CN113729951B - Double-parallelogram initial adjustment mechanism of surgical robot - Google Patents
Double-parallelogram initial adjustment mechanism of surgical robot Download PDFInfo
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- CN113729951B CN113729951B CN202111189140.4A CN202111189140A CN113729951B CN 113729951 B CN113729951 B CN 113729951B CN 202111189140 A CN202111189140 A CN 202111189140A CN 113729951 B CN113729951 B CN 113729951B
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- unlocking
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- brake
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention provides a double-parallelogram initial-adjustment mechanism of a surgical robot, which comprises a first arm, a second arm and a third arm, wherein the first end of the first arm is rotationally connected with a joint, the second arm is rotationally connected with the second end of the first arm, the third arm is rotationally connected with the second end of the second arm, the second end of the third arm is connected with an intraoperative adjustment assembly to form the double-parallelogram mechanism, the first end of the first arm is rotationally connected with the joint through a first brake steel wire guide wheel, the second end of the first arm is rotationally connected with the second arm through a second brake steel wire guide wheel, the first arm is rotationally connected with a first circulation guide wheel and a second circulation guide wheel, and a brake steel wire is rotationally connected with the first brake steel wire guide wheel and the second brake steel wire guide wheel through brake steel wires through brake devices connected in the first arm. The invention is suitable for the operation robot, can brake after finishing initial adjustment to avoid sliding in operation, can unlock by one key when needing adjustment, and has the characteristics of reliable brake and flexible unlocking.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a double-parallelogram initial adjustment mechanism of a surgical robot.
Background
Minimally invasive surgery, also commonly referred to as interventional surgery, is performed by making a number of small incisions in the body surface (or relying on the natural lumen of the human body), and inserting surgical instruments into the body through the body surface incisions for treatment or diagnosis, by means of image guidance from a visual display system. Minimally invasive surgical techniques have led to open surgical modes for most surgical procedures, and the application of robotics to medical surgical procedures has become increasingly popular, with robots having significant advantages in terms of stability, rapidity and accuracy of operation, and the incorporation of robotics into surgical procedures can improve the surgical environment of the doctor and shorten the recovery time of the patient.
Minimally invasive surgical robots have multiple mechanisms, such as dual parallelogram mechanisms, that achieve different degrees of freedom of motion. As shown in fig. 1, the device comprises a preliminary adjustment rotational degree of freedom a, a preliminary adjustment opening and closing rotational degree of freedom b, an actuator conical rotational degree of freedom c around a sticking point, and an actuator rotational degree of freedom d around the sticking point based on an arc-shaped guide rail, wherein the latter two degrees of freedom are intraoperative adjustment degrees of freedom. The degree of freedom in the operation is controlled by a master hand, the degree of freedom of the initial adjustment is required to be adjusted before the operation, and the two degrees of freedom of the initial adjustment are used for adjusting the parallelogram mechanism to the optimal operation position before the operation, so that braking is required after the adjustment, no sliding in the operation is ensured, and meanwhile, the operation can be quickly adjusted to the required position by one key to ensure the orderly operation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a double-parallelogram initial adjustment mechanism suitable for an operation robot, so that one-key unlocking during adjustment and braking after adjustment are better realized, and sliding in operation is avoided.
In order to achieve the above object, the present invention provides a double parallelogram initial adjusting mechanism of a surgical robot, comprising a first arm with a first end rotatably connected with a joint, a second arm rotatably connected with a second end of the first arm, and a third arm rotatably connected with a second end of the second arm, wherein the second end of the third arm is connected with an intraoperative adjusting component, the rotation of the intraoperative adjusting component around the third arm, the rotation of the third arm around the second arm and the rotation of the second arm around the first arm are all synchronous, the first end of the first arm is rotationally connected with the joint through a first brake steel wire guide wheel, the second end of the first arm is rotationally connected with the second arm through a second brake steel wire guide wheel, a first circulation guide wheel and a second circulation guide wheel are rotationally connected to the first arm, brake steel wires are connected to the first brake steel wire guide wheel and the second brake steel wire guide wheel respectively, and the brake steel wires are led out from two sides of the first brake steel wire guide wheel and the second brake steel wire guide wheel and then are connected with the first circulation guide wheel and the second circulation guide wheel, and the brake steel wires are braked through a brake device connected in the first arm.
Further, the two groups of braking devices are respectively arranged between the first braking steel wire guide wheel and the first circulating guide wheel, between the second braking steel wire guide wheel and the second circulating guide wheel, the braking steel wires led out by the first braking steel wire guide wheel and the second braking steel wire guide wheel are respectively locked or unlocked, a driving control assembly is further connected in the first arm, the driving control assembly is connected with the two groups of braking devices, and the driving control assembly adopts a one-key control mode.
Further, the braking device comprises a braking base, one or more steel wire brakes are connected to the braking base, the braking steel wires penetrate through the corresponding steel wire brakes, an unlocking pressing plate is movably connected to the braking base, and the unlocking pressing plate is controlled by the driving control assembly to switch the locking state or the unlocking state of the steel wire brakes.
Further, a first through hole is formed in the brake base, an unlocking steel wire and an unlocking pull rod are movably connected in the first through hole, a first end of the unlocking steel wire is fixedly connected with the unlocking pressing plate, a second end of the unlocking steel wire is connected with the driving control assembly, a first end of the unlocking pull rod is fixedly connected with the unlocking pressing plate, a second end of the unlocking pull rod is connected with the brake base through a pre-tightening spring, and the pre-tightening spring is kept in a compressed state.
Further, the drive control assembly includes with the unblock support frame of first arm middle part connection, it has unblock rocking arm and fixedly connected with unblock cylinder to articulate on the unblock support frame, the free end of unblock rocking arm with the telescopic link of unblock cylinder is connected, two the unblock steel wire second end of arresting gear all with the free end of unblock rocking arm is connected, the unblock cylinder passes through unblock drive trachea and unblock switch intercommunication, simultaneously unblock switch and intake pipe intercommunication, unblock switch's control button extends to the outside of first arm.
Further, the second end of the unlocking steel wire is sleeved with a spring tube, the first end of the spring tube is communicated with the first through hole of the brake base, the second end of the spring tube is connected with the unlocking support frame, and the second end of the unlocking steel wire is led out from the second end of the spring tube and then connected with the free end of the unlocking rocker arm.
Further, the steel wire brake comprises a brake shell fixed with the brake base and an unlocking push rod fixed with the unlocking pressing plate, wherein the brake shell and the unlocking push rod are respectively provided with a third through hole and a fourth through hole through which a brake steel wire passes, a first end of the unlocking push rod is movably arranged in the third through hole, meanwhile, the first end of the unlocking push rod is connected with the brake shell through a locking spring, the locking spring is kept in a compressed state, a through lock hole is formed in the side wall of the unlocking push rod, steel balls are movably arranged in the lock hole, the outer parts of the steel balls are in rolling contact with the hole wall of the third through hole, the inner parts of the steel balls are in contact with the brake steel wire in the fourth through hole, and the third through hole comprises a cylindrical surface with a constant aperture and a conical surface with a gradually reduced aperture, and the steel balls are driven to lock the brake steel wires through the conical surface.
Further, the first arm is also connected with two pre-tightening adjusting plates capable of adjusting the installation positions, and the first circulating guide wheel and the second circulating guide wheel are respectively and rotatably connected with the corresponding pre-tightening adjusting plates.
Further, the first end of the first arm is further connected with a guide wheel bracket, two transition guide wheels which are distributed oppositely are connected to the guide wheel bracket in a rotating mode, and two sections of brake steel wires led out from the first brake steel wire guide wheels bypass the two transition guide wheels respectively and then are connected with the first circulating guide wheels.
Further, the first end of the second arm is connected with a first rotating guide wheel, the second end of the second arm is connected with a second rotating guide wheel, the first end of the third arm is connected with a third rotating guide wheel, the second end of the third arm is connected with a fourth rotating guide wheel, the first rotating guide wheel is connected with the second brake steel wire guide wheel, the second rotating guide wheel is connected with the third rotating guide wheel, the fourth rotating guide wheel is connected with an intraoperative adjusting assembly, and the first rotating guide wheel is connected with the second rotating guide wheel and the third rotating guide wheel is connected with the fourth rotating guide wheel through a synchronous steel wire set, so that relative rotation angles are kept consistent.
The scheme of the invention has the following beneficial effects:
the double-parallelogram initial-adjustment mechanism is suitable for the surgical robot, and the double-parallelogram mechanism can brake after initial adjustment is completed to avoid sliding in operation through the brake steel wire guide wheel, the circulating guide wheel and the brake device on the brake steel wire which are arranged in the first arm, and can be unlocked by one key when adjustment is needed, so that the double-parallelogram mechanism has the characteristics of reliable brake and flexible unlocking;
according to the invention, the braking device locks and unlocks the braking steel wire through the steel wire brake, the driving control assembly synchronously controls the two braking devices to stretch the unlocking steel wire, and the steel wire brake completes locking and braking or unlocking of the braking steel wire through the matching of the steel ball on the unlocking push rod and the through hole structure on the brake shell, so that the convenience of joint unlocking and the reliability of braking are further improved;
other advantageous effects of the present invention will be described in detail in the detailed description section which follows.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is another schematic view of the overall structure of the present invention;
FIG. 3 is a schematic view of the inner structure of the first arm of the present invention;
FIG. 4 is a cross-sectional view of the internal structure of the brake base of the present invention;
FIG. 5 is a schematic diagram of a driving control assembly structure and connection of the present invention;
fig. 6 is a sectional view showing the internal structure of the wire brake of the present invention.
[ reference numerals description ]
1-a first arm; 2-a second arm; 3-a third arm; 4-an intraoperative regulatory assembly; 5-a first brake wire guide wheel; 6-a second brake wire guide wheel; 7-a first circulating guide wheel; 8-a second circulating guide wheel; 9-braking steel wire; 10-a brake base; 11-wire brake; 12-unlocking the pressing plate; 13-unlocking the steel wire; 14-unlocking the pull rod; 15-pre-tightening a spring; 16-unlocking the supporting frame; 17-unlocking the rocker arm; 18-unlocking the cylinder; 19-unlocking the driving air pipe; 20-unlocking a switch; 21-an air inlet pipe; 22-spring tube; 23-a brake housing; 24-unlocking the push rod; 25-locking springs; 26-a keyhole; 27-steel balls; 28-cylindrical surface; 29-conical surface; 30-pre-tightening the adjusting plate; 31-a guide wheel bracket; 32-transition guide wheels; 33-a first rotating idler; 34-a second rotating idler; 35-a third rotating guide wheel; 36-fourth rotating guide wheel; 37-synchronous wire groups.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, a locked connection, a removable connection, or an integral connection; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1, an embodiment of the present invention provides a double-parallelogram initial-adjustment mechanism of a surgical robot, which comprises a first arm 1 with a first end rotatably connected with a joint, a second arm 2 rotatably connected with a second end of the first arm 1, and a third arm 3 rotatably connected with a second end of the second arm 2, wherein a second end of the third arm 3 is connected with an intraoperative adjustment assembly 4. The rotation degree of freedom of the first arm 1 relative to the joint is a degree of freedom, the rotation of the second arm 2 around the first arm 1 is b degree of freedom, the two degrees of freedom are initial adjustment degrees of freedom, adjustment is needed before an operation, so that the parallelogram mechanism is adjusted to an optimal position before the operation, braking is carried out after the adjustment in place, and no sliding is guaranteed in the operation process. In the double-parallelogram mechanism consisting of the first arm 1, the second arm 2, the third arm 3 and the intraoperative adjusting component 4, the rotation of the intraoperative adjusting component 4 around the third arm 3, the rotation of the third arm 3 around the second arm 2 and the rotation of the second arm 2 around the first arm 1 are synchronous, so that an actuator connected with the intraoperative adjusting component 4 has a poking and blocking fixed point, and the fixed point is the abdominal cavity punching position during surgery.
Meanwhile, as shown in fig. 3, in this embodiment, a first end of a first arm 1 is rotationally connected with a joint through a first brake steel wire guide wheel 5, a second end of the first arm 1 is rotationally connected with a second arm 2 through a second brake steel wire guide wheel 6, a first circulation guide wheel 7 and a second circulation guide wheel 8 are rotationally connected inside the first arm 1, brake steel wires 9 are connected to the first brake steel wire guide wheel 5 and the second brake steel wire guide wheel 6, the brake steel wires 9 are connected with the corresponding brake steel wire guide wheels through winding and end fixing modes, and the brake steel wires 9 are respectively connected with the first circulation guide wheel 7 and the second circulation guide wheel 8 after being led out from two sides of the first brake steel wire guide wheel 5 and the second brake steel wire guide wheel 6, when the brake steel wire guide wheels rotate, one section of the brake steel wires 9 is gradually elongated relative to the brake steel wire guide wheels, and the other section of the brake steel wires 9 is gradually shortened and retracted relative to the brake steel wire guide wheels. The brake wire 9 is braked by a brake device connected in the first arm 1 to brake or release the first brake wire guide wheel 5 and the second brake wire guide wheel 6, so that the corresponding joints are braked or released.
In this embodiment, two sets of braking devices are provided, and are respectively located between the first braking wire guide wheel 5 and the first circulating guide wheel 7, and between the second braking wire guide wheel 6 and the second circulating guide wheel 8, so as to lock or unlock the braking wires 9 led out from the first braking wire guide wheel 5 and the second braking wire guide wheel 6. The first arm 1 is also internally connected with a driving control assembly, the driving control assembly is connected with two groups of braking devices, and the braking or loosening process of the two groups of braking devices is synchronously controlled by adopting a one-key control mode, so that two initial degrees of freedom can be synchronously braked or loosened.
Meanwhile, as shown in fig. 4, the braking device comprises a braking base 10, and two wire brakes 11 corresponding to two sections of braking wires 9 are connected to the braking base 10, and the braking wires 9 pass through the corresponding wire brakes 11. The brake base 10 is movably connected with an unlocking pressing plate 12, and the unlocking pressing plate 12 switches the locking or unlocking state of the steel wire brake 11 under the control of the driving control assembly to lock or unlock the passing brake steel wire 9.
Further, a first through hole is formed in the brake base 10, an unlocking steel wire 13 is movably connected in the first through hole, a first end of the unlocking steel wire 13 is fixedly connected with the unlocking pressing plate 12, and the unlocking steel wire 13 pulls the unlocking pressing plate 12 to complete unlocking actions. Simultaneously, the first through hole is internally and movably connected with an unlocking pull rod 14, a first end of the unlocking pull rod 14 is fixedly connected with the unlocking pressing plate 12, and a second end of the unlocking pull rod is connected with the brake base 10 through a pre-tightening spring 15. The pre-tightening spring 15 keeps a compressed state, so that the unlocking pull rod 14 continuously applies ejection force to the unlocking pressing plate 12, the unlocking pressing plate 12 is ensured to be in a position away from the brake base 10 when not being pulled, and the wire brake 11 is ensured to be in a locking braking state. The pre-tightening spring 15 can adjust the pre-tightening force before installation, so that the unlocking force of the unlocking steel wire 13 and the locking braking force of the unlocking pressing plate 12 are relatively suitable. In addition, a second through hole is formed in the unlocking pull rod 14, the unlocking steel wire 13 passes through the second through hole, and the unlocking driving process of the unlocking steel wire does not directly interfere with the unlocking pull rod 14.
Meanwhile, as shown in fig. 5, the driving control assembly in this embodiment includes an unlocking support frame 16 connected with the middle part of the first arm 1, an unlocking rocker 17 is hinged on the unlocking support frame 16, and an unlocking cylinder 18 is fixedly connected with the unlocking support frame, the free end of the unlocking rocker 17 is connected with a telescopic rod of the unlocking cylinder 18, and the unlocking cylinder 18 drives the unlocking rocker 17 to rotate around a hinge point. The second ends of unlocking steel wires 13 of the two braking devices are connected with the free ends of unlocking rocker arms 17, when the unlocking rocker arms 17 rotate, the unlocking steel wires 13 are stretched, so that the first ends of the unlocking steel wires 13 are stretched to drive an unlocking pressing plate 12 to be close to a braking base 10, and unlocking actions are completed. The unlocking cylinder 18 is communicated with the unlocking switch 20 through the unlocking driving air pipe 19, meanwhile, the unlocking switch 20 is communicated with the air inlet pipe 21, and the air inlet and air outlet processes of the unlocking cylinder 18 are controlled by the unlocking switch 20. The control button of the unlocking switch 20 extends to the outside of the first arm 1, facilitating direct one-touch operation by the operator.
As a further improvement, in this embodiment, the second end of the unlocking steel wire 13 is further sleeved with a spring tube 22, the first end of the spring tube 22 is communicated with the first through hole of the brake base 10, the second end of the spring tube 22 is connected with the unlocking support frame 16, and the second end of the unlocking steel wire 13 is led out from the second end of the spring tube 22 and then connected with the free end of the unlocking rocker 17. Through the arrangement of the spring tube 22, the stroke of the unlocking steel wire 13 between the brake base 10 and the unlocking support frame 16 is determined, the length of the unlocking steel wire 13 in the spring tube 22 in the unlocking sliding process is not changed due to bending deformation of the unlocking steel wire 13, when the unlocking rocker 17 drives the second end of the unlocking steel wire 13 to move for a certain distance to stretch, the first end of the unlocking steel wire 13 also moves for the same distance, and the accuracy of unlocking control is ensured.
Also, as shown in fig. 6, the wire brake 11 in this embodiment includes a brake housing 23 fixed to the mounting hole of the brake base 10, and an unlocking push rod 24 having a second end fixed to the unlocking pressure plate 12. The brake housing 23 and the unlocking push rod 24 are respectively formed with a third through hole and a fourth through hole through which the brake steel wire 9 passes, the first end of the unlocking push rod 24 is movably arranged in the third through hole, and simultaneously the first end of the unlocking push rod 24 is connected with the brake housing 23 through a locking spring 25. The side wall of the unlocking push rod 24 is provided with a penetrating lock hole 26, a steel ball 27 capable of freely rolling is arranged in the lock hole 26, the outer part of the steel ball 27 is in rolling contact with the wall of the third through hole, and the inner part of the steel ball 27 is in contact with the brake steel wire 9 in the fourth through hole. Correspondingly, the third through hole comprises a cylindrical surface 28 with a constant aperture and a conical surface 29 with a gradually reduced aperture.
When the locking spring 25 is kept in a compressed state and the unlocking push rod 24 is not pulled outwards by the unlocking pressing plate 12, the unlocking push rod is close to the second end of the third through hole under the action of the elastic force of the locking spring 25, the outer part of the steel ball 27 is in rolling contact with the conical surface 29, the steel ball 27 is pressed inwards under the condition that the aperture of the conical surface 29 is reduced, the brake steel wire 9 in the fourth through hole is pressed, and the brake steel wire 9 cannot slide freely along the fourth through hole or the third through hole, so that a locking state of the joint is formed. When the degree of freedom of the joint is required to be initially adjusted before operation, the unlocking rocker arm 17 stretches the unlocking steel wire 13 under the driving of the unlocking cylinder 18, the unlocking pressing plate 12 pushes the unlocking push rod 24 to move towards the first end of the third through hole, the elastic force of the locking spring 25 is overcome to do work, and the locking hole 26 and the steel ball 27 are gradually located at the position of the cylindrical surface 28 of the third through hole. Because the inner diameter of the cylindrical surface 28 is larger, the steel balls 27 are not pressed any more, the inside of the steel balls 27 still contacts with the brake steel wire 9 in a rolling way, but the brake steel wire 9 is not locked any more, and unlocking of the brake steel wire 9 is completed. Of course, the inner diameter of the cylindrical surface 28 does not exceed the range, resulting in complete removal of the steel ball 27 from the locking hole 26. After the joint freedom degree is unlocked and initially adjusted, the control button of the unlocking switch 20 is pressed, the unlocking cylinder 18 is controlled by one-time control to release pressure and not stretch the unlocking steel wire 13, the unlocking push rod 24 moves towards the second end of the third through hole again under the action of the locking spring 25, and the steel ball 27 locks the braking steel wire 9 to complete braking of the joints at the two ends of the first braking steel wire guide wheel 5 and the second braking steel wire guide wheel 6, namely the first arm 1. Due to the synchronous rotation of the joints on the second arm 2 and the third arm 3, a brake of the whole double parallelogram mechanism is formed.
As a further improvement, the first arm 1 is also connected with two pretension adjusting plates 30 with adjustable mounting positions, the first circulating guide wheel 7 and the second circulating guide wheel 8 are respectively and rotatably connected with the corresponding pretension adjusting plates 30, the pretension of the corresponding brake steel wire 9 is adjusted through the change of the mounting positions of the pretension adjusting plates 30, and the braking effect of the first brake steel wire guide wheel 5 and the second brake steel wire guide wheel 6 is ensured.
As a further improvement, the first end of the first arm 1 is also connected with a guide wheel bracket 31, two transition guide wheels 32 which are distributed oppositely are rotationally connected on the guide wheel bracket 31, and two sections of brake steel wires 9 led out from the first brake steel wire guide wheels 5 are respectively connected with the first circulating guide wheels 7 after bypassing the two transition guide wheels 32, so that the brake steel wires 9 are bent by 90 degrees, and the arrangement requirement of the brake steel wires 9 when the rotating shafts of the first brake steel wire guide wheels 5 and the first circulating guide wheels 7 are mutually perpendicular is met.
Meanwhile, as shown in fig. 2, a first end of the second arm 2 is connected with a first rotating guide wheel 33, a second end is connected with a second rotating guide wheel 34, a first end of the third arm 3 is connected with a third rotating guide wheel 35, and a second end is connected with a fourth rotating guide wheel 36. The first rotating guide wheel 33 is coaxially and rotatably connected with the second brake steel wire guide wheel 6, the second rotating guide wheel 34 is coaxially and rotatably connected with the third rotating guide wheel 35, and the fourth rotating guide wheel 36 is fixedly connected with the intraoperative adjusting assembly 4. The first rotating guide wheel 33 and the second rotating guide wheel 34, the third rotating guide wheel 35 and the fourth rotating guide wheel 36 are connected through the synchronous steel wire group 37, so that the relative rotation angles are kept consistent, and the synchronous transmission of the double-parallelogram mechanism and the formation of the poking and blocking fixed points are realized.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (5)
1. The double-parallelogram initial-adjustment mechanism of the surgical robot comprises a first arm, a second arm and a third arm, wherein the first end of the first arm is rotationally connected with a joint, the second arm is rotationally connected with the second end of the first arm, the second end of the third arm is rotationally connected with an intraoperative adjustment assembly, the intraoperative adjustment assembly rotates around the third arm, the third arm rotates around the second arm and the second arm rotates around the first arm synchronously, and the double-parallelogram initial-adjustment mechanism is characterized in that the first end of the first arm is rotationally connected with the joint through a first brake steel wire guide wheel, the second end of the first arm is rotationally connected with the second arm through a second brake steel wire guide wheel, a first circulation guide wheel and a second circulation guide wheel are rotationally connected to the first arm, the second brake steel wire is rotationally connected to the second brake steel wire, and the brake steel wire is led out of the first brake steel wire guide wheel, the second brake steel wire guide wheel and the first circulation guide wheel and the second brake steel wire guide wheel are led out of the first brake steel wire guide wheel and the second brake steel wire guide wheel through the first circulation guide wheel;
the first end of the second arm is connected with a first rotating guide wheel, the second end of the second arm is connected with a second rotating guide wheel, the first end of the third arm is connected with a third rotating guide wheel, the second end of the third arm is connected with a fourth rotating guide wheel, the first rotating guide wheel is connected with the second brake steel wire guide wheel, the second rotating guide wheel is connected with the third rotating guide wheel, the fourth rotating guide wheel is connected with an intraoperative adjusting assembly, and the first rotating guide wheel is connected with the second rotating guide wheel and the third rotating guide wheel is connected with the fourth rotating guide wheel through a synchronous steel wire set, so that relative rotation angles are kept consistent;
the braking device comprises a braking base, wherein a plurality of steel wire brakes are connected to the braking base, braking steel wires penetrate through the corresponding steel wire brakes, an unlocking pressing plate is movably connected to the braking base, and the unlocking pressing plate is controlled by a driving control assembly to switch the locking state or the unlocking state of the steel wire brakes;
a first through hole is formed in the brake base, an unlocking steel wire and an unlocking pull rod are movably connected in the first through hole, a first end of the unlocking steel wire is fixedly connected with the unlocking pressing plate, a second end of the unlocking steel wire is connected with the driving control assembly, a first end of the unlocking pull rod is fixedly connected with the unlocking pressing plate, a second end of the unlocking pull rod is connected with the brake base through a pre-tightening spring, and the pre-tightening spring is kept in a compressed state;
the driving control assembly comprises an unlocking support frame connected with the middle of the first arm, an unlocking rocker arm and an unlocking cylinder are hinged to the unlocking support frame, the free ends of the unlocking rocker arm are connected with telescopic rods of the unlocking cylinder, the second ends of unlocking steel wires of the two braking devices are connected with the free ends of the unlocking rocker arm, the unlocking cylinder is communicated with an unlocking switch through an unlocking driving air pipe, meanwhile, the unlocking switch is communicated with an air inlet pipe, and a control button of the unlocking switch extends to the outside of the first arm;
the steel wire brake comprises a brake shell fixed with the brake base and an unlocking push rod fixed with the unlocking pressing plate, wherein the brake shell and the unlocking push rod are respectively provided with a third through hole and a fourth through hole through which a brake steel wire passes, a first end of the unlocking push rod is movably arranged in the third through hole, meanwhile, the first end of the unlocking push rod is connected with the brake shell through a locking spring, the locking spring is kept in a compressed state, a through lock hole is formed in the side wall of the unlocking push rod, a steel ball is movably arranged in the lock hole, the outer part of the steel ball is in rolling contact with the hole wall of the third through hole, the inner part of the steel ball is in contact with the brake steel wire in the fourth through hole, and the third through hole comprises a cylindrical surface with a constant hole diameter and a conical surface with a gradually reduced hole diameter and is used for driving the steel ball to lock the brake steel wire through the conical surface.
2. The double-parallelogram initial-adjustment mechanism of a surgical robot according to claim 1, wherein two groups of braking devices are arranged and are respectively positioned between the first braking steel wire guide wheel and the first circulating guide wheel and between the second braking steel wire guide wheel and the second circulating guide wheel, braking steel wires led out from the first braking steel wire guide wheel and the second braking steel wire guide wheel are respectively locked or unlocked, a driving control assembly is further connected in the first arm, the driving control assembly is connected with the two groups of braking devices, and the driving control assembly adopts a one-key control mode.
3. The double-parallelogram initial-adjustment mechanism of a surgical robot according to claim 2, wherein the second end of the unlocking steel wire is sleeved with a spring tube, the first end of the spring tube is communicated with the first through hole of the brake base, the second end of the spring tube is connected with the unlocking support frame, and the second end of the unlocking steel wire is connected with the free end of the unlocking rocker after being led out from the second end of the spring tube.
4. The double-parallelogram initial-adjustment mechanism of a surgical robot according to claim 1, wherein the first arm is further connected with two pre-tightening adjusting plates capable of adjusting installation positions, and the first circulating guide wheel and the second circulating guide wheel are respectively connected with the corresponding pre-tightening adjusting plates in a rotating manner.
5. The double-parallelogram initial-adjustment mechanism of a surgical robot according to claim 1, wherein the first end of the first arm is further connected with a guide wheel bracket, two transition guide wheels which are distributed oppositely are connected to the guide wheel bracket in a rotating manner, and two sections of the brake steel wires led out from the first brake steel wire guide wheels are respectively connected with the first circulating guide wheels after bypassing the two transition guide wheels.
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