow rotating shaft 40.
The third base 70 has a shaft portion 71, and the shaft portion 71 of the third base 70 passes through the disc portion 53 of the second base 50 and is connected to the second driving shaft 65 of the second power source 60 through a second transmission unit 75. Furthermore, as shown in fig. 4 to 6, the second transmission unit 75 has a third transmission wheel 76, a fourth transmission wheel 77 and a second transmission belt 78, the third transmission wheel 76 is disposed on the fifth supporting plate 52 of the second base 50 and coaxially connected to the second driving shaft 65 of the second power source 60, the fourth transmission wheel 77 is disposed on the back of the disk portion 53 of the second base 50 and coaxially connected to the shaft portion 71 of the third base 70, the second transmission belt 78 is connected to the third transmission wheel 76 and the fourth transmission wheel 77, so that the third transmission wheel 76 and the fourth transmission wheel 77 can synchronously rotate.
Thus, the second driving shaft 65 of the second power source 60 drives the third driving wheel 76 to rotate, the third driving wheel 76 drives the fourth driving wheel 77 to rotate through the second driving belt 78, and finally the fourth driving wheel 77 drives the third base 70 to rotate relative to the second base 50 in a second axial direction A2 perpendicular to the first axial direction A1. In addition, the rotation angle of the third base 70 can be sensed by a second angle sensor 92, as shown in fig. 2 and 3, the second angle sensor 92 is mounted on the tray portion 53 of the second base 50 and electrically connected to the controller 90, so that the second angle sensor 92 can transmit the sensing result to the controller 90 for determination.
In addition, as shown in fig. 7 and 8, the third base 70 further has a seat 72 connected to the shaft portion 71, the seat 72 has a receiving slot 73, and a plurality of positioning slots 74 are formed on a wall of the receiving slot 73. The rotating unit 80 has a bearing 81, an upper cover 82, a workpiece positioning element 85, two buttons 87 and two elastic elements 88, wherein: the bearing 81 is arranged in the accommodating groove 73; the upper cover 82 covers the containing groove 73 and is provided with a top hole 83 axially communicated with the containing groove 73 and two key holes 84 oppositely and radially communicated with the containing groove 73; the workpiece positioning element 85 is locked on the upper cover 82 by a fixing element 86 such as a screw, and is mainly used for assembling and positioning a workpiece (such as an endoscope), the top end of the workpiece positioning element 85 protrudes out of the top hole 83, and the bottom end of the workpiece positioning element 85 is fixed on the bearing 81 by a retaining ring 89; the key 87 is disposed in the upper cover 82 and has a pressing portion 872 and a positioning portion 874, wherein the pressing portion 872 is disposed in the key hole 84 of the upper cover 82 in a penetrating manner, the positioning portion 874 corresponds to one of the positioning slots 74 of the third base 70, when the pressing portion of the key 87 is not subjected to an external force and the key 87 is located at a first position P1 shown in fig. 9, the positioning portion 874 of the key 87 is engaged with one of the positioning slots 74 of the third base 70, so that the rotating unit 80 cannot rotate relative to the third base 70, and when the pressing portion 872 of the key 87 is subjected to an external force and causes the key 87 to be located at a second position P2 shown in fig. 10, the positioning portion 874 of the key 87 is disengaged from the originally engaged positioning slot 74, so that the rotating unit 80 can rotate relative to the third base 70 around a third axial direction A3 perpendicular to the second axial direction a 2; the elastic member 88 is disposed between the positioning member 85 and the button 87 for keeping the button 87 at the first position P1 as shown in fig. 9.
As can be seen from the above, the second base 50, the third base 70 and the rotating unit 80 provided in the three-axis moving device 10 of the present invention can rotate around different axes, so as to adjust the position of the workpiece according to actual requirements, and is quite suitable for being applied to a surgical robot dedicated for ear-nose minimally invasive surgery. In addition, the three-axis movement device 10 of the present invention concentrates the bulky components (such as the first power source 30 and the second power source 60) on the same side, so that the surgical robot applying the present invention can effectively achieve the purpose of light weight.
Claims (9)
1. A three-axis exercise device comprising:
a first base;
the first power source is arranged on the first base and is provided with a first driving shaft;
the hollow rotating shaft is connected with a first driving shaft of the first power source, so that the hollow rotating shaft can be driven by the first driving shaft to synchronously rotate along with the first driving shaft;
the second base is connected with the hollow rotating shaft, so that the second base can be driven by the hollow rotating shaft to rotate around a first axial direction relative to the first base;
the second power source is arranged on the first base and is provided with a second driving shaft, and the second driving shaft can rotatably penetrate through the hollow rotating shaft;
the third base is connected with the second driving shaft of the second power source, so that the third base can be driven by the second driving shaft of the second power source to rotate relative to the second base around a second axial direction perpendicular to the first axial direction; and
the rotating unit is arranged on the third base and is provided with a workpiece positioning piece, and the workpiece positioning piece can rotate around a third axial direction which is vertical to the second axial direction relative to the third base;
wherein the third base has a receiving slot, the rotary unit further has a bearing, an upper cover, a key and an elastic member, the bearing is arranged in the containing groove, the upper cover covers the containing groove and is provided with a top hole axially communicated with the containing groove and a key hole radially communicated with the containing groove, the workpiece positioning piece is arranged on the upper cover, the top end of the workpiece positioning piece protrudes out of the top hole, the bottom end of the workpiece positioning piece is connected with the bearing, the key is movably arranged in the key hole of the upper cover between a first position and a second position, when the key is located at the first position, the key is located on the third base, so that the rotating unit cannot rotate relative to the third base, when the key is located at the second position, the key is separated from the third base, so that the rotating unit can rotate relative to the third base, the elastic piece is arranged between the positioning piece and the key and used for keeping the key at the first position.
2. The three-axis exercise device of claim 1, wherein the first and second power sources are located on the same side of the first base.
3. The three axis exercise device of claim 1, wherein the first drive shaft and the first axis are parallel to each other.
4. The three-axis exercise device of claim 1 or 3, wherein the second drive shaft is coaxially aligned with the first axis.
5. The three-axis exercise apparatus according to claim 1 or 2, wherein the first driving shaft of the first power source is connected to the hollow shaft through a first transmission unit, the first transmission unit has a first driving wheel, a second driving wheel and a first driving belt, the first driving wheel is disposed on the first base and coaxially connected to the first driving shaft, the second driving wheel is disposed on the first base and coaxially connected to the hollow shaft, the first driving belt is wound around the first driving wheel and the second driving wheel.
6. The three-axis exercise device according to claim 5, wherein the first power source further comprises a first motor and a first reducer, the first motor having a first output shaft, the first output shaft being connected to the first reducer, the first reducer having a first transmission shaft coaxially connected to the first drive shaft.
7. The three-axis exercise apparatus according to claim 1 or 2, wherein the second driving shaft of the second power source is connected to the third base via a second transmission unit, the second transmission unit has a third driving wheel, a fourth driving wheel and a second transmission belt, the third driving wheel is disposed at the top end of the second base and coaxially connected to the second driving shaft, the fourth driving wheel is disposed at the bottom end of the second base and connected to the third base, and the second transmission belt is wound around the third driving wheel and the fourth driving wheel.
8. The three-axis exercise device according to claim 7, wherein the second power source further comprises a second motor and a second reducer, the second motor having a second output shaft, the second output shaft being connected to the second reducer, the second reducer having a second transmission shaft, the second transmission shaft being coaxially connected to the second drive shaft.
9. The three-axis exercise device according to claim 1 or 2, wherein the first base has a first arm and a second arm, one end of the first arm and one end of the second arm are connected to each other, and an included angle between the first arm and the second arm is between 90 and 180 degrees; the first power source and the second power source are arranged on the second support arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811099763.0A CN110916800B (en) | 2018-09-20 | 2018-09-20 | Three-axis type movement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811099763.0A CN110916800B (en) | 2018-09-20 | 2018-09-20 | Three-axis type movement device |
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| Publication Number | Publication Date |
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| CN110916800A CN110916800A (en) | 2020-03-27 |
| CN110916800B true CN110916800B (en) | 2021-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811099763.0A Active CN110916800B (en) | 2018-09-20 | 2018-09-20 | Three-axis type movement device |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1334700A1 (en) * | 2002-02-12 | 2003-08-13 | The University of Tokyo | Active trocar |
| WO2007088206A3 (en) * | 2006-02-03 | 2007-09-20 | Euratom | Medical robotic system with manipulator arm of the cylindrical coordinate type |
| CN101049699A (en) * | 2007-04-20 | 2007-10-10 | 天津大学 | Parallel mechanism capable of implementing two degrees of freedom in rotation, and one degree of freedom in translation |
| CN104626129A (en) * | 2015-02-10 | 2015-05-20 | 上海巨想机器人科技有限公司 | Five-degree-of-freedom robot tail end transmission mechanism |
| CN105246428A (en) * | 2013-01-11 | 2016-01-13 | 美的洛博迪克斯公司 | Articulating surgical instruments and methods of deploying the same |
| CN105997251A (en) * | 2016-06-12 | 2016-10-12 | 浙江理工大学 | Four-freedom-degree series-parallel minimally invasive surgery manipulator |
| CN108466257A (en) * | 2018-06-19 | 2018-08-31 | 东莞市东启智能设备有限公司 | A kind of manipulator |
-
2018
- 2018-09-20 CN CN201811099763.0A patent/CN110916800B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1334700A1 (en) * | 2002-02-12 | 2003-08-13 | The University of Tokyo | Active trocar |
| WO2007088206A3 (en) * | 2006-02-03 | 2007-09-20 | Euratom | Medical robotic system with manipulator arm of the cylindrical coordinate type |
| CN101049699A (en) * | 2007-04-20 | 2007-10-10 | 天津大学 | Parallel mechanism capable of implementing two degrees of freedom in rotation, and one degree of freedom in translation |
| CN105246428A (en) * | 2013-01-11 | 2016-01-13 | 美的洛博迪克斯公司 | Articulating surgical instruments and methods of deploying the same |
| CN104626129A (en) * | 2015-02-10 | 2015-05-20 | 上海巨想机器人科技有限公司 | Five-degree-of-freedom robot tail end transmission mechanism |
| CN105997251A (en) * | 2016-06-12 | 2016-10-12 | 浙江理工大学 | Four-freedom-degree series-parallel minimally invasive surgery manipulator |
| CN108466257A (en) * | 2018-06-19 | 2018-08-31 | 东莞市东启智能设备有限公司 | A kind of manipulator |
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| CN110916800A (en) | 2020-03-27 |
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