CN117017499A - Gravity self-balancing structure, mechanical arm and surgical robot - Google Patents

Gravity self-balancing structure, mechanical arm and surgical robot Download PDF

Info

Publication number
CN117017499A
CN117017499A CN202311073814.3A CN202311073814A CN117017499A CN 117017499 A CN117017499 A CN 117017499A CN 202311073814 A CN202311073814 A CN 202311073814A CN 117017499 A CN117017499 A CN 117017499A
Authority
CN
China
Prior art keywords
gravity
arm cylinder
balance
transmission shaft
main body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311073814.3A
Other languages
Chinese (zh)
Inventor
请求不公布姓名
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Weijing Medical Robot Co ltd
Original Assignee
Hangzhou Weijing Medical Robot Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hangzhou Weijing Medical Robot Co ltd filed Critical Hangzhou Weijing Medical Robot Co ltd
Priority to CN202311073814.3A priority Critical patent/CN117017499A/en
Publication of CN117017499A publication Critical patent/CN117017499A/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A61B34/77—Manipulators with motion or force scaling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The application discloses a gravity self-balancing structure, a mechanical arm and a surgical robot, wherein the gravity self-balancing structure comprises a mounting main body and an arm cylinder arranged on the mounting main body in a sliding manner, a constant force balancing component and a balancing compensation component which are respectively connected with the arm cylinder are arranged on the mounting main body.

Description

Gravity self-balancing structure, mechanical arm and surgical robot
Technical Field
The application relates to the technical field of surgical instruments, in particular to a gravity self-balancing structure, a mechanical arm and a surgical robot.
Background
Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, so that the operation difficulty is greatly increased, and the minimally invasive instrument becomes a key factor for restricting the development of the minimally invasive surgery technology. With the development of robot technology, a new minimally invasive medical field technology, namely minimally invasive surgery robot technology, capable of overcoming the defects and inheriting the advantages, has been developed.
A common minimally invasive surgical robot consists of a physician console, a patient side cart, and a display device, where the surgeon operates an input device and communicates input to the patient side cart that is connected to a teleoperated surgical instrument. The patient side handcart includes mobilizable arm, needs to offset the gravity that its up-and-down motion carried as far as possible in the design of arm, just so doctor can light drag the joint motion from top to bottom when the manual adjustment of pendulum platform location, otherwise doctor need hold in the palm when wanting to adjust arm joint upwards to lift arm tip telecentric mechanism dead weight just can push up the joint, and is very laborsaving.
In the prior art, a linear transmission structure such as a ball screw, a trapezoidal screw and a synchronous belt is generally adopted for linear motion, the structure needs motor transmission, the rotating sliding resistance and gravity of the screw are required to be counteracted before a doctor wants to push a mechanical arm, and the equipment can be driven in an electric reverse direction to play an auxiliary role after detecting the action trend of a user, however, the force control and detection of the reverse direction driving are difficult, the force balance precision in the auxiliary process is poor, the synchronous belt transmission is adopted, the problems of low strength and easy abrasion are solved, and meanwhile, the synchronous wheels are required to be arranged up and down, so that the space installation requirement is large, and the whole miniaturization of the surgical robot is inconvenient.
Disclosure of Invention
Aiming at the defects of the prior art, the application provides a gravity self-balancing structure, a mechanical arm and a surgical robot, wherein the gravity self-balancing structure is sensitive in action trend acquisition and good in gravity balancing effect.
In order to achieve the above object, the present application is achieved by the following technical scheme.
The application provides a gravity self-balancing structure, which comprises a mounting main body, an arm cylinder, a balance detection unit, a constant force balance assembly and a balance compensation assembly, wherein the arm cylinder is arranged on the mounting main body in a sliding manner along the vertical direction;
the constant force balance component is used for giving a constant lifting force to the wall cylinder, the balance compensation component comprises an adjusting unit and a transmission shaft which is rotatably arranged on the installation main body and connected with the adjusting unit, at least one traction belt is wound on the transmission shaft, and one end of the traction belt, which is far away from the transmission shaft, is fixedly connected with the wall cylinder;
wherein, when the balance detection unit detects that the arm cylinder is in a gravity unbalanced state, the adjusting unit can adjust the rotation torque of the transmission shaft to balance the gravity of the arm cylinder;
the technical effect of the device is that the main load of the arm cylinder is counteracted through the constant force balance component, the gravity at the end of the arm cylinder cannot be balanced completely due to the tension error of the constant force balance component, gravity remains exist, the balance detection unit can acquire the gravity balance information of the arm cylinder, accordingly, the rotation torque of the transmission shaft is adjusted through the adjusting unit, the transmission shaft is driven to rotate and the lifting of the arm cylinder is realized through the traction belt, the residual gravity value at the end of the arm cylinder is balanced, the complete self-balancing of the gravity at the end of the arm cylinder is realized, the control effect is accurate, the structure is compact, and the occupied space is small.
Further limited, the gravity self-balancing structure, wherein, the constant force balancing assembly includes a winding and unwinding wheel rotatably arranged on the installation main body, a constant force spring is wound and arranged on the winding and unwinding wheel, and one end of the constant force spring, which is far away from the winding and unwinding wheel, is fixedly connected with the arm cylinder.
Further limited, the gravity self-balancing structure comprises the adjusting unit, wherein the adjusting unit comprises a driven wheel and a power assembly, the driven wheel is rotatably arranged on the transmission shaft, the power assembly is used for driving the driven wheel and the transmission shaft to rotate relatively, and an elastic piece is fixedly arranged between the driven wheel and the transmission shaft;
wherein, under the driven wheel rotates relative to the transmission shaft, the elastic piece can accumulate elastic potential energy to give the transmission shaft torque overcoming the traction belt load.
Further limited, the gravity self-balancing structure is characterized in that the elastic piece is specifically a clockwork spring, and the clockwork spring is fixedly connected with the driven wheel and the transmission shaft respectively.
Further limited, the gravity self-balancing structure comprises the power assembly, wherein the power assembly comprises a motor fixedly arranged on the installation main body, and a driving wheel coupled with the driven wheel is fixedly arranged at the power output end of the motor;
the driving wheel can drive the driven wheel to synchronously rotate when rotating.
Further limited, the gravity self-balancing structure is characterized in that the installation main body is fixedly provided with an electromagnetic brake for braking the transmission shaft, and/or the motor is provided with a braking system for limiting the rotation of the power output end.
Further defined, the gravity self-balancing structure, wherein the balance detection unit comprises a tension detection assembly for detecting the gravity of the arm cylinder and/or a stroke detection assembly for detecting the position change of the arm cylinder.
Further limited, the gravity self-balancing structure, wherein the tension detecting assembly comprises a connecting block fixedly arranged on the arm cylinder, a containing cavity is arranged in the connecting block, and a tension sensor is arranged in the containing cavity;
the first sensing end of the tension sensor is fixedly provided with a sensing head which is in sliding connection with the connecting block, and the second sensing end is fixedly provided with a fixing bolt which is in sliding connection with the connecting block;
the sensor comprises a connecting block, a fixed bolt, a tension sensor, a first sensing spring, a second sensing spring, a first sensing end and a second sensing end, wherein the sensing head penetrates through and extends to the outer side of the connecting block and is fixedly connected with the traction belt;
the automatic balance control device has the technical effects that the up-and-down motion trend of the arm cylinder can be sensitively detected through the tension sensor, and the output torque and the direction of the clockwork spring are regulated through the power component, so that the residual gravity after the constant force spring is balanced is compensated in real time, the load at the end of the arm cylinder is in a gravity balance state, and when a user pulls the arm cylinder up and down to break the gravity balance state, the tension sensor can rapidly detect the gravity change and timely make the regulation of gravity compensation, and the gravity balance efficiency and the precision of the arm cylinder are greatly improved.
Further limited, the gravity self-balancing structure comprises the travel detection assembly, and a reading head fixedly connected with the wall cylinder, wherein the travel detection assembly comprises a magnetic grating ruler fixedly arranged on the installation main body and parallel to the sliding direction of the wall cylinder;
under the relative movement of the arm cylinder and the mounting main body, the reading head and the magnetic grating ruler are matched to acquire the movement stroke of the arm cylinder relative to the mounting main body;
the technical effect of the device is that the motion state change of the arm cylinder can be timely obtained through the cooperation of the reading head and the magnetic grating ruler, and the gravity balance feedback can be timely given out to the dragging action of a user under the double detection of the tension detection assembly and the stroke detection assembly, so that the response speed of the torque adjustment of the clockwork spring and the whole gravity balance efficiency of the arm cylinder are improved.
The application also provides a mechanical arm which comprises the gravity self-balancing structure.
The application also provides a surgical robot which comprises a base and an upright post arranged on the base, wherein the mechanical arm is arranged on the upright post.
Drawings
FIG. 1 is a schematic view of a gravity self-balancing structure in a mechanical arm according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a gravity self-balancing structure in a mechanical arm according to an embodiment of the present application;
FIG. 3 is a cross-sectional view of a portion of a "balance compensation assembly 400" in a gravity self-balancing structure according to an embodiment of the present application;
FIG. 4 is a schematic diagram of the structure of the "motor 421" part of the gravity self-balancing structure according to the embodiment of the present application;
FIG. 5 is a schematic view of the structure of the "travel detection assembly" part of the gravity self-balancing structure according to the embodiment of the present application;
FIG. 6 is a schematic structural diagram of a portion of a "tension detecting assembly" in a gravity self-balancing structure according to an embodiment of the present application;
FIG. 7 is a cross-sectional view of a portion of a "tension sensing assembly" in a gravity self-balancing structure according to an embodiment of the present application.
Reference numerals
The magnetic force sensor comprises a mounting main body-100, a sliding rail-110, a magnetic grid ruler-120, an arm cylinder-200, a sliding table-210, a connecting plate-220, a reading head-230, a constant force balance component-300, a constant force spring-310, a winding and unwinding wheel-320, a balance compensation component-400, a driven wheel-410, a driving wheel-420, a motor-421, a traction belt-430, an end piece-431, a cover plate-440, an electromagnetic brake-450, a first bearing-461, a second bearing-462, a third bearing-463, a winding drum-470, a clockwork spring-480, a transmission shaft-490, a connecting block-510, a containing cavity-511, a sensing head-520, a tension sensor-530, a first sensing spring-540, a second sensing spring-550 and a fixing bolt-560.
Detailed Description
The technical solutions of the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. Based on the examples in the present application, the art
All other embodiments obtained by the person skilled in the art fall within the scope of protection of the present application.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
The gravity self-balancing structure, the mechanical arm and the surgical robot provided by the embodiment of the application are described in detail through specific embodiments and application scenes thereof by combining the attached drawings.
As shown in fig. 1 to 7, an embodiment of the present application provides a gravity self-balancing structure, which includes a mounting body 100, an arm cylinder 200 slidably disposed on the mounting body 100 in a vertical direction, and a balance detecting unit for detecting whether the weight of the arm cylinder is balanced, and the mounting body 100 is further provided with a constant force balancing assembly 300 connected to the arm cylinder 200 and for balancing the main weight of the arm cylinder 200, and a balance compensating assembly 400 for balancing the residual weight of the constant force balancing assembly 300, respectively.
The constant force balance assembly 300 includes a winding and unwinding wheel 320 rotatably disposed on the installation body 100, a constant force spring 310 is wound on the winding and unwinding wheel 320, and one end of the constant force spring 310, which is far away from the winding and unwinding wheel 320, is fixedly connected with the arm cylinder 200.
The balance compensation assembly 400 comprises an adjusting unit and a transmission shaft 490 rotatably arranged on the mounting main body 100, wherein a winding drum 470 is fixedly arranged on the transmission shaft 490, a traction belt 430 is wound on the winding drum 470, and one end, away from the winding drum 470, of the traction belt 430 is fixedly connected with the arm cylinder 200.
Wherein, when the balance detecting unit detects that the arm cylinder 200 is in a gravity unbalanced state, the adjusting unit can adjust the rotation torque of the transmission shaft 490 to balance the gravity of the arm cylinder 200.
In the embodiment of the application, the gravity self-balancing structure is adopted, the load of the arm barrel 200 is mainly offset by the constant force spring 310, and the gravity at the end of the arm barrel 200 cannot be balanced completely due to the tension error of the constant force spring 310, so that gravity residue exists, and the balance detection unit can acquire the gravity balance information of the arm barrel 200, so that the rotation torque of the transmission shaft 490 is regulated by the regulation unit, the transmission shaft 490 is driven to rotate, the lifting of the arm barrel 200 is realized through the traction belt 430, the residual gravity value at the end of the arm barrel 200 is balanced, and the complete self-balancing of the gravity at the end of the arm barrel 200 is realized, so that the control effect is accurate, the structure is compact, and the occupied space is small.
It is to be understood that the spring force balancing structure of the constant force balancing assembly 300 is not limited to the above one, so long as the spring force of the spring force balancing structure can be ensured to be constant, and is not particularly limited herein.
In a preferred embodiment, as shown in fig. 1 to 3, the adjusting unit includes a driven wheel 410 rotatably provided on a driving shaft 490 and a power assembly for driving the driven wheel 410 to rotate, and an elastic member is fixedly provided between the driven wheel 410 and the driving shaft 490.
It will be appreciated that when the driven wheel 410 is driven by the power assembly and rotates relative to the drive shaft 490, the resilient member between the driven wheel 410 and the drive shaft 490 is able to accumulate resilient potential energy, thereby imparting a torque to the driven wheel 410, the drive shaft 490 opposite the direction of relative rotation.
In the embodiment of the present application, with the gravity self-balancing structure, the power assembly can drive the driven wheel 410 to rotate relative to the transmission shaft 490, so that the elastic member between the driven wheel 410 and the transmission shaft 490 accumulates elastic potential energy, and simultaneously drives the winding drum 470 to rotate and pull the arm cylinder 200 through the traction belt 430, and the residual gravity value at the end of the arm cylinder 200 can be balanced through the torsion generated by the elastic member.
In a preferred embodiment, as shown in fig. 3, a first bearing 461 is disposed between the driven wheel 410 and the transmission shaft 490, and the relative rotation between the driven wheel 410 and the transmission shaft 490 is achieved by the first bearing 461.
A second bearing 462 is provided between the driven wheel 410 and the mounting body 100, and the driven wheel 410 is rotatably connected to the mounting body 100 through the second bearing 462, thereby improving rotational stability of the driven wheel 410.
A third bearing 463 is provided between the transmission shaft 490 and the mounting body 100, and the transmission shaft 490 is rotatably provided on the mounting body 100 by the third bearing 463.
In a preferred embodiment, as shown in fig. 3, the elastic member between the driven wheel 410 and the transmission shaft 490 is specifically configured as a clockwork spring 480, and the clockwork spring 480 is fixedly connected with the driven wheel 410 and the transmission shaft 490, respectively.
It will be appreciated that as driven wheel 410 rotates relative to drive shaft 490, clockwork spring 480 is able to accumulate elastic potential energy, thereby increasing the torque of drive shaft 490 to achieve residual gravity balance to arm cylinder 200.
In a preferred embodiment, as shown in fig. 1 to 3, a hollow groove for accommodating the clockwork spring 480 is formed on the end surface of the driven wheel 410, which is far away from the winding drum 470, and the clockwork spring 480 is connected with the driven wheel 410 and the transmission shaft 490 in the hollow groove.
The driven wheel 410 is further fixedly provided with a cover plate 440 for covering the empty slot on the end surface of one side far away from the winding drum 470, and after the spiral spring 480 is installed in the empty slot of the driven wheel 410, the spiral spring 480 can be shielded through the cover plate 440, so that the attractiveness is improved, meanwhile, the spiral spring 480 is prevented from being blocked by external sundries, and the overall reliability of the device is improved.
In a preferred embodiment, as shown in fig. 1 to 4, the power assembly of the adjusting unit includes a motor 421 fixedly provided on the mounting body 100, and a driving wheel 420 is fixedly provided on a power output end of the motor 421.
The driving wheel 420 is engaged with the driven wheel 410, and when the driving wheel 420 rotates, the driven wheel 410 can be driven to rotate correspondingly.
It should be understood that the transmission form between the driving wheel 420 and the driven wheel 410 is not limited to the above-mentioned one, for example, a belt transmission or a chain transmission can be adopted between the driving wheel 420 and the driven wheel 410, and likewise, the arrangement form of the power assembly is not limited to the above-mentioned one, for example, a cylinder toothed plate assembly or other transmission forms capable of driving the driven wheel 410 to rotate, which are not described herein in detail.
It will be appreciated that the motor 421 is coupled to a braking system, i.e. the unidirectional transmission between the driven wheel 410 and the driving wheel 420 is enabled such that the driven wheel 410 is able to maintain a relative rotational angle with the transmission shaft 490, thereby maintaining the additional torque of the clockwork spring 480 to the transmission shaft 490.
In a preferred embodiment, as shown in fig. 3, the balance compensation assembly 400 further includes an electromagnetic brake 450 fixedly provided on the mounting body 100 for braking the transmission shaft 490.
When the clockwork spring 480 accumulates elastic potential energy and the gravity at the end of the arm cylinder 200 is completely balanced by the lifting of the traction belt 430, the retraction state of the traction belt 430 can be maintained by the electromagnetic brake 450, thereby maintaining the gravity self-balancing state of the end of the arm cylinder 200.
In a preferred embodiment, as shown in fig. 1 to 4 and 6, at least one traction belt 430 is wound on the winding drum 470, and when a plurality of traction belts 430 are provided, one end of the plurality of traction belts 430, which is far from the winding drum 470, is connected to the arm cylinder 200, respectively.
It is understood that the plurality of traction bands 430 can be wound around one winding drum 470, or the plurality of winding drums 470 can be fixedly disposed on the transmission shaft 490, and the plurality of traction bands 430 are wound around the plurality of winding drums 470, respectively.
In a preferred embodiment, the traction belt 430 is a stainless steel belt, and the requirement standard of the medical equipment load safety factor of more than 8 times can be met through winding lifting of the stainless steel belt and counterweight of the constant force spring 310.
In a preferred embodiment, as shown in fig. 1 to 4, at least one constant force spring 310 is wound around the winding and unwinding wheel 320, and when a plurality of constant force springs 310 are provided, one end of the plurality of constant force springs 310 away from the winding and unwinding wheel 320 is connected to the arm cylinder 200, respectively.
It is understood that the plurality of constant force springs 310 can be wound around one winding wheel 320, or the plurality of winding wheels 320 can be rotatably disposed on the mounting body 100, and the plurality of constant force springs 310 are wound around the plurality of winding wheels 320, respectively.
In a preferred embodiment, as shown in fig. 6 and 7, the balance detecting unit includes a tension detecting assembly for detecting the gravity of the arm cylinder 200.
The tension detecting assembly comprises a connecting block 510 fixedly arranged on the arm barrel 200, a containing cavity 511 is arranged in the connecting block 510, a tension sensor 530 is arranged in the containing cavity 511, a sensing head 520 is fixedly arranged on a first sensing end of the tension sensor 530, a fixing bolt 560 is fixedly arranged on a second sensing end of the tension sensor 530, the sensing head 520 penetrates and extends to the outer side of the connecting block 510 and is fixedly connected with the traction belt 430, and the fixing bolt 560 penetrates and extends to the outer side of the connecting block 510.
The fixing bolt 560 is fixedly provided with a first sensing spring 540 abutting against a second sensing end of the tension sensor 530, the sensing head 520 is fixedly provided with a second sensing spring 550 abutting against the first sensing end of the tension sensor 530, and when the traction belt 430 is provided with a plurality of traction belts, one traction belt 430 is fixedly connected with the sensing head 520, and the other traction belts 430 are fixedly connected with the connecting block 510.
It will be appreciated that after the fixing bolt 560 is installed on the tension sensor 530, the first sensing spring 540 is in a compressed state and can output pressure to the second sensing end of the tension sensor 530, so that the tension sensor 530 detects a pressure value, when the balance compensation assembly 400 drives the arm cylinder 200 to lift by the traction belt 430, a tension is generated to the sensing head 520, at this time, the force detected by the tension sensor 530 will undergo a change of pressure-0-tension, and during the process of detecting the change of force by the tension sensor 530, the control system can adjust the output torque and direction of the clockwork spring 480 through the power assembly until the tension sensor 530 detects that the tension value tends to 0 state, so as to achieve complete balance of gravity.
The first sensing spring 540 and the second sensing spring 550 are further used for matching the detection range of the tension sensor 530, and since the tension sensor 530 has a detection threshold value of the minimum force, the first sensing spring 540 and the second sensing spring 550 are set to be greater than the detection threshold value of the minimum force of the tension sensor 530, so as to ensure the detection reliability of the tension sensor 530, and at this time, when the tension sensor 530 detects only the detection threshold value of the minimum force, the force is balanced.
It can be understood that if the detection range and the detection accuracy of the tension sensor 530 can meet the detection conditions, the first sensing spring 540 and the second sensing spring 550 can be omitted correspondingly, and the tension and the pressure at the two ends of the tension sensor 530 are balanced, i.e. the gravity balance state.
In the embodiment of the application, the gravity self-balancing structure is adopted, the upward and downward movement trend of the arm barrel 200 can be sensitively detected through the tension sensor 530, and the output torque and the direction of the clockwork spring 480 are regulated through the power component, so that the residual gravity after the balance weight of the constant force spring 310 is compensated in real time, the end load of the arm barrel 200 is in a gravity balance state, when a user pulls the arm barrel 200 up and down to break the gravity balance state, the tension sensor 530 can rapidly detect the gravity change and timely regulate the gravity compensation, and the gravity balance efficiency and the gravity balance precision of the arm barrel 200 are greatly improved.
In a preferred embodiment, as shown in fig. 6 and 7, the end of the traction belt 430 away from the winding drum 470 is fixedly provided with end pieces 431, and when the traction belt 430 is provided with a plurality of end pieces, one of the end pieces 431 is bolted to the induction head 520, and the other end pieces 431 are bolted to the engagement block 510.
Wherein, the end of the second sensing spring 550 far away from the tension sensor 530 is connected with the end piece 431 and the sensing head 520 through bolts.
In a preferred embodiment, as shown in fig. 1 and 2, a sliding rail 110 is fixedly arranged on the mounting main body 100 along a vertical direction, a sliding table 210 is slidably arranged on the sliding rail 110, and the arm cylinder 200 is fixedly arranged on the sliding table 210.
The sliding table 210 is also fixedly provided with a connecting plate 220, and one end of the constant force spring 310, which is far away from the retractable wheel 320, is fixedly connected with the connecting plate 220.
In the embodiment of the present application, the gravity self-balancing structure is adopted, and the sliding fit between the sliding rail 110 and the sliding table 210 can improve the lifting stability of the arm cylinder 200 relative to the mounting main body 100.
In a preferred embodiment, as shown in fig. 1 and 2, two parallel sliding rails 110 are symmetrically disposed on the mounting body 100, and the sliding table 210 is slidably engaged with the two sliding rails 110 respectively.
It can be appreciated that the stability of lifting of the arm cylinder 200 can be further improved by guiding the sliding table 210 by the two sliding rails 110.
In a preferred embodiment, as shown in fig. 5, the balance detecting unit further includes a stroke detecting assembly for detecting a moving stroke of the arm cylinder 200, the stroke detecting assembly including a magnetic scale 120 fixedly provided on the mounting body 100 and parallel to the slide rail 110, and a reading head 230 fixedly provided on the slide table 210.
It can be understood that when the sliding table 210 moves relative to the mounting body 100, the lifting stroke of the sliding table 210 and the arm cylinder 200 relative to the mounting body 100 can be obtained by matching the reading head 230 and the magnetic grating ruler 120.
In the embodiment of the application, the gravity self-balancing structure is adopted, the motion state change of the arm cylinder 200 can be timely obtained through the cooperation of the reading head 230 and the magnetic grating ruler 120, and under the double detection of the tension detection assembly and the stroke detection assembly, gravity balance feedback can be timely given out to the dragging action of a user, so that the response speed of the torque adjustment of the clockwork spring 480 and the overall gravity balance efficiency of the arm cylinder 200 are improved.
It is to be understood that the structural form of the stroke detecting assembly is not limited to the above-mentioned one, and for example, other sensing elements such as a stroke sensor, a displacement sensor and the like can be adopted, which are not described in detail herein.
In a preferred embodiment, 3 constant force springs 310 are provided, each constant force spring 310 having a tension of 6.5KG and a load at the end of the arm barrel 200 of approximately 22KG.
Since 22- (6.5×3) =2.5 KG, the pulling force of the traction belt 430 is greater than 2.5KG, so that the lift arm cylinder 200 can slide with respect to the mounting body 100.
The embodiment of the application also provides a mechanical arm, which comprises the gravity self-balancing structure, a connecting rod assembly arranged on the arm barrel 200 and a surgical instrument assembly.
The embodiment of the application also provides a surgical robot which comprises a base and a stand column arranged on the base, wherein the stand column is provided with the mechanical arm.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.

Claims (10)

1. The gravity self-balancing structure is characterized by comprising a mounting main body, an arm cylinder, a balance detection unit, a constant force balance assembly and a balance compensation assembly, wherein the arm cylinder is arranged on the mounting main body in a sliding manner along the vertical direction, the balance detection unit is used for detecting whether the gravity of the arm cylinder is balanced, and the constant force balance assembly and the balance compensation assembly are arranged on the mounting main body and are respectively connected with the arm cylinder;
the constant force balance component is used for giving a constant lifting force to the wall cylinder, the balance compensation component comprises an adjusting unit and a transmission shaft which is rotatably arranged on the installation main body and connected with the adjusting unit, at least one traction belt is wound on the transmission shaft, and one end of the traction belt, which is far away from the transmission shaft, is fixedly connected with the wall cylinder;
and the adjusting unit can adjust the rotation torque of the transmission shaft to balance the gravity of the arm cylinder when the balance detecting unit detects that the arm cylinder is in a gravity unbalanced state.
2. The gravity self-balancing structure according to claim 1, wherein the constant force balancing assembly comprises a retractable wheel rotatably arranged on the mounting main body, a constant force spring is wound on the retractable wheel, and one end of the constant force spring, which is far away from the retractable wheel, is fixedly connected with the arm cylinder.
3. The gravity self-balancing structure according to claim 1, wherein the adjusting unit comprises a driven wheel rotatably arranged on the transmission shaft and a power assembly for driving the driven wheel and the transmission shaft to rotate relatively, and an elastic piece is fixedly arranged between the driven wheel and the transmission shaft;
wherein, under the driven wheel rotates relative to the transmission shaft, the elastic piece can accumulate elastic potential energy to give the transmission shaft torque overcoming the traction belt load.
4. The gravity self-balancing structure according to claim 3, wherein the power assembly comprises a motor fixedly arranged on the installation main body, and a driving wheel coupled with the driven wheel is fixedly arranged on a power output end of the motor;
the driving wheel can drive the driven wheel to synchronously rotate when rotating.
5. The gravity self-balancing structure according to claim 1 or 4, wherein the installation main body is fixedly provided with an electromagnetic brake for braking the transmission shaft, and/or the motor is provided with a braking system for limiting the rotation of the power output end.
6. The gravity self-balancing structure according to claim 1, wherein the balance detection unit includes a tension detection assembly for detecting the gravity of the arm cylinder and/or a stroke detection assembly for detecting a change in the position of the arm cylinder.
7. The gravity self-balancing structure according to claim 6, wherein the tension detecting assembly comprises a connecting block fixedly arranged on the arm cylinder, a containing cavity is arranged in the connecting block, and a tension sensor is arranged in the containing cavity;
the first sensing end of the tension sensor is fixedly provided with a sensing head which is in sliding connection with the connecting block, and the second sensing end is fixedly provided with a fixing bolt which is in sliding connection with the connecting block;
the induction head penetrates through and extends to the outer side of the connecting block and is fixedly connected with the traction belt, the fixing bolt penetrates through and extends to the outer side of the connecting block, a first induction spring which is abutted to a second induction end of the tension sensor is fixedly arranged on the fixing bolt, and a second induction spring which is abutted to the first induction end of the tension sensor is fixedly arranged on the induction head.
8. The gravity self-balancing structure according to claim 6 or 7, wherein the stroke detection assembly comprises a magnetic grating ruler fixedly arranged on the mounting main body and parallel to the sliding direction of the arm cylinder, and further comprises a reading head fixedly connected with the arm cylinder;
under the relative movement of the wall cylinder and the installation main body, the reading head and the magnetic grating ruler are matched to acquire the movement stroke of the wall cylinder relative to the installation main body.
9. A robotic arm comprising a gravity self-balancing structure according to any of claims 1 to 8.
10. A surgical robot comprising a base and a column provided on the base, wherein the mechanical arm of claim 9 is mounted on the column.
CN202311073814.3A 2023-08-23 2023-08-23 Gravity self-balancing structure, mechanical arm and surgical robot Pending CN117017499A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311073814.3A CN117017499A (en) 2023-08-23 2023-08-23 Gravity self-balancing structure, mechanical arm and surgical robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311073814.3A CN117017499A (en) 2023-08-23 2023-08-23 Gravity self-balancing structure, mechanical arm and surgical robot

Publications (1)

Publication Number Publication Date
CN117017499A true CN117017499A (en) 2023-11-10

Family

ID=88644842

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311073814.3A Pending CN117017499A (en) 2023-08-23 2023-08-23 Gravity self-balancing structure, mechanical arm and surgical robot

Country Status (1)

Country Link
CN (1) CN117017499A (en)

Similar Documents

Publication Publication Date Title
US4979733A (en) Apparatus for training, investigation and re-education in particular for the neuro-muscular function
CN103433921B (en) Three-degree-of-freedom translation force feedback hand controller
EP3316844B1 (en) Apparatus to apply forces in a three-dimensional space
US7670048B2 (en) Drive unit for X-ray system
US20150014069A1 (en) Scanning table
CN109157233A (en) A kind of function of joint test training system
CN111631921A (en) Walking following rehabilitation training device and automatic following control method
US7764767B2 (en) Device and method for adjusting a diagnostic unit
CN114470620A (en) Pull rope type three-dimensional trajectory tracking and force feedback rehabilitation training device and method thereof
CN109052176A (en) A kind of measuring device of the two-electron atom bridge crane synchronous error based on optoelectronic induction
CN117017499A (en) Gravity self-balancing structure, mechanical arm and surgical robot
CN111362088B (en) Elevator counterweight guide rail guidance stroke measuring device based on sensor technology
CN207351683U (en) A kind of jack detection device
US11896413B2 (en) Sensor system for an actuator, actuator and method for moving an actuator part
JP3848857B2 (en) Friction force measuring device
CN207918363U (en) Fork truck and its outer corner measurement structure
CN207918364U (en) Fork truck and its fork
JP4377805B2 (en) Friction evaluation amount measuring apparatus and method
CN211402091U (en) Friction coefficient detection device
CN207937869U (en) Vision guided navigation unmanned fork lift
CN208476449U (en) A kind of torque tester of electricity loss brake
CN108107788B (en) The mode switching method and device of recovery exercising robot
CN217084163U (en) Traction machine steel belt testing device
KR102676252B1 (en) Series elastic actuator using parallel belt and force-feedback apparatus including the same
CN115950514B (en) Electronic scale verification and calibration device and application method thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination