CN111374775A - Mechanical manipulator of medical robot - Google Patents

Abstract

The invention relates to a mechanical manipulator of a medical robot, which comprises a horizontal pre-adjusting arm, a pitching swinging pre-adjusting arm, a crank arm and a pitching mechanical arm, wherein the horizontal pre-adjusting arm is connected with the pitching swinging pre-adjusting arm; the horizontal pre-adjusting arm comprises a plurality of rotating arms which are sequentially and rotatably connected, and a locking mechanism which is relatively locked is arranged between every two adjacent rotating arms; the pitching and swinging pre-adjusting arm comprises a pitching pre-adjusting arm and a swinging pre-adjusting arm, both the pitching pre-adjusting arm and the swinging pre-adjusting arm are provided with fine-tuning self-locking mechanisms, and the pitching pre-adjusting arm is arranged on the rotating arm at the outermost side; the crank arm is arranged on a driving disc of the swing pre-adjusting arm, and a power driving mechanism is arranged on the crank arm; the pitching mechanical arm is driven by an output shaft on the power driving mechanism to work, and a driven arm, a fixed arm and a driving arm of the pitching mechanical arm are respectively provided with a synchronizing device which enables adjacent adjusting arms to be linked. The invention has the advantages of quick adjustment, high safety performance, good stability and stability, and low manufacturing cost to a certain extent.

Description

Mechanical manipulator of medical robot

Technical Field

The invention relates to the technical field of medical robots, in particular to a mechanical manipulator of a medical robot.

Background

Minimally invasive surgery is a hot point for medical technology research and is a trend of future surgical development, mainly because minimally invasive medical treatment has many advantages: such as small trauma, short hospital stays, quick recovery, few postoperative complications, etc. However, the conventional endoscopic surgery has many disadvantages, such as low operation precision, small visual field range, small operation freedom, and easy fatigue and trembling of doctors. With the development of scientific technology, the medical assistance technology of the robot can well solve the problems. The robot auxiliary technology can provide a 3D visual field, is convenient for the operation of doctors, greatly increases the flexibility of the operation of miniature medical instruments, enables the doctors to carry out more precise operation, simultaneously adds the design in the aspect of ergonomics, and can reduce the fatigue of the doctors.

In a common scenario of surgical operation with the assistance of a surgical robot, a doctor operates the main hand end of the robot at a position far away from a patient, and controls the movement of a surgical instrument of the robot at the patient end at a surgical site according to a control mode of the main-slave operation. The master hand end may take the form of, but is not limited to, a series of isomorphic robotic arms, a parallel robotic arm, an exoskeleton glove, etc., by which the position and orientation of the surgical instrument at the surgical site may be controlled. Generally, a patient-end robot has a plurality of robotic arms that can hold surgical instruments and an endoscope. In such a usage scenario, there will be a very important issue of how to make accurate and effective adjustments to the robotic arm.

The crank arm of the existing minimally invasive surgical robot is deficient in stability in the operation process, and is usually directly driven by a simple motor, and compared with the surgical operation, the driving mode still has certain hidden trouble, the surgical operation needs to be more precise, the vibration caused by the mechanical operation is not allowed, or too much noise is generated, the quiet environment and the stable auxiliary function need to be provided for the surgical operation, but the direct driving mode cannot achieve better refinement to a certain degree, and certain potential safety hazard and uncertainty are also generated for the surgical operation.

At present, the robot mechanical arm used in medical surgery at home and abroad has higher requirements, after the end part of the instrument is accurately positioned at a certain part of the body of a patient, when the relative position between the mechanical arms is required to be adjusted, the end part of the instrument acting on the certain part of the body of the patient is required to be ensured not to deviate, and only the mechanical arm is required to generate corresponding displacement. Therefore, how to realize that the end of an instrument acting on a certain part of the body of a patient cannot deviate in the displacement process of the mechanical arm in the medical field, and the mechanical arm can be ensured to keep higher stability in the displacement process, so that the safety of the medical surgical operation is further improved.

The motion adjusting mechanism of the existing minimally invasive surgical robot usually performs horizontal adjustment before adjusting an operation arm of the robot, and how to realize stable rotation and facilitate the rotation locking of the horizontal position is a problem to be solved; meanwhile, most of the mechanical arms in the medical field are linked by a large number of control chips, control motors and control systems, but the stability requirement of the mechanical arms is higher than other control requirements for the mechanical arms, so that the problem to be solved is how to realize quick, convenient and stable adjustment of mechanical handles in the medical field.

Disclosure of Invention

The invention aims to provide a mechanical manipulator of a medical robot, which has the advantages of quick adjustment, high safety performance, better stability and lower manufacturing cost to a certain extent.

The technical purpose of the invention is realized by the following technical scheme:

a medical robot mechanical manipulator comprises a horizontal pre-adjusting arm, a pitching swinging pre-adjusting arm, a crank arm and a pitching mechanical arm;

the horizontal pre-adjusting arm comprises a plurality of rotating arms which are sequentially and rotatably connected, and a locking mechanism which is relatively locked is arranged between every two adjacent rotating arms;

the pitching and swinging pre-adjusting arm comprises a pitching pre-adjusting arm and a swinging pre-adjusting arm which are hinged through a hinge shaft, the pitching pre-adjusting arm and the swinging pre-adjusting arm are both provided with a fine-tuning self-locking mechanism, and the pitching pre-adjusting arm is arranged on the rotating arm at the outermost side;

the crank arm is arranged on a driving disc of the swing pre-adjusting arm, and a power driving mechanism is arranged on the crank arm;

the pitching mechanical arm is driven by an output shaft on the power driving mechanism to work, the pitching mechanical arm comprises a driven arm, a fixed arm and a driving arm which are always kept in relative parallel, the head end and the tail end of the driving arm are respectively hinged with the tail end of the driven arm and the head end of the fixed arm, and synchronizing devices for enabling adjacent adjusting arms to be linked are arranged in the driven arm, the fixed arm and the driving arm.

Through adopting above-mentioned technical scheme, utilize and change the cooperation of driven arm, every single move pendulum change arm, turning arm, every single move arm in advance for mechanical operation hand has the regulation fast, and the security performance is high, and smoothness and stability can be better, and to a certain extent, comparatively saves manufacturing cost's advantage.

The invention is further configured to: adjacent rotating arms in the horizontal pre-adjusting arms are mutually and rotatably connected through a first rotating shaft, one end of the first rotating shaft extends into one rotating arm and is fixedly connected with the rotating arm, and the other end of the first rotating shaft extends into the other rotating arm and is rotatably connected with the rotating arm; the locking mechanism is arranged on the first rotating shaft between the adjacent rotating arms.

Through adopting above-mentioned technical scheme, utilize locking mechanism to realize the stable locking relation between two adjacent rotor arms, it is very convenient to the quick adjustment of turned angle moreover, has ensured certain security performance in the operation process simultaneously.

The invention is further configured to: the locking mechanism has the structure that: a first brake is fixedly arranged in the rotating arm fixedly connected with one end of the first rotating shaft, a first through hole for the first rotating shaft to pass through is formed in the first brake, and a gap is formed between the first through hole and the first rotating shaft; the end face of the rotating arm rotatably connected with the other end of the first rotating shaft is provided with a first through hole for the first rotating shaft to pass through, and the first through hole is fixedly connected with the first brake.

Through adopting above-mentioned technical scheme, utilize this locking mechanical system of use that first stopper can be nimble, through controlling the break-make of the circular telegram of first stopper, and then reach the state of locking or unblock, can be when the arm needs to be adjusted, to first stopper circular telegram can, and after the outage, first stopper gets into the locking state promptly, this design can be when nimble realization is adjusted and the locking, can also do the using-saving of the electric power energy, in addition, potential safety hazard can not appear in this design when the outage suddenly during the use, further improvement the security of using.

The invention is further configured to: the hole opening of the first through hole extends towards the outer side direction to form an installation body, and the first brake is fixedly installed on the port of the installation body.

Through adopting above-mentioned technical scheme, set up the fixed first stopper of installation body, then be the stability of further promotion locking structure, the stable work of this structure does not provide good safety guarantee.

The invention is further configured to: the first rotating shaft penetrates through the mounting body and is in rotating connection with the mounting body through a first bearing; the end face, opposite to the mounting body, of the rotating arm fixedly connected with one end of the first rotating shaft is provided with a rotating hole for the mounting body to insert, and the mounting body and the rotating hole are rotatably connected through a first bearing.

Through adopting above-mentioned technical scheme, utilize first bearing complex rotation relation, can make stable the rotation between first pivot, the installation body, the rotation hole three, mutual noninterference can prolong the life of equipment moreover, has improved the motion flexibility between the rotor arm.

The invention is further configured to: the position of the first rotating shaft corresponding to the installation body, the position of the installation body on the outer side wall corresponding to the rotating hole and close to the port of the installation body are provided with necking parts, and the first bearings are sleeved on the corresponding necking parts.

Through adopting above-mentioned technical scheme, utilize the setting of throat, can guarantee that the relative position of first bearing is stable, can not cause the trouble of equipment.

The invention is further configured to: with be equipped with the turned angle detection mechanism with first pivot looks adaptation in the rotor arm of the other end rotation connection of first pivot, turned angle detection mechanism's structure is: and a mounting hole is formed in the rotating arm rotatably connected with the other end of the first rotating shaft, a first encoder is mounted in the mounting hole, and a first input shaft of the first encoder is fixedly connected with the first rotating shaft.

By adopting the technical scheme, the rotation angle between the two rotating arms can be detected more accurately by utilizing the matching between the first encoder and the first rotating shaft, and more assistance is provided for a user when the high-precision use is required.

The invention is further configured to: the first rotating shaft is matched with the mounting hole through a first bearing and is in rotating connection with the mounting hole; one side of the first rotating shaft, which is close to the mounting hole, is provided with an annular limiting bulge, and the first bearing is arranged on the first rotating shaft between the limiting bulge and the mounting hole.

By adopting the technical scheme, the first rotating shaft and the mounting hole can stably rotate without mutual interference by utilizing the rotation relation of the first bearing in a matching way, the service life of equipment can be prolonged, and the first encoder is protected to a certain extent; utilize spacing bellied design, can ensure first pivot rock, the operation at equipment, perhaps when colliding, relative position between first pivot and the mounting hole can effectual guarantee, has further enhancement to the guard action of first encoder simultaneously.

The invention is further configured to: openings are formed in one ends of the pitching pre-adjusting arm and the swinging pre-adjusting arm, a hinged shaft is fixedly arranged on the side wall of the opening of the swinging pre-adjusting arm, and the opening end of the pitching pre-adjusting arm is hinged to the hinged shaft; a first driving piece is fixedly mounted on an articulated shaft in an opening of the swing pre-adjusting arm, a fine-tuning self-locking mechanism is arranged in the pitching pre-adjusting arm, and the fine-tuning self-locking mechanism drives the first driving piece to rotate so as to adjust the pitching angle of the pitching arm.

Through adopting above-mentioned technical scheme, can be convenient quick adjust the every single move arm, treat simultaneously after the regulation is ended, this mechanism can carry out relative locking through self structure for the position after the locking is relatively stable, has guaranteed the security at medical treatment surgery operation, can have a lot of convenience and maneuverability, controllability to the user simultaneously.

The invention is further configured to: the structure of the fine-tuning self-locking mechanism in the pitching pre-adjusting arm is as follows: two opposite sides in the pitching pre-adjusting arm are respectively provided with a second bearing, a pitching adjusting worm with the axis vertical to the axis of the hinge shaft is arranged between the two second bearings, one end of the pitching adjusting worm penetrates through the corresponding second bearing and is provided with a pinion at the end extending out of the second bearing, a main gear meshed with the pinion is rotatably arranged in the pitching pre-adjusting arm, and the main gear is arranged on a fine adjustment shaft with one end extending out of the pitching pre-adjusting arm.

Through adopting above-mentioned technical scheme, utilize the mixed collocation setting of every single move adjustment worm, gear structure for this mechanism have good controllability and self-locking function, when needs fine setting, only need to finely tune the axle rotate can.

The invention is further configured to: first mounting platforms are arranged in the pitching pre-adjusting arm at positions corresponding to the second bearings, through holes are formed in the two first mounting platforms respectively, and the two second bearings are mounted in the corresponding first mounting platforms respectively.

Through adopting above-mentioned technical scheme, because medical surgery operation robot uses the restriction of scene, also there is comparatively strict demand to the occupation space of robot, and this design utilizes first mount table to fix the second bearing, can effectively utilize the space in the every single move pre-adjustment arm, can carry out effectual utilization in the space between the inner wall of first mount table and corresponding every single move pre-adjustment arm like this for the further reduction of occupation space of this product.

The invention is further configured to: an adjusting platform is arranged in the pitching pre-adjusting arm and corresponds to the fine adjusting shaft, a second through hole is formed in the adjusting platform, and the inner end of the fine adjusting shaft extends into the second through hole and is matched with the second through hole through a second bearing.

Through adopting above-mentioned technical scheme, set up the regulation station, on the one hand can carry out effectual utilization to the space in the every single move preset arm, stability when on the other hand can improve the regulation of fine setting axle, when avoiding using the instrument to adjust the fine setting axle, make the bearing capacity of regulation station fine setting axle receive certain sharing, its leading cause is, the occupation space of this product is less relatively, inside spare part is also less relatively, consequently, need carry out abundant utilization and sharing to the atress, avoid operating too late, lead to spare part to damage.

The invention is further configured to: the transmission ratio between the main gear and the auxiliary gear is less than 1; the first driving piece is a sector worm wheel meshed with the pitching adjusting worm.

By adopting the technical scheme, the adjustment accuracy can be further improved by the design of the transmission ratio, and the adjustment range of the mechanism is extremely small even if a large force is accidentally applied under the condition of small transmission, so that the safety of a medical surgical operation can be ensured to a great extent; the fan-shaped worm wheel can be well matched with the pitching adjusting worm, the swinging pre-adjusting arm can be effectively driven to rotate synchronously, and meanwhile, the fan-shaped worm wheel and the pitching adjusting worm have a good self-locking function, so that the use safety is improved.

The invention is further configured to: the swing pre-adjusting arm is internally provided with a fine-adjustment self-locking mechanism which is matched with the first rotating shaft to adjust the rotating angle of the first rotating shaft.

Through adopting above-mentioned technical scheme, set up fine setting self-locking mechanism to first axis of rotation in the pendulum commentaries on classics preadjustment arm to form second fine setting structure, can revise once more the position after fine setting mechanism finely tunes, improved the precision that this product used.

The invention is further configured to: the structure of the fine-adjustment self-locking mechanism in the swing pre-adjustment arm is as follows: a worm wheel is arranged in the middle of the first rotating shaft, a swing adjusting worm meshed with the worm wheel is arranged in a swing pre-adjusting arm on one side of the worm wheel, and two ends of the swing adjusting worm extend out of two opposite side walls of the swing pre-adjusting arm and are rotatably connected with the two side walls; the end parts of the swing adjusting worms extending out of the two opposite side walls of the swing pre-adjusting arm are respectively provided with adjusting threads, the end parts of the corresponding swing adjusting worms are respectively provided with adjusting nuts which are in matched connection with the adjusting threads, and the swing adjusting worms and the worm gears are double-lead worm and worm gears.

By adopting the technical scheme, the fine adjustment effect is realized through the structural arrangement of the worm gear and the worm, the self-locking function is achieved, the fine adjustment accuracy is ensured, and the adjustment is convenient and quick; meanwhile, the wear of the worm gear and the worm in the using process can be effectively compensated by the design of the double-lead worm and the worm wheel, the inaccuracy in fine adjustment is avoided, and the insecurity in the medical surgical operation is eliminated.

The invention is further configured to: and a second encoder is arranged in the swing pre-adjusting arm corresponding to the inner end of the swing adjusting worm, and a shaft sleeve of the second encoder is fixedly connected with the swing adjusting worm.

Through adopting above-mentioned technical scheme, utilize the second encoder can monitor the turned angle of first axis of rotation in real time, can play fine additional action to user's regulation, also can help the user to carry out quick adjustment moreover to can in time discover the degree of influence of the worm gear loss in the above-mentioned to medical surgery operation.

The invention is further configured to: the power driving device comprises two motor components which are installed through a crank arm, one of the motor components is fixedly installed at one end of the crank arm, an output shaft of the motor component penetrates through the crank arm to be fixedly connected with the outer shell of the other motor component, and an output shaft of the other motor component drives the pitching mechanical arm to work.

Through adopting above-mentioned technical scheme, through one of them motor element of connecting lever installation, and this motor element drive another motor element rotates, can make mechanical operation hand's variable angle more like this, improved the flexibility of manipulator, simultaneously, there is very big supplementary to the promotion of precision.

The invention is further configured to: the motor assembly comprises an outer shell with openings at two ends, a stator and a rotor are arranged in the outer shell, the stator is arranged on the outer ring of the rotor, a partition wall is arranged in the middle of an inner cavity of the outer shell and divides the inner cavity of the outer shell into a driving cavity and a braking cavity, the stator and the rotor are arranged in the driving cavity, the stator is fixedly arranged on the partition wall, the rotor is sleeved on the rotating sleeve, the rotating sleeve penetrates through the partition wall and extends into the braking cavity, a second brake is arranged in the braking cavity, and a shaft sleeve of the second brake is fixedly sleeved on the rotating sleeve; the opening of the driving cavity is fixedly provided with a harmonic reducer, the power input end of the harmonic reducer is fixedly connected with the rotating sleeve, and the power output end of the harmonic reducer is fixedly provided with a first flange plate.

By adopting the technical scheme, the structure of the motor is improved, the outer shell is divided into the driving cavity and the braking cavity by the partition wall, the inner space is more effectively utilized, and the scheme has relatively lower actual use power for the motor, therefore, the utilization of space can be properly adjusted, the stator is fixedly arranged on the baffle wall in the driving cavity, the shaft directly matched with the rotor is improved into a rotating sleeve, and the driving stroke is reduced and the transmission loss and the noise between the shafts are reduced by the linkage fit between the rotating sleeve and the power input end of the harmonic reducer, and meanwhile, the second brake is arranged in the brake cavity, so that under the corresponding requirements, the rotating sleeve is braked in real time, the safety performance is high, the stability performance is good, and the manufacturing cost is saved to a certain extent on the premise that the occupied space of a product is not increased too much.

The invention is further configured to: the power input end of the harmonic reducer is a second input shaft, a second through hole penetrating through two ends of the second input shaft is formed in the second input shaft, and the second input shaft is fixedly connected with the corresponding end part of the rotating sleeve; the power output end is provided with a rigid wheel of the harmonic reducer, and the rigid wheel is fixedly connected with the first flange plate.

Through adopting above-mentioned technical scheme, utilize the connection of first ring flange for fixed connection's installation face increases, and makes the also corresponding reinforcing of steadiness, has avoided using the hub connection to increase occupation space's problem, has also avoided the condition of hub connection simultaneously under, the relatively poor problem of transmission structure's stability also.

The invention is further configured to: a first middle shaft penetrating through the partition wall and sleeved in the rotating sleeve is arranged in the outer shell, and a gap is formed between the outer wall of the first middle shaft and the inner wall of the rotating sleeve; one end of the first middle shaft, which faces the harmonic reducer, penetrates through the second through hole to be fixedly connected with the first flange plate, and a gap is formed between the first middle shaft and the second through hole; one side of the first central shaft and one side of the rotating sleeve, which are far away from the first flange plate, are respectively provided with a detection piece.

By adopting the technical scheme, the rotating disc and the rotating sleeve can be detected in real time by utilizing the arrangement of the first middle shaft under the condition that the structures of all the parts are not interfered with each other.

The invention is further configured to: the first flange plate is fixedly connected with the rigid wheel through a rotating disc, one end, facing the first flange plate, of the second input shaft extends out of the harmonic reducer and is close to the first flange plate, and the rotating disc is installed on the second input shaft through a third bearing.

Through adopting above-mentioned technical scheme, utilize the setting of rolling disc, increased the bearing strength of first ring flange, utilize the rotation relation of connecting of rolling disc simultaneously for effectual improvement the stationarity of power transmission between first ring flange and the rigid wheel.

The invention is further configured to: the inner wall of the brake cavity, which is far away from one side of the blocking wall, is inwards provided with an annular second mounting platform, an installation cavity is formed between the second mounting platform and the port of the shell body, which is far away from one side of the harmonic reducer, a detection piece fixedly connected with the first middle shaft is arranged in the installation cavity, and the detection piece is a third encoder.

Through adopting above-mentioned technical scheme, utilize the third encoder to carry out real-time supervision to numerical values such as rotational speed, rotation angle of rolling disc, reached the effect of conveniently controlling.

The invention is further configured to: the inner diameter of the mounting cavity is smaller than that of the brake cavity, and the inner diameter of the second mounting platform is smaller than that of the brake cavity; the second mounting table is provided with another detection piece which is a fourth encoder, and the fourth encoder is fixedly connected with the rotating sleeve; the opening of the mounting cavity is provided with a sealing cover.

By adopting the technical scheme, the inner diameters of the installation cavity, the brake cavity and the second installation platform are adjusted, so that the electromagnetic interference among the structures can be well ensured to be effectively reduced, and the product precision is higher; the fourth encoder can be used for monitoring the numerical values of the rotating sleeve such as the rotating speed, the rotating angle and the like in real time, so that the effect of convenient operation and control is achieved, and meanwhile, the difference between the input and the output of the harmonic reducer can be monitored in real time; the sealing cover can ensure the safety of the working environment of the encoder and can also facilitate the disassembly, assembly and maintenance of the encoder.

The invention is further configured to: a third through hole penetrating through the axial two ends of the first middle shaft is formed in the first middle shaft; the concave fixed slot that is equipped with in one end middle part that harmonic speed reducer ware was kept away from to first ring flange, first axis and the corresponding tip of first ring flange extend in the fixed slot and outwards extend and form solid fixed ring, gu fixed ring and fixed slot phase-match just are fixed in the fixed slot.

By adopting the technical scheme, the design of the third through hole can increase the use of materials in the manufacturing process and reduce the manufacturing difficulty on the one hand, and can improve the usability of the first middle shaft on the other hand, and meanwhile, the actual weight of the product can be greatly reduced; the design of solid fixed ring and fixed slot can strengthen the fixed area between first ring flange and the first axis, has not only strengthened joint strength, has improved the stability of product moreover.

The invention is further configured to: the structure of the synchronization device is as follows: a main driving component and a first crank connecting rod mechanism are arranged in the fixed arm, and the main driving component drives the first crank connecting rod mechanism to enable the driving arm to rotate relative to the fixed arm; a second crank connecting rod mechanism is arranged in the driving arm, and the driving arm drives the second crank connecting rod mechanism to rotate so that the driven arm rotates relative to the driving arm, and the driven arm and the fixed arm are always kept parallel; the driven arm rotates to drive a third crank-link mechanism arranged in the driven arm to work, and the third crank-link mechanism drives an auxiliary driving assembly arranged at the head end of the driven arm to work synchronously.

By adopting the technical scheme, the driven arm and the fixed arm are always kept parallel in the use process of the mechanical arm through the matching work of the three crank-link mechanisms in the driven arm, the driving arm and the fixed arm, and the driving arm plays a role of forming a diagonal line of a parallelogram after the head end and the tail end of the driven arm and the fixed arm are virtually connected.

The invention is further configured to: the first crank connecting rod mechanism is structurally characterized in that: a first hinge hole is formed in one side, facing the driving arm, of the head end of the fixed arm, and a first hinge disc matched with the first hinge hole is arranged on one side, opposite to the first hinge hole, of the tail end of the driving arm; a second rotating shaft is eccentrically arranged on the first hinged disk, the second rotating shaft is hinged with the end part corresponding to the main connecting rod arranged in the fixed arm, and the other end part of the main connecting rod is hinged on a second driving part driven by the main driving component.

By adopting the technical scheme, the design of the hinge hole and the hinge disc is utilized, so that the driving arm and the fixed arm can be relatively stable in the relative rotation process, and the acting force born by the hinge part is relatively increased; utilize main drive assembly to pass through the main connecting rod and drive the actuating arm and rotate, effectively utilize the structure of every regulating arm self, do not need too big and complicated transmission system, the space that this kind of design can reduce the product to a certain extent occupies, and first crank mechanism has formed a more stable parallelogram structure simultaneously for the moment transmission smoothness here is high.

The invention is further configured to: the structure of the main driving assembly is as follows: a guide base is arranged in the middle of the fixed arm, and a servo motor is arranged on one side of the guide base, which faces the tail end of the fixed arm; the guide base is internally provided with a ball screw which is coaxial with a motor shaft of the servo motor and is fixedly connected with the motor shaft, one side of the guide base, which faces the driving arm, is provided with a guide chute along the axial direction of the ball screw, and the second driving piece is slidably arranged on the guide chute and is driven by the ball screw in a matching way.

Through adopting above-mentioned technical scheme, through servo motor direct drive ball screw and second driving piece, make the second driving piece take place the displacement along ball screw's axial to drive the main connecting rod and take place the displacement along ball screw's axial simultaneously, the noise of this design can effectual reduction instrument during operation, and the while stationarity also has the promotion that is showing, and makes the drive precision of whole main drive assembly have had very big promotion.

The invention is further configured to: the structure of the second crank connecting rod mechanism is as follows: the head end of the driving arm and the tail end of the driven arm are hinged as follows: a second hinge hole is formed in one side, facing the driven arm, of the head end of the driving arm, and a second hinge disc matched with the second hinge hole is arranged at the tail end of the driven arm; a long connecting rod, a short connecting rod close to the head end of the driving arm and a rocker arm close to the tail end of the driving arm are arranged in the driving arm; the head end and the tail end of the long connecting rod are respectively hinged with the tail end of the short connecting rod and the head end of the rocker arm; the head end of the short connecting rod is hinged with the second hinged disc; the tail end of the rocker arm is fixedly connected with the fixed arm.

By adopting the technical scheme, the design of the hinge hole and the hinge disc is utilized, so that the driving arm and the driven arm can be relatively stable in the relative rotation process, and the acting force born by the hinge can be relatively increased; utilize second crank link mechanism to form a more stable parallelogram structure again for the moment transmission smoothness here is high, has reduced the space of product to a certain extent and has occupied, can the effectual space that utilizes the product, and the precision also has apparent promotion simultaneously.

The invention is further configured to: the third crank connecting rod mechanism is structurally characterized in that: a coaxial second middle shaft is hinged on the second hinged disc, the second middle shaft is arranged in the middle of a linkage part, and the head end of the linkage part is hinged with the tail end of the transmission part; the secondary drive assembly is driven by the transmission member.

Through adopting above-mentioned technical scheme, utilize the linkage to drive the driving medium and rotate, the vice drive assembly operation of driving medium drive, another more stable parallelogram structure is formed here for the moment transmission smoothness at here is high, and simultaneously, the space that this kind of design has reduced the product to a certain extent occupies, can the effectual space that utilizes the product, and the precision also has the promotion that is showing simultaneously.

The invention is further configured to: and one side of the driven arm, which is positioned at the tail end of the linkage part, is provided with an arc-shaped guide hole, the tail end of the linkage part is provided with a guide shaft which can slide in the guide hole, and the guide shaft penetrates through the guide hole and is fixedly connected with the driving arm.

Through adopting above-mentioned technical scheme, the design of guiding hole has avoided two crank link mechanism at the in-process of mutually supporting, has taken place the probability that unnecessary swing leads to equipment trouble, and simultaneously, the guiding hole can the guiding axle the displacement range obtain effectual control, has also improved the security of arm in medical surgery operation process to a certain extent.

The invention is further configured to: the auxiliary driving assembly is a second rotating shaft arranged at the head end of the driven arm, a second rotating disc is arranged on the second rotating shaft, an articulated rod is eccentrically hinged to the second rotating disc, and the head end of the driving part is hinged to the articulated rod.

Through adopting above-mentioned technical scheme, utilize the relation of connection between driving medium and the second rolling disc, effectual promoted equipment when using, when acting on the instrument at a certain position of patient's health by the drive of auxiliary drive subassembly, the operation that auxiliary drive subassembly can three crank link mechanism keeps synchronous, can guarantee the displacement along the arc orbit of the same centre of a circle in addition, make the instrument tip not take place the skew, have higher stationarity, simultaneously can effectual guarantee medical surgery's security.

The invention is further configured to: the structure of the synchronization device is as follows: a main driving component is arranged in the fixed arm and close to the tail end of the fixed arm; the main driving assembly drives a first movable mechanism between the tail end of the driving arm and the head end of the fixed arm to enable the driving arm to rotate along the hinged position of the tail end of the driving arm; the first movable mechanism drives a second movable mechanism between the tail end of the driven arm and the head end of the driving arm, so that the driven arm rotates along the hinge position of the tail end of the driven arm to achieve the aim that the driven arm and the fixed arm are always parallel; the second movable mechanism drives the auxiliary driving component at the head end of the driven arm to synchronously work.

By adopting the technical scheme, the main driving component in the fixed arm drives the first movable mechanism to rotate, the first movable mechanism drives the second movable mechanism to rotate, the driven arm and the fixed arm are always parallel in the rotating process, the driving arm has the effect of forming a diagonal line of a parallelogram after the head end and the tail end of the driven arm are virtually connected, when the mechanical arm displaces in the adjusting position based on the principle, the track of the displacement of the head end of the driven arm is an arc line of a fixed circle center, meanwhile, the auxiliary driving part synchronously rotates to drive the instrument to rotate correspondingly, so that the end part of the instrument acting on a certain part of the body of a patient is ensured not to deviate by matching with the arc-shaped track, and the instrument has higher stability in the operating process and can effectively ensure the safety of medical surgery.

The invention is further configured to: the first movable mechanism has the structure that: the head end of the fixed arm and one side facing the driving arm are provided with a third hinging hole, one side of the tail end of the driving arm opposite to the third hinging hole is provided with a first hinging sleeve matched with the third hinging hole, a main belt wheel fixedly mounted between the main belt wheel and the first hinging sleeve is arranged at the third hinging hole in the fixed arm, and the main belt wheel is driven to rotate by a main driving component.

Through adopting above-mentioned technical scheme, utilize main drive assembly to pass through the main belt pulley and drive the actuating arm and rotate, effectively utilize the structure of every regulating arm self, need not too big and diverse transmission system, the space that this kind of design can reduce the product occupies to a certain extent.

The invention is further configured to: the main driving assembly is a belt pulley which is arranged in the fixed arm and is close to the tail end and driven by a power device, and the belt pulley and the main belt pulley transmit power through a synchronous belt.

Through adopting above-mentioned technical scheme, transmit power with belt drive's mode through power device direct drive belt pulley, noise that can effectual reduction instrument during operation, the smoothness also has the promotion that is showing simultaneously.

The invention is further configured to: the first movable mechanism further comprises a second flange plate which is arranged in the fixed arm and fixedly connected between the fixed arm and the second flange plate, a first connecting shaft which penetrates through the first hinge sleeve to extend into the driving arm is arranged in the middle of the second flange plate, and a driving wheel for driving the second movable mechanism is fixedly mounted on the first connecting shaft in the driving arm.

Through adopting above-mentioned technical scheme, formed the pivot point of the first diagonal angle of parallelogram structure, utilized the actuating arm to rotate for the driven arm for the drive wheel forms the action with actuating arm relative rotation, and simultaneously, this kind of design, the space that can effectual utilization product, the precision also has the promotion that is showing simultaneously.

The invention is further configured to: the structure of the second movable mechanism is as follows: the head end of the driving arm and one side, facing the driven arm, of the driving arm are provided with a fourth hinge hole, one side, opposite to the fourth hinge hole, of the tail end of the driven arm is provided with a second hinge sleeve matched with the fourth hinge hole, a first secondary belt wheel fixedly mounted between the driving arm and the second hinge sleeve is arranged in the driving arm and located at the fourth hinge hole, and the first secondary belt wheel is driven to rotate by a driving wheel.

Through adopting above-mentioned technical scheme, when the actuating arm rotates for the driven arm, make to form the rotating relation between drive wheel and the first secondary pulley, and then make the driven arm synchronous revolution, in order to reach the driven arm, the fixed arm remains the parallel state throughout, utilize the drive wheel to drive the driven arm through first subsidiary wheel and rotate, effectively utilize the structure of every regulating arm self, do not need too big and diverse transmission system, this kind of design not only the structure is simple relatively, and can reduce the space occupation of product to a certain extent.

The invention is further configured to: the driving arm is internally provided with a third flange disc fixedly connected with the driven arm, the middle part of the third flange disc is provided with a second connecting shaft which penetrates through a second hinge sleeve and extends into the driven arm, and a second auxiliary belt pulley is fixedly arranged on the second connecting shaft in the driven arm.

Through adopting above-mentioned technical scheme, formed the pivot point of the second diagonal angle of parallelogram structure, simultaneously, this kind of design can the effectual space that utilizes the product, and the precision also has apparent promotion simultaneously.

The invention is further configured to: the auxiliary driving assembly is a third rotating shaft arranged at the head end of the driven arm, and an output wheel which transmits power through a synchronous belt between the third rotating shaft and the second auxiliary pulley is rotatably arranged on the third rotating shaft.

Through adopting above-mentioned technical scheme, utilize belt drive between third axis of rotation and the second auxiliary pulley, effectual promoted equipment when using, when acting on the instrument at a certain position of patient's health by the drive of vice drive assembly, vice drive assembly can with first, two moving mechanism's operation keeps synchronous, can guarantee the displacement along the arc orbit of the same centre of a circle in addition, make the instrument tip not take place the skew, have higher stationarity, simultaneously can effectual guarantee medical treatment surgery's security.

In conclusion, the beneficial technical effects of the invention are as follows:

1. the adjacent cross arms rotate stably and horizontally, the rotating range is not limited, the rotation and locking between the adjacent cross arms can be realized directly through a locking mechanism, the rotation is stable, the adjustment is convenient, and the locking relationship is relatively stable;

2. the design of the encoder can be used for effectively acquiring the rotation angle between the cross arms, so that the use process of a user is more convenient, and the operation precision is further improved.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic cross-sectional view of the horizontal pre-adjustment arm of the present invention.

Fig. 3 is a schematic cross-sectional view of the pitch yaw pre-adjust arm of the present invention.

Fig. 4 is a schematic structural view of the hinge arrangement between the pre-adjustment arm for tilting and pitching of the invention.

Fig. 5 is a schematic structural view of a fine adjustment self-locking mechanism in a swing pre-adjustment arm of the prominent pitching and swing pre-adjustment arm of the invention.

Fig. 6 is a schematic structural view showing the cooperation between the swing adjusting worm and the adjusting nut of the fine-tuning self-locking mechanism in the swing pre-adjusting arm of the prominent pitching swing pre-adjusting arm of the present invention.

Fig. 7 is a schematic structural view of a crank arm of the present invention.

Fig. 8 is a cross-sectional schematic view of the motor assembly of the present invention.

Fig. 9 is a side view of the pitch arm according to embodiment 1 of the present invention.

Fig. 10 is a side view of the guide base of fig. 9 with the guide base removed.

Fig. 11 is a schematic sectional view of the plane a-a in fig. 10.

Fig. 12 is a schematic structural view of a main drive assembly in embodiment 1 of the present invention.

Fig. 13 is a schematic side view of another angle of the pitching mechanical arm according to embodiment 1 of the present invention.

Fig. 14 is a schematic structural view showing the second crank link mechanism in embodiment 1 of the present invention.

Fig. 15 is a schematic structural view of a pitch arm in embodiment 2 of the present invention.

Fig. 16 is a schematic cross-sectional view taken along the line B-B in fig. 15.

Fig. 17 is a schematic sectional view of the plane C-C in fig. 15.

In the figure, 1, a first rotating shaft, 2, a first rotating arm, 3, a second rotating arm, 4, a mounting hole, 5, a first encoder, 6, a first bearing, 7, a limiting bulge, 8, a first brake, 9, a first through hole, 10, a mounting body, 11, a transition disc, 12, a rotating hole, 13, a first necking part, 14, a second necking part, 15 and a first input shaft; 16. a pitch pre-adjustment arm; 17. swinging the pre-adjusting arm; 18. hinging a shaft; 19. a sector worm gear; 20. a second bearing; 21. a pitch adjustment worm; 22. a pinion gear; 23. a main gear; 24. fine tuning the shaft; 25. a first mounting table; 26. a through hole; 27. an adjusting table; 28. a second through hole; 29. a first rotating shaft; 30. a worm gear; 31. swinging and rotating the adjusting worm; 32. a second encoder; 33. a hinge ear; 34. adjusting the nut; 35. a pin key; 36. an outer housing; 37. a stator; 38. a rotor; 39. a harmonic reducer; 40. a barrier wall; 41. a drive chamber; 42. a brake chamber; 43. a second mounting table; 44. a mounting cavity; 45. a third encoder; 46. a first flange plate; 47. rotating the disc; 48. a third bearing; 49. a second brake; 50. sealing cover; 51. a first bottom bracket; 52. a fourth encoder; 53. rotating the sleeve; 54. fixing the disc; 55. a second input shaft; 56. a rigid wheel; 57. a driven arm; 58. a fixed arm; 59. a drive arm; 60. a guide base; 61. a servo motor; 62. a ball screw; 63. a second driving member; 64. a guide chute; 65. a first hinged disk; 66. a second rotating shaft; 67. a main link; 68. a long connecting rod; 69. a short connecting rod; 70. a rocker arm; 71. a second hinged disk; 72. a linkage member; 73. a transmission member; 74. a guide shaft; 75. a guide hole; 76. a second rotating shaft; 77. a second rotating disk; 78. a hinged lever; 79. a second middle axis; 80. a belt pulley; 81. a first hinge sleeve; 82. a primary pulley; 83. a second flange plate; 84. a first connecting shaft; 85. a driving wheel; 86. a second hinge sleeve; 87. a first secondary pulley; 88. a third flange plate; 89. a second connecting shaft; 90. a second secondary pulley; 91. a third rotating shaft; 92. a crank arm; 93. a drive plate.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1, the mechanical manipulator of the medical robot disclosed by the invention comprises a horizontal pre-adjusting arm, a pitching swinging pre-adjusting arm, a crank arm 92 and a pitching mechanical arm; the linkage relationship between each component and each component will be described below.

Referring to fig. 2, in the present embodiment, the horizontal pre-adjustment arm includes a plurality of rotating arms that are sequentially and rotatably connected, and a locking mechanism that is relatively locked is disposed between adjacent rotating arms; for ease of understanding and explanation, the swivel arms of the horizontal pre-adjustment arm, which are rotatably connected to each other, are defined as a first swivel arm 2 and a second swivel arm 3.

One end of the first rotating shaft 1 extends into the first rotating arm 2 and is fixedly connected with the first rotating arm 2, and the other end of the first rotating shaft 1 extends into the second rotating arm 3 and is rotatably connected with the second rotating arm 3; the fixing connection may be a simple spline structure, or may be a bolt fixed to the first rotating arm 2, or may be a screw-fit fixing, and the fixing connection may be other structures that can fix the relative relationship between the two structures, which are conventional in the art.

In this embodiment, for the precision of the turned angle regulation of improve equipment, be equipped with the turned angle detection mechanism with 1 looks adaptation of first pivot in second rotor arm 3, its structure is: and a mounting hole 4 is formed in the rotating arm rotatably connected with the other end of the first rotating shaft 1, a first encoder 5 is mounted in the mounting hole 4, and a first input shaft 15 of the first encoder 5 is fixedly connected with the first rotating shaft 1. Wherein, the first rotating shaft 1 is connected with the mounting hole 4 in a matching and rotating way through a first bearing 6. The most basic function of the first encoder 5 is to detect the rotation angle, and the first encoder 5 is a conventional first encoder 5 in the art. The addition of first encoder 5 for this product provides more supplementary when the use occasion that needs the high accuracy, the user, and the life of equipment can be prolonged in the setting of first bearing 6 moreover, also has certain guard action to first encoder 5 simultaneously.

In the process of product transport, can be difficult to avoid appearing rocking, the operation, perhaps when bumping, in order to avoid leading to the possibility of first pivot 1 to the damage of first encoder 5 because of this kind of accident, the safety of the first encoder 5 of further protection can be equipped with annular spacing arch 7 in one side that first pivot 1 is close to mounting hole 4, first bearing 6 is installed on first pivot 1 between spacing arch 7 and mounting hole 4.

A locking mechanism which is sleeved on the first rotating shaft 1 and is matched and locked with the end surface of the second rotating arm 3 is arranged in the first rotating arm 2, and the locking mechanism has the structure that: a first brake 8 is fixedly installed in the first rotating arm 2, the first brake 8 is generally a common electromagnetic brake first brake in the market, the electromagnetic brake first brake does not brake under the condition of power-on, and automatically enters a brake state after power-off, a first through hole for the first rotating shaft 1 to pass through is formed in the first brake 8, a gap is formed between the first through hole and the first rotating shaft 1, and the first rotating shaft 1 does not interfere with each other when rotating relative to the first brake 8; the end face of the second rotating arm 3 is provided with a first through hole 9 for the first rotating shaft 1 to pass through, and the first through hole 9 is fixedly connected with the first brake 8. Wherein, the orifice of the first perforation 9 extends to the outside direction to form a mounting body 10, and the first brake 8 is fixedly mounted on the port of the mounting body 10.

Adopt this locking mechanism, in the in-process of using, when needing to adjust the position relation between two rotor arms, to first stopper 8 circular telegram can, during circular telegram, braking state is relieved to first stopper 8, at this time, the rotor arm just can be adjusted in a flexible way, when needing the locking, the outage can, after the outage, first stopper 8 is automatic to get into braking state, consequently, this scheme is also the security high under the condition of outage suddenly, can also do the using-saving of the electric power energy.

The first rotating shaft 1 penetrates through the mounting body 10 and is rotatably connected with the mounting body 10 through a first bearing 6; the end face of the first rotating arm 2 opposite to the first through hole is provided with a rotating hole 12 for inserting the mounting body 10, and the mounting body 10 is rotatably connected with the rotating hole 12 through a first bearing 6; a first necking part 13 is arranged at a position of the first rotating shaft 1 corresponding to the mounting body 10, the first necking part 13 penetrates through the mounting body 10 to extend into a rotating arm fixedly connected with one end of the first rotating shaft 1, and a first bearing 6 between the first rotating shaft 1 and the mounting body 10 is sleeved on the first necking part 13; a second necking part 14 is arranged on the outer side wall of the mounting body 10 corresponding to the rotating hole 12 and close to the port of the mounting body 10, and the first bearing 6 between the mounting body 10 and the rotating hole 12 is mounted on the second necking part 14. The arrangement mode can improve the stability of the equipment in normal working and also has certain guarantee for the service life of the internal mechanism.

Referring to fig. 2 and 3, the pitching and swinging pre-adjusting arm includes a pitching pre-adjusting arm 16 and a swinging pre-adjusting arm 17 hinged by a hinge shaft, the pitching pre-adjusting arm 16 and the swinging pre-adjusting arm 17 are both provided with a fine tuning self-locking mechanism, the pitching pre-adjusting arm 16 is mounted on the outermost rotating arm, taking the first rotating arm 2 and the second rotating arm 3 which are adjacently arranged as an example, the outermost rotating arm refers to the first rotating arm 2; referring to fig. 3 and 4, the pitch pre-adjustment arm 16 and the yaw pre-adjustment arm 17 of the pitch pre-adjustment arm are both provided with an opening, the hinge shaft 18 is fixed on the side wall of the opening of the yaw pre-adjustment arm 17, of course, the opening of the yaw pre-adjustment arm 17 may not be inserted into the opening of the pitch pre-adjustment arm 16, the hinge lugs 33 may be respectively arranged on both sides of the opening of the yaw pre-adjustment arm 17, and the hinge shaft 18 may pass through the hinge lugs 33 and be fixed by the pin key 35.

The articulated shaft 18 fixed mounting who changes in the opening of preliminary adjustment arm 17 has first driving piece, and in this embodiment, first driving piece is fan-shaped worm wheel 19, and fixed the setting between fan-shaped worm wheel 19 and the opening end of the preliminary adjustment arm 17 of pendulum commentaries on classics, fan-shaped worm wheel here belong to with complete circular shape worm wheel according to the demand of reality cut take shape can, this kind of design can effectual weight that lightens equipment, adjust moreover comparatively lightly. Wherein, be equipped with fine setting self-locking mechanism in every single move pre-adjustment arm 16, fine setting self-locking mechanism drives the first driving piece and rotates the angle of pitch in order to adjust the every single move arm, and the structure of this mechanism is: two second bearings 20 are respectively installed on two opposite sides in the pitching pre-adjusting arm 16, a pitching adjusting worm 21 with the axis vertical to the axis of the hinge shaft 18 is installed between the two second bearings 20, the pitching adjusting worm 21 can be meshed with the sector worm wheel 19, one end of the pitching adjusting worm 21 penetrates through the corresponding second bearing 20 and a secondary gear 22 is installed at the end extending out of the second bearing 20, a primary gear 23 meshed with the secondary gear 22 is rotatably arranged in the pitching pre-adjusting arm 16, and the primary gear 23 is installed on a fine adjustment shaft 24 extending out of the pitching pre-adjusting arm 16 at one end.

In the above, in order to further improve the precision of the adjustment and also to prevent unnecessary accidents and ensure the safety of the medical surgical operation, the transmission ratio between the main gear 23 and the sub-gear 22 may be set to be less than 1.

In the present embodiment, in order to better utilize the space of the product itself, on the premise of ensuring the accuracy and safety, the first mounting tables 25 are disposed at the positions corresponding to the second bearings 20 in the pitching pre-adjustment arm 16, through holes 26 are respectively disposed on the two first mounting tables 25, and the two second bearings 20 are respectively mounted in the corresponding first mounting tables 25; meanwhile, an adjusting table 27 is arranged in the pitching pre-adjusting arm 16 at a position corresponding to the fine adjustment shaft 24, a second through hole 28 is arranged on the adjusting table 27, and the inner end of the fine adjustment shaft extends into the second through hole 28 and is matched with the second through hole 28 through a second bearing 20.

Referring to fig. 5 and 6, in this embodiment, in order to further enhance the precision of adjustment and ensure the flexibility of use, a first rotating shaft 29 with one end extending out of the side opposite to the opening is rotatably disposed in the swing pre-adjusting arm 17, a driving disc 93 is disposed on the first rotating shaft 29, and a fine-tuning self-locking mechanism cooperating with the first rotating shaft 29 to adjust the rotating angle of the first rotating shaft 29 is disposed in the swing pre-adjusting arm 17, and the mechanism has a structure that: a worm wheel 30 is arranged in the middle of the first rotating shaft 29, a swing adjusting worm 31 meshed with the worm wheel 30 is arranged in the swing pre-adjusting arm 17 on one side of the worm wheel 30, and two ends of the swing adjusting worm 31 extend out of two opposite side walls of the swing pre-adjusting arm 17 and are rotatably connected with the two side walls; the end parts of the swing adjusting worms 31 extending out of the two opposite side walls of the swing pre-adjusting arm 17 are respectively provided with adjusting threads, and the end parts of the corresponding swing adjusting worms 31 are respectively provided with adjusting nuts 34 which are in fit connection with the adjusting threads. Wherein, swing adjustment worm 31 and worm wheel 30 are two lead worm and worm wheel, utilize this kind of design can effectively compensate the wearing and tearing of worm and worm wheel in the use, simultaneously, swing adjustment worm 31 both ends adjust the cooperation of screw thread and adjusting nut 34, can choose to adjust to that side, have avoided the imprecisely when fine setting like this, have eliminated the insecurity when medical surgery operation.

In addition, a second encoder 32 is arranged in the swing pre-adjusting arm 17 corresponding to the inner end of the swing adjusting worm 31, and a shaft sleeve of the second encoder 32 is fixedly connected with the swing adjusting worm 31; the second encoder 32 can be used for monitoring the rotation angle of the first rotating shaft 29 in real time, and can play a good auxiliary role in adjusting a user.

During specific implementation, the adjustment of the pitching and swinging pre-adjusting arm is generally performed by a layman or an auxiliary operator according to requirements, then, in the adjustment process, only an auxiliary tool is needed to rotate the fine adjustment shaft, the first rotating shaft 29 drives the pinion 22 to rotate through the main gear 23, the pinion 22 further drives the pitching adjusting worm 21 to rotate, the pitching adjusting worm 21 further drives the sector worm gear 19 to rotate so as to achieve the pitching angle fine adjustment of the swinging pre-adjusting arm 17, and after the adjustment, the swinging pre-adjusting arm 17 can apply force to the pitching adjusting worm 21 due to self-weight, but the structure of the self-locking mechanism enables the structure to have a self-locking function, thereby avoiding the problem, and improving the use safety and precision. In addition, when the first rotating shaft 29 needs to be adjusted, the effect of driving the worm to rotate through the worm wheel 30 can be achieved only by rotating the swing adjusting worm 31, and the mechanism also has a self-locking function.

Referring to fig. 1 and 7, a crank arm 92 is mounted on a drive plate 93 of the swing pre-adjustment arm 17, and a power drive mechanism is mounted on the crank arm 92. The power driving device comprises two motor components which are arranged through a crank arm 92, wherein one motor component is fixedly arranged at one end of the crank arm 92, an output shaft of the motor component penetrates through the crank arm 92 to be fixedly connected with the outer shell 36 of the other motor component, and an output shaft of the other motor component drives the pitching mechanical arm to work. With the structure, one motor assembly is fixed, and the fixed motor assembly can drive the other motor assembly to rotate.

Referring to fig. 8, the motor assembly includes an outer housing 36, a stator 37 and a rotor 38 are disposed in the outer housing 36, and the stator 37 is disposed on an outer ring of the rotor 38. The basic design for the stator 37 and rotor 38 is based on the conventional principle of use of the stator 37, rotor 38, wherein the outer housing 36 has two open ends, and then the stator 37 and rotor 38 are inserted and fixed from one of the open ends.

In addition, the harmonic reducer 39 is fixedly connected to the port of the outer casing 36 where the stator 37 and the rotor 38 are installed, and is generally connected by a bolt, mainly for convenience of disassembly and assembly and maintenance, and of course, other fixing connection methods, such as welding, may also be used; in this fixed connection, a mounting cover may be fixedly attached to a port of the outer case 36 facing the harmonic reducer 39, and the reducer may be fixedly attached to the mounting cover.

In this embodiment, in order to realize the use of space, a blocking wall 40 is disposed in the middle of the inner cavity of the outer shell 36, the stator 37 is fixedly mounted on the blocking wall 40, the blocking wall 40 divides the inner cavity of the outer shell 36 into two chambers, one chamber is a driving chamber 41, and the other chamber is a braking chamber 42, in this embodiment, the inner diameter of the mounting chamber 44 is smaller than the inner diameter of the braking chamber 42, the stator 37 and the rotor 38 are disposed in the driving chamber 41, the stator 37 is fixedly mounted on the blocking wall 40, the rotor 38 is sleeved on the rotating sleeve 53, the rotating sleeve 53 penetrates through the blocking wall 40 and extends into the braking chamber 42, the second brake 49 is disposed in the braking chamber 42, and a shaft sleeve of the second brake 49 is fixedly sleeved on the rotating sleeve 53; the second brake 49 is typically a conventional electromagnetic brake.

The opening of the driving cavity 41 is fixedly provided with a harmonic reducer 39, the power input end of the harmonic reducer 39 is fixedly connected with the rotating sleeve 53, and the power output end of the harmonic reducer is fixedly provided with a first flange 46. The harmonic reducer 39 is a conventional component and can be purchased and obtained in the market, the power input end of the harmonic reducer 39 is a second input shaft 55, second through holes penetrating through two ends of the second input shaft 55 are formed in the second input shaft 55, and the second input shaft 55 is fixedly connected with the corresponding end part of the rotating sleeve 53; the power output end is provided with a rigid wheel 56 of the harmonic reducer 39, and the rigid wheel 56 is fixedly connected with the first flange 46.

In the embodiment, the outer shell 36 is provided with a first middle shaft 51 penetrating through the blocking wall 40 and sleeved in the rotating sleeve 53, a gap is formed between the outer wall of the first middle shaft 51 and the inner wall of the rotating sleeve 53, and the first middle shaft 51 is provided with a third through hole penetrating through the axial two ends of the first middle shaft; first axis 51 passes second perforation and first ring flange 46 fixed connection towards the one end of harmonic speed reducer 39, first axis 51 has the clearance with the second perforation between, fixed area between first ring flange 46 and the first axis 51 is in order to strengthen, not only strengthened joint strength, and the stability of product has been improved, the concave fixed slot that is equipped with in one end middle part that harmonic speed reducer 39 was kept away from to first ring flange 46, first axis 51 extends in the fixed slot and outwards extends and form solid fixed ring 54 with the corresponding tip of first ring flange 46, gu fixed ring 54 and fixed slot phase-match just are fixed in the fixed slot.

The first flange 46 and the rigid wheel 56 are fixedly connected through the first rotating disc 47, one end of the second input shaft 55 facing the first flange 46 extends out of the harmonic reducer 39 and is close to the first flange 46, and the first rotating disc 47 is mounted on the second input shaft 55 through the third bearing 48.

An annular second mounting platform 43 is arranged inwards on the inner wall of the brake cavity 42 on the side far away from the baffle wall 40, and the inner diameter of the second mounting platform 43 is smaller than that of the brake cavity 42. An installation cavity 44 is formed between the second installation platform 43 and a port of the outer shell 36 on the side far away from the harmonic reducer 39, a detection piece fixedly connected with the first middle shaft 51 is arranged in the installation cavity 44, and the detection piece is a third encoder 45; the second mounting table 43 is mounted with another detecting member, which is a fourth encoder 52, and the fourth encoder 52 is fixedly connected with the rotating sleeve 53. With the two detection pieces, the difference between the input and the output of the harmonic reducer 39 can be simultaneously monitored in real time. However, for encoders, typically conventional rotary encoders, the control for the encoder may be of known chip and circuit construction. In order to ensure the safety of the working environment of the encoder and also to facilitate the assembly, disassembly and maintenance of the encoder, a sealing cover 50 is usually installed on the opening of the installation cavity 44.

The motor element of this embodiment is at the during operation, rotor 38 rotates and drives rotating sleeve 53 and rotate, rotating sleeve 53 pivoted in-process can drive harmonic reducer 39 and work, harmonic reducer 39 can drive first axis 51 synchronous rotation through first ring flange 46, first axis 51 pivoted in-process, then third encoder 45 can carry out real-time supervision to first axis 51's rotation, and fourth encoder 52 then implements the detection to rotating sleeve 53, then electromagnetic brake second brake is when needing rotor 38 not to drive rotating sleeve 53 during operation, can be timely brake rotating sleeve 53, can guarantee to be connected other axles with rotating sleeve 53 and also can the synchronous braking.

Referring to fig. 9 to 14, embodiment 1 of the pitching mechanical arm of the present invention:

referring to fig. 9, the pitch arm includes a driven arm 57, a fixed arm 58 and a driving arm 59, which are always kept relatively parallel, and the head and the tail ends of the driving arm 59 are respectively hinged to the driven arm 57 and the tail end and the head end of the fixed arm 58. Therefore, in order to keep the driven arm 57 and the fixed arm 58 parallel at all times during operation and to achieve synchronous operation in the form of parallel four sides, the driving arm 59 is required to function as a diagonal line of a parallelogram. Wherein the output shaft of the motor assembly corresponding to the fixed arm 58 drives the fixed arm 58 to rotate.

The first crank connecting rod mechanism has the structure that: referring to fig. 10 and 11, the hinge assembly of the distal end of the driving arm 59 and the head end of the fixing arm 58 is: a first hinge hole is formed in the head end of the fixing arm 58 and on one side, facing the driving arm 59, of the fixing arm, and a first hinge disk 65 matched with the first hinge hole is arranged on one side, opposite to the first hinge hole, of the tail end of the driving arm 59; referring to fig. 11 and 13, a second rotating shaft 66 is eccentrically disposed on the first hinge plate 65, the second rotating shaft 66 is hinged to a head end of a main connecting rod 67 disposed in the fixed arm 58, and a tail end of the main connecting rod 67 is hinged to a second driving member 63 driven by the main driving assembly. The first crank mechanism forms a first parallelogram structure, and the drive arm 59 is rotated along the hinge point at the end by the arrangement of the first parallelogram structure.

Referring to fig. 12, a main drive assembly is mounted in the fixed arm 58, and has the structure: a guide base 60 is arranged in the middle of the fixing arm 58, and a servo motor 61 is arranged on one side of the guide base 60 facing the tail end of the fixing arm 58; a ball screw 62 which is coaxial with a motor shaft of the servo motor 61 and is fixedly connected with the motor shaft is arranged in the guide base 60, a guide chute 64 is formed in one side, facing the driving arm 59, of the guide base 60 along the axial direction of the ball screw 62, a second driving piece 63 driven by the ball screw 62 is assembled in the guide chute 64 in a sliding mode, and the second driving piece 63 can drive a first crank link mechanism arranged in the fixing arm 58 to work. The second driving member 63 is a guiding slide seat disposed on the guiding sliding groove 64 and engaged with the ball screw 62, and the guiding slide seat is directly engaged with the main link 67.

Referring to fig. 11 and 14, the first crank-link mechanism drives the driving arm 59 to rotate by using the first hinged disk 65 as an intermediate transition piece, and the driving arm 3 drives the second crank-link mechanism arranged in the driving arm 59 to operate by rotating; the structure of the second crank connecting rod mechanism is as follows: a second hinge hole is formed in the head end of the driving arm 59 and one side, facing the driven arm 57, of the driving arm, and a second hinge disc 71 matched with the second hinge hole is arranged at the tail end of the driven arm 57; a long connecting rod 68, a short connecting rod 69 close to the head end of the driving arm 59 and a rocker arm 70 close to the tail end of the driving arm 59 are arranged in the driving arm 59; the head end and the tail end of the long connecting rod 68 are respectively hinged with the tail end of the short connecting rod 69 and the head end of the rocker arm 70; the head end of the short connecting rod 69 is hinged with the second hinged disc to drive the third crank-connecting rod mechanism to work synchronously, so that the driven arm 57 rotates along the hinged position of the tail end of the driven arm 57 to achieve the aim that the driven arm 57 and the fixed arm 58 are always kept parallel; the end of the rocker arm 70 passes through a through hole in the middle of the first hinge disk 65 and is fixedly connected with the fixed arm 58, and the rocker arm 70 passing through the through hole in the middle of the first hinge disk 65 is eccentrically arranged relative to the center of the circle of the hinge disk 9. In general, the rocker arm 70 and the second rotating shaft 66 are prevented from interfering with each other during operation, and the two rotating shafts can be arranged in opposite positions, so that the synchronization effect is higher, and the transmission of force is more convenient.

The second crank-link mechanism forms a second parallelogram structure, and the second crank-link mechanism is matched with the first parallelogram structure formed by the first crank mechanism and transmits power through the middle transition piece first hinged disk 65, so that the power transmission process is stable, and the driving arm 59 can be driven to rotate correspondingly.

Referring to fig. 11 and 13, the third crank link mechanism has the structure: a coaxial second middle shaft 79 is hinged on the second hinged disc 71, the second middle shaft 79 is installed in the middle of the linkage piece 72, and the head end of the linkage piece 72 is hinged with the tail end of the transmission piece 73; a secondary drive assembly is mounted at the head end of the driven arm 57 and is driven by the head end of the drive member 73. The third crank-link mechanism forms a third parallelogram structure, and is matched with the second parallelogram structure formed by the second crank mechanism and transmits power through the linkage piece 72, so that the power transmission process is stable. The driven arm 57 is provided with an arc-shaped guide hole 75 at one side of the end of the link 72, the end of the link 72 is provided with a guide shaft 74 capable of sliding in the guide hole 75, and the guide shaft 74 passes through the guide hole 75 and is fixedly connected with the driving arm 59.

The position department of the interior head end of driven arm 57 among the above-mentioned is provided with vice drive assembly, and vice drive assembly is for locating the second axis of rotation 76 of driven arm 57 head end, is equipped with second rolling disc 77 on the second axis of rotation 76, and eccentric articulated hinge has articulated rod 78 on the second rolling disc 77, and the head end of driving medium 73 articulates and drives second rolling disc 77 synchronous working on articulated rod 78.

In this embodiment, the driven arm 57, the driving arm 59, and the fixing arm 58 cooperate to form a fourth parallelogram structure, and the driving arm 59 functions as a diagonal line of the parallelogram formed by the virtual connection of the head and the tail ends of the driven arm 57 and the fixing arm 58, so that when the mechanical arm is displaced at the adjustment position based on this principle, the displacement track of the head end of the driven arm 57 is an arc line of a fixed center of a circle, and the auxiliary driving component rotates synchronously to drive the instrument to rotate correspondingly, so as to cooperate with the arc track to ensure that the corresponding position of the instrument acting on a certain part of the patient body does not deviate.

In the specific implementation of the pitch mechanical arm of the embodiment, the main driving assembly drives the first crank-link mechanism to operate, so that the first hinged disk 65 rotates, and at the same time, the driving arm 59 rotates synchronously, so that the included angle between the driving arm 59 and the fixing arm 58 changes, meanwhile, since one end of the rocker arm is fixed on the fixing arm 58 and the short link 69 is hinged with the second hinged disk 71, when the rotation angle of the driving arm 59 changes, the angle between the short link 69 and the long link 68 also changes passively, at this time, the short link 69 rotates relative to the long link 68, so that the short link 69 also drives the driven arm 57 to rotate synchronously, and since the middle part of the link 72 is hinged and the guide shaft 74 and the driving arm 59 are fixedly connected, during the rotation of the driven arm 57, the guide shaft 74 also rotates in the guide hole 75, and the linkage member 72 drives the transmission member 73 to operate the secondary driving assembly.

The hinged positions of the driven arm 57, the driving arm 59 and the fixed arm 58 are the angles of the fourth parallelogram and are also rotational joints, and meanwhile, the corresponding positions of the instruments driven by the auxiliary driving mechanism can be set as the angles of the fourth parallelogram, so that the corresponding positions of the instruments acting on a certain part of the body of a patient are not deviated in the operation process, high smoothness is achieved, and meanwhile, the safety of medical surgery can be effectively guaranteed.

Referring to fig. 15 to 17, there is an embodiment 2 of the pitching mechanical arm of the present invention:

referring to fig. 15, the pitching mechanical arm includes a driven arm 57 and a fixed arm 58 which are relatively parallel to each other, and a driving arm 59, and the head and the tail ends of the driving arm 59 are respectively hinged to the tail end of the driven arm 57 and the head end of the fixed arm 58. Therefore, in order to keep the driven arm 57 and the fixed arm 58 parallel at all times during operation and to achieve synchronous operation in the form of parallel four sides, the driving arm 59 is required to function as a diagonal line of a parallelogram.

Wherein, a main driving component is arranged in the fixed arm 58 near the tail end thereof; the main drive assembly is a powered pulley 80 disposed within stationary arm 58 near the distal end. The power device may be a motor, or a reducer driven by the motor, or other devices capable of driving the pulley 80 to rotate.

Referring to fig. 16, a first movable mechanism is disposed between the end of the driving arm 59 and the head end of the fixed arm 58, and the pulley 80 drives the first movable mechanism to rotate the driving arm 59 along the hinge position of the end thereof; the first movable mechanism has the structure that: a third hinge hole is formed in one side, facing the driving arm 59, of the head end of the fixing arm 58, a first hinge sleeve 81 matched with the third hinge hole is arranged on one side, opposite to the third hinge hole, of the tail end of the driving arm 59, a main belt pulley 82 fixedly installed between the main belt pulley 80 and the first hinge sleeve 81 is arranged in the fixing arm 58 at the third hinge hole, and the belt pulley 80 and the main belt pulley 82 transmit power through a synchronous belt; in addition, a second flange 83 fixedly connected with the fixed arm 58 is arranged in the fixed arm 58, a first connecting shaft 84 extending into the driving arm 59 through the first hinge sleeve 81 is arranged in the middle of the second flange 83, and a driving wheel 85 driving the second movable mechanism is fixedly arranged on the first connecting shaft 84 in the driving arm 59. Wherein the output shaft of the motor assembly corresponding to fixed arm 58 drives the pulley in operation.

Referring to fig. 17, a second movable mechanism is arranged between the tail end of the driven arm 57 and the head end of the driving arm 59, and the driving wheel 85 drives the second movable mechanism to enable the driven arm 57 to rotate along the hinge position of the tail end thereof so as to enable the driven arm 57 and the fixing arm 5 to be always kept parallel; the structure of the second movable mechanism is as follows: a fourth hinge hole is formed in one side, facing the driven arm 57, of the head end of the driving arm 59, a second hinge sleeve 86 matched with the fourth hinge hole is arranged on one side, opposite to the fourth hinge hole, of the tail end of the driven arm 57, a first secondary pulley 87 fixedly installed between the driving arm 59 and the second hinge sleeve 86 is arranged in the driving arm 59 and located at the fourth hinge hole, and the first secondary pulley 87 is driven to rotate by a driving wheel 85; a third flange disc 88 is fixedly connected between the driving arm 59 and the driven arm 57, a second connecting shaft 89 extending into the driven arm 57 through a second hinge sleeve 86 is arranged in the middle of the third flange disc 88, and a second secondary pulley 90 is fixedly mounted on the second connecting shaft 89 in the driven arm 57.

The second counter pulley 90 drives the sub-drive unit provided at the leading end of the driven arm 57 to operate synchronously, the sub-drive unit is a third rotation shaft 91 provided at the leading end of the driven arm 57, and an output wheel for transmitting power to the second counter pulley 90 through a timing belt is rotatably provided on the third rotation shaft 91.

In the specific implementation of the pitch mechanical arm of this embodiment, the belt pulley 80 drives the primary belt pulley 82 to rotate through a power device, the primary belt pulley 82 rotates to drive the driving arm 59 to rotate around the axis of the first hinge sleeve 81 relative to the fixing arm 58, during the rotation, since the second flange 83 is fixedly connected with the fixing arm 58, and the second flange 83, the first connecting shaft 84, and the driving wheel 85 are in a relatively fixed relationship, when the driving arm 59 rotates, a relative rotation relationship is formed between the driving wheel 85 and the driving arm 59, the driving wheel 85 and the first secondary belt pulley 87 transmit power through belt transmission, and the first secondary belt pulley 87 can rotate relative to the driving arm 59, during the rotation of the driving arm 59, the included angle between the driving arm 59 and the fixing arm 58 increases or decreases accordingly, and meanwhile, the synchronous belts between the driving wheel 85 and the first secondary belt pulley 87 and the surfaces of the two which are in close contact respectively change accordingly, that is, when the synchronous belt is transferred to the contact surface between the driving wheel 85 and the first secondary pulley 87, and the driving wheel 85 is fixed, the transferred force can drive the first secondary pulley 87 to rotate correspondingly, so as to achieve the synchronous rotation of the driven arm 57 and achieve the parallel work requirement with the fixed arm 58 all the time.

Then, as for the working principle of the third flange plate 88 and the second secondary pulley 90, the same as the working principle of the second flange plate 83 and the driving wheel 85, and in the process of rotating both the driven arm 57 and the driving arm 59, the output wheel of the secondary driving assembly is also rotated synchronously, and in the rotating process, the running track of the head end of the driven arm 57 is an arc, so that in order to make the accuracy of the arc track higher, the operability of the device is better, and the effect can be realized by synchronously rotating the output wheel.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.

Claims (38)

1. A medical robot mechanical manipulator, characterized in that: comprises a horizontal pre-adjusting arm, a pitching swinging pre-adjusting arm, a crank arm (92) and a pitching mechanical arm;

the horizontal pre-adjusting arm comprises a plurality of rotating arms which are sequentially and rotatably connected, and a locking mechanism which is relatively locked is arranged between every two adjacent rotating arms;

the pitching and swinging pre-adjusting arm comprises a pitching pre-adjusting arm (16) and a swinging pre-adjusting arm (17) which are hinged through a hinge shaft, the pitching pre-adjusting arm (16) and the swinging pre-adjusting arm (17) are both provided with a fine adjustment self-locking mechanism, and the pitching pre-adjusting arm (16) is arranged on the rotating arm at the outermost side;

the crank arm (92) is arranged on a driving disc (93) of the swing pre-adjusting arm (17), and the crank arm (92) is provided with a power driving mechanism;

the pitching mechanical arm is driven by an output shaft on the power driving mechanism to work, the pitching mechanical arm comprises a driven arm (57), a fixed arm (58) and a driving arm (59), the driven arm and the fixed arm are always kept in relative parallel, the head end and the tail end of the driving arm (59) are respectively hinged with the tail end of the driven arm (57) and the head end of the fixed arm (58), and synchronizing devices enabling adjacent adjusting arms to be linked are arranged in the driven arm (57), the fixed arm (58) and the driving arm (59).

2. The medical robotic mechanical manipulator of claim 1, wherein: adjacent rotating arms in the horizontal pre-adjusting arms are mutually and rotatably connected through a first rotating shaft (1), one end of the first rotating shaft (1) extends into one rotating arm and is fixedly connected with the rotating arm, and the other end of the first rotating shaft (1) extends into the other rotating arm and is rotatably connected with the rotating arm; the locking mechanism is arranged on the first rotating shaft (1) between the adjacent rotating arms.

3. The medical robotic mechanical manipulator of claim 2, wherein: the locking mechanism has the structure that: a first brake (8) is fixedly installed in a rotating arm fixedly connected with one end of the first rotating shaft (1), a first through hole for the first rotating shaft (1) to pass through is formed in the first brake (8), and a gap is formed between the first through hole and the first rotating shaft (1); the end face of the rotating arm rotatably connected with the other end of the first rotating shaft (1) is provided with a first through hole (9) for the first rotating shaft (1) to pass through, and the first through hole (9) is fixedly connected with the first brake (8).

4. The medical robotic mechanical manipulator of claim 3, wherein: the hole opening of the first through hole (9) extends towards the outer side direction to form an installation body (10), and the first brake (8) is fixedly installed on the port of the installation body (10).

5. The medical robotic mechanical manipulator of claim 4, wherein: the first rotating shaft (1) penetrates through the mounting body (10) and is in rotating connection with the mounting body (10) through a first bearing (6); the end face, opposite to the installation body (10), of the rotating arm fixedly connected with one end of the first rotating shaft (1) is provided with a rotating hole (12) for the installation body (10) to insert, and the installation body (10) is rotatably connected with the rotating hole (12) through a first bearing (6).

6. The medical robotic mechanical manipulator of claim 5, wherein: the position of the first rotating shaft (1) corresponding to the mounting body (10), the position of the mounting body (10) corresponding to the rotating hole (12) and close to the port of the mounting body (10) are provided with necking parts, and the first bearing (6) is sleeved on the corresponding necking parts.

7. The medical robotic mechanical manipulator of any one of claims 2 to 6, wherein: with be equipped with the turned angle detection mechanism with first pivot (1) looks adaptation in the rotor arm of the other end rotation connection of first pivot (1), turned angle detection mechanism's structure is: and a mounting hole (4) is formed in the rotating arm rotatably connected with the other end of the first rotating shaft (1), a first encoder (5) is mounted in the mounting hole (4), and a first input shaft (15) of the first encoder (5) is fixedly connected with the first rotating shaft (1).

8. The medical robotic mechanical manipulator of claim 7, wherein: the first rotating shaft (1) is in matched rotary connection with the mounting hole (4) through a first bearing (6); one side of the first rotating shaft (1) close to the mounting hole (4) is provided with an annular limiting bulge (7), and the first bearing (6) is mounted on the first rotating shaft (1) between the limiting bulge (7) and the mounting hole (4).

9. The medical robotic mechanical manipulator of claim 1, wherein: openings are formed in one ends of a pitching pre-adjusting arm (16) and a swinging pre-adjusting arm (17) of the pitching pre-adjusting arm, a hinged shaft (18) is fixedly arranged on the side wall of the opening of the swinging pre-adjusting arm (17), and the opening end of the pitching pre-adjusting arm (16) is hinged to the hinged shaft (18); a first driving piece is fixedly arranged on a hinged shaft (18) in an opening of the swing pre-adjusting arm (17), and a fine-adjustment self-locking mechanism in the pitching pre-adjusting arm (16) drives the first driving piece to rotate so as to adjust the pitching angle of the pitching arm.

10. The medical robotic mechanical manipulator of claim 9, wherein: the structure of the fine-adjustment self-locking mechanism in the pitching pre-adjusting arm (16) is as follows: two opposite sides in the pitching pre-adjusting arm (16) are respectively provided with a second bearing (20), a pitching adjusting worm (21) with the axis vertical to the axis of the hinge shaft (18) is arranged between the two second bearings (20), one end of the pitching adjusting worm (21) penetrates through the corresponding second bearing (20) and is provided with a pinion (22) at the end extending out of the second bearing (20), a main gear (23) meshed with the pinion (22) is rotatably arranged in the pitching pre-adjusting arm (16), and the main gear (23) is arranged on a fine adjustment shaft (24) with one end extending out of the pitching pre-adjusting arm (16).

11. The medical robotic mechanical manipulator of claim 10, wherein: first mounting tables (25) are arranged in the pitching pre-adjusting arm (16) at positions corresponding to the second bearings (20), through holes (26) are respectively formed in the two first mounting tables (25), and the two second bearings (20) are respectively mounted in the corresponding first mounting tables (25).

12. The medical robotic mechanical manipulator of claim 10, wherein: an adjusting platform (27) is arranged in the pitching pre-adjusting arm (16) at a position corresponding to the fine adjusting shaft (24), a second through hole (28) is formed in the adjusting platform (27), and the inner end of the fine adjusting shaft (24) extends into the second through hole (28) and is matched with the second through hole (28) through a second bearing (20).

13. The medical robotic mechanical manipulator of claim 10, wherein: the transmission ratio between the main gear (23) and the auxiliary gear (22) is less than 1; the first driving member is a sector worm wheel (19) meshed with a pitch adjusting worm (21).

14. The medical robotic mechanical manipulator of claim 9, wherein: the swing pre-adjusting arm (17) is internally provided with a fine adjustment self-locking mechanism which is matched with the first rotating shaft (29) to adjust the rotating angle of the first rotating shaft (29).

15. The medical robotic mechanical manipulator of claim 14, wherein: the structure of the fine-adjustment self-locking mechanism in the swing pre-adjustment arm is as follows: a worm wheel (30) is installed in the middle of the first rotating shaft (29), a swing adjusting worm (31) meshed with the worm wheel (30) is arranged in a swing pre-adjusting arm (17) on one side of the worm wheel (30), and two ends of the swing adjusting worm (31) extend out of two opposite side walls of the swing pre-adjusting arm (17) and are rotatably connected with the two side walls; the end parts of the swing adjusting worms (31) extending out of the two opposite side walls of the swing pre-adjusting arm (17) are respectively provided with adjusting threads, and the end parts of the corresponding swing adjusting worms (31) are respectively provided with adjusting nuts (34) which are in fit connection with the adjusting threads; the swing adjusting worm (31) and the worm wheel (30) are double-lead worm and worm wheel.

16. The medical robotic mechanical manipulator of claim 15, wherein: and a second encoder (32) is arranged in the swing pre-adjusting arm (17) at a position corresponding to the inner end of the swing adjusting worm (31), and a shaft sleeve of the second encoder (32) is fixedly connected with the swing adjusting worm (31).

17. The medical robotic mechanical manipulator of claim 1, wherein: the power driving device comprises two motor components which are arranged through a crank arm (92), wherein one motor component is fixedly arranged at one end of the crank arm (92), an output shaft of the motor component penetrates through the crank arm (92) to be fixedly connected with an outer shell (36) of the other motor component, and an output shaft of the other motor component drives the pitching mechanical arm to work.

18. The medical robotic mechanical manipulator of claim 17, wherein: the motor assembly comprises a shell (36) with openings at two ends, a stator (37) and a rotor (38) are arranged in the shell (36), the stator (37) is arranged on the outer ring of the rotor (38), a blocking wall (40) is arranged in the middle of the inner cavity of the shell (36), the blocking wall (40) divides the inner cavity of the shell (36) into a driving cavity (41) and a braking cavity (42), the stator (37) and the rotor (38) are arranged in the driving cavity (41) and the stator (37) is fixedly arranged on the blocking wall (40), the rotor (38) is sleeved on a rotating sleeve (53), the rotating sleeve (53) penetrates through the blocking wall (40) and extends into the braking cavity (42), a second brake (49) is arranged in the braking cavity (42), and the shaft sleeve of the second brake (49) is fixedly sleeved on the rotating sleeve (53); the opening of the driving cavity (41) is fixedly provided with a harmonic reducer (39), the power input end of the harmonic reducer (39) is fixedly connected with the rotating sleeve (53), and the power output end is fixedly provided with a first flange plate (46).

19. The medical robotic mechanical manipulator of claim 18, wherein: the power input end of the harmonic reducer (39) is a second input shaft (55), a second through hole penetrating through two ends of the second input shaft (55) is formed in the second input shaft (55), and the second input shaft (55) is fixedly connected with the corresponding end part of the rotating sleeve (53); the power output end is provided with a rigid wheel (56) of the harmonic reducer (39), and the rigid wheel (56) is fixedly connected with the first flange plate (46).

20. The medical robotic mechanical manipulator of claim 19, wherein: a first middle shaft (51) penetrating through the blocking wall (40) and sleeved in the rotating sleeve (53) is arranged in the outer shell (36), and a gap is formed between the outer wall of the first middle shaft (51) and the inner wall of the rotating sleeve (53); one end of the first middle shaft (51) facing the harmonic reducer (39) penetrates through the second through hole to be fixedly connected with the first flange plate (46), and a gap is formed between the first middle shaft (51) and the second through hole; and detection parts are respectively arranged on one sides of the first middle shaft (51) and the rotating sleeve (53) far away from the first flange plate (46).

21. The medical robotic mechanical manipulator of claim 20, wherein: the first flange plate (46) is fixedly connected with the rigid wheel (56) through a first rotating plate (47), one end, facing the first flange plate (46), of the second input shaft (55) extends out of the harmonic reducer (39) and is close to the first flange plate (46), and the first rotating plate (47) is installed on the second input shaft (55) through a third bearing (48).

22. The medical robotic mechanical manipulator of claim 20, wherein: the inner wall that just keeps away from in braking chamber (42) and keep away from on one side of partition wall (40) inwards is equipped with annular second mount table (43), forms between the port of harmonic speed reducer ware (39) one side with shell body (36) mount table (43), is equipped with in mount table (44) with first axis (51) fixed connection's detection piece, and the detection piece is third encoder (45).

23. The medical robotic mechanical manipulator of claim 22, wherein: the inner diameter of the mounting cavity (44) is smaller than that of the brake cavity (42), and the inner diameter of the second mounting platform (43) is smaller than that of the brake cavity (42); another detection piece is arranged on the second mounting table (43), the detection piece is a fourth encoder (52), and the fourth encoder (52) is fixedly connected with a rotating sleeve (53); a sealing cover (50) is arranged on the opening of the mounting cavity (44).

24. The medical robotic mechanical manipulator of claim 23, wherein: a third through hole penetrating through the two axial ends of the first middle shaft (51) is formed in the first middle shaft; the middle part of one end, far away from the harmonic reducer (39), of the first flange plate (46) is concavely provided with a fixing groove, the end part, corresponding to the first flange plate (46), of the first middle shaft (51) extends into the fixing groove and extends outwards to form a fixing ring, and the fixing ring is matched with the fixing groove and fixed in the fixing groove.

25. The medical robotic mechanical manipulator of claim 1, wherein: the structure of the synchronization device is as follows: a main driving assembly and a first crank connecting rod mechanism are arranged in the fixing arm (58), and the main driving assembly drives the first crank connecting rod mechanism to enable the driving arm (59) to rotate relative to the fixing arm (58); a second crank-link mechanism is arranged in the driving arm (59), the driving arm (59) rotates to drive the second crank-link mechanism to enable the driven arm (57) to rotate relative to the driving arm (59), and the driven arm (57) and the fixed arm (58) are always kept parallel; the driven arm (57) rotates to drive a third crank-link mechanism arranged in the driven arm (57) to work, and the third crank-link mechanism drives an auxiliary driving assembly arranged at the head end of the driven arm (57) to work synchronously.

26. The medical robotic mechanical manipulator of claim 25, wherein: the first crank connecting rod mechanism is structurally characterized in that: a first hinge hole is formed in the head end of the fixing arm (58) and one side, facing the driving arm (59), of the fixing arm, and a first hinge disk (65) matched with the first hinge hole is arranged at the tail end of the driving arm (59); a second rotating shaft (66) is eccentrically arranged on the first hinged disk (65), the second rotating shaft (66) is hinged with the end part corresponding to a main connecting rod (67) arranged in the fixed arm (58), and the other end part of the main connecting rod (67) is hinged on a second driving part (63) driven by a main driving component.

27. The medical robotic mechanical manipulator of claim 26, wherein: the structure of the main driving assembly is as follows: a guide base (60) is arranged in the middle of the fixing arm (58), and a servo motor (61) is arranged on one side, facing the tail end of the fixing arm (58), of the guide base (60); the guide base (60) is internally provided with a ball screw (62) which is coaxial with a motor shaft of the servo motor (61) and is fixedly connected with the motor shaft, one side of the guide base (60) facing the driving arm (59) is provided with a guide sliding groove (64) along the axial direction of the ball screw (62), and the second driving piece (63) is slidably arranged on the guide sliding groove (64) and is matched with the ball screw (62) for driving.

28. The medical robotic mechanical manipulator of claim 25, wherein: the structure of the second crank connecting rod mechanism is as follows: a second hinge hole is formed in the head end of the driving arm (59) and one side, facing the driven arm (57), of the driving arm, and a second hinge disc (71) matched with the second hinge hole is arranged at the tail end of the driven arm (57); a long connecting rod (68), a short connecting rod (69) close to the head end of the driving arm (59) and a rocker arm (70) close to the tail end of the driving arm (59) are arranged in the driving arm (59); the head end and the tail end of the long connecting rod (68) are respectively hinged with the tail end of the short connecting rod (69) and the head end of the rocker arm (70); the head end of the short connecting rod (69) is hinged with the second hinged disc (71); the tail end of the rocker arm (70) is fixedly connected with the fixed arm (58).

29. The medical robotic mechanical manipulator of claim 28, wherein: the third crank connecting rod mechanism is structurally characterized in that: a second middle shaft (79) of a coaxial line is hinged on the second hinged disc (71), the second middle shaft (79) is installed in the middle of the linkage piece (72), and the head end of the linkage piece (72) is hinged with the tail end of the transmission piece (73); the secondary drive assembly is driven by a transmission member (73).

30. The medical robotic mechanical manipulator of claim 29, wherein: an arc-shaped guide hole (75) is formed in one side, located at the tail end of the linkage piece (72), of the driven arm (57), a guide shaft (74) capable of sliding in the guide hole (75) is arranged at the tail end of the linkage piece (72), and the guide shaft (74) penetrates through the guide hole (75) to be fixedly connected with the driving arm (59).

31. The medical robotic mechanical manipulator of claim 29, wherein: the auxiliary driving assembly is a second rotating shaft (76) arranged at the head end of the driven arm (57), a second rotating disc (77) is arranged on the second rotating shaft (76), a hinged rod (78) is eccentrically hinged to the second rotating disc (77), and the head end of the transmission piece (73) is hinged to the hinged rod (78).

32. The medical robotic mechanical manipulator of claim 1, wherein: the structure of the synchronization device is as follows: a main driving component is arranged in the fixed arm (58) and close to the tail end of the fixed arm; the main driving assembly drives a first movable mechanism between the tail end of the driving arm (59) and the head end of the fixed arm (58) to enable the driving arm (59) to rotate along the hinged position of the tail end of the driving arm; the first movable mechanism drives a second movable mechanism between the tail end of the driven arm (57) and the head end of the driving arm (59), so that the driven arm (57) rotates along the hinged position of the tail end of the driven arm to enable the driven arm (57) and the fixed arm (58) to be always kept parallel; the second movable mechanism drives the auxiliary driving component at the head end of the driven arm (57) to work synchronously.

33. The medical robotic mechanical manipulator of claim 32, wherein: the first movable mechanism has the structure that: the head end of fixed arm (58) just is equipped with the third hinge hole towards one side of actuating arm (59), and the end of actuating arm (59) is equipped with first hinge cover (81) with third hinge hole assorted with the opposite one side in third hinge hole, is located in fixed arm (58) third hinge hole department be equipped with first hinge cover (81) between fixed mounting's primary pulley (82), its rotation is driven by main drive assembly in primary pulley (82).

34. The medical robotic mechanical manipulator of claim 33, wherein: the main driving assembly is a belt pulley (80) which is arranged in the fixing arm (58) and is close to the tail end and driven by a power device, and the belt pulley (80) and the main belt pulley (82) transmit power through a synchronous belt.

35. The medical robotic mechanical manipulator of claim 33, wherein: the first movable mechanism further comprises a second flange plate (83) which is arranged in the fixed arm (58) and fixedly connected with the fixed arm (58), a first connecting shaft (84) which penetrates through the first hinge sleeve (81) to extend into the driving arm (59) is arranged in the middle of the second flange plate (83), and a driving wheel (85) for driving the second movable mechanism is fixedly mounted on the first connecting shaft (84) in the driving arm (59).

36. The medical robotic machine manipulator of claim 35, wherein: the structure of the second movable mechanism is as follows: a fourth hinge hole is formed in one side, facing the driven arm (57), of the head end of the driving arm (59), a second hinge sleeve (86) matched with the fourth hinge hole is arranged on one side, opposite to the fourth hinge hole, of the tail end of the driven arm (57), a first secondary belt wheel (87) fixedly mounted between the driving arm (59) and the second hinge sleeve (86) is arranged in the driving arm (59) and located at the fourth hinge hole, and the first secondary belt wheel (87) is driven to rotate by a driving wheel (85).

37. The medical robotic mechanical manipulator of claim 36, wherein: the driving arm (59) is internally provided with a third flange disc (88) fixedly connected with the driven arm (57), the middle part of the third flange disc (88) is provided with a second connecting shaft (89) extending into the driven arm (57) through a second hinge sleeve (86), and a second secondary pulley (90) is fixedly mounted on the second connecting shaft (89) in the driven arm (57).

38. The medical robotic mechanical manipulator of claim 37, wherein: the auxiliary driving assembly is a third rotating shaft (91) arranged at the head end of the driven arm (57), and an output wheel which transmits power through a synchronous belt is arranged between the third rotating shaft (91) and the second auxiliary pulley (90) in a rotating mode.

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