CN117398195A

CN117398195A - Main hand mechanical arm and minimally invasive surgery robot

Info

Publication number: CN117398195A
Application number: CN202210803558.8A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Hangzhou Weijing Medical Robot Co ltd
Current assignee: Hangzhou Weijing Medical Robot Co ltd
Priority date: 2022-07-07
Filing date: 2022-07-07
Publication date: 2024-01-16

Abstract

The application discloses a main hand mechanical arm and a minimally invasive surgery robot, which comprise a fixed box body, wherein the fixed box body is used for connecting a rotating assembly with a large arm and a connecting rod; the driving assembly is arranged at the fixed box body, a driving steel wire rope is led out from the driving assembly, and the leading-out end of the driving steel wire rope is matched with the large arm or the link rod; the balance component is arranged at the fixed box body and is matched with the big arm or the link rod; the driving assembly is used for driving the driving steel wire rope so as to drive the large arm or the link rod to rotate; the balance component is used for balancing the gravity of the large arm or the connecting rod and parts on the large arm or the connecting rod; compared with a mode of directly driving by a driving motor, the invention has the advantages that the driving steel wire rope is used for directly driving the large arm and the link rod to rotate, the force arm is larger, the requirement on the driving motor can be reduced, and the space occupation of the driving motor is further reduced; the invention has small requirements on the driving motor, thereby playing a role in protecting the driving motor on one hand and reducing the processing and assembling requirements of parts on the other hand.

Description

Main hand mechanical arm and minimally invasive surgery robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a master manipulator mechanical arm and a minimally invasive surgery 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 actions such as fatigue, tremble and the like of a doctor in the long-time operation process can be amplified, which 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 doctor console is also called a master hand, which is usually provided with two mechanical arms on the left and right sides for satisfying the freedom of movement requirements of the operation input device, and a gravity balancing device is required to balance their gravity moments.

(1) The US patent 6587750B2 discloses a master manipulator arm which directly drives the joints of the engagement arm through a plurality of motors, thereby realizing the driving and gravity balance of the manipulator arm.

(2) The Chinese patent No. 107440800A discloses a master mechanical arm, which comprises an arm joint with a first supporting arm and a wrist joint with a second supporting arm, wherein the first supporting arm is hinged with the second supporting arm, the arm joint comprises a base, a first motor arranged in the base and a force transmission shaft driven by the first motor, a supporting seat is fixed on the force transmission shaft, the second motor is arranged on the supporting seat, one end of the first supporting arm is vertically fixed on an output shaft of the second motor, and a reset component for resetting the second supporting arm after the second supporting arm swings around a hinging point of the second supporting arm and the first supporting arm is also arranged on the supporting seat; the mechanical arm is driven and gravity balance is realized by directly driving the rotary joint through a motor.

(3) The US patent 20210145530A1 discloses a direct drive mechanical arm structure which realizes the rotation of the mechanical arm through two hollow motors and belt transmission and realizes the gravity balance through a spring and a steel wire rope.

However, the above prior art has at least the following problems:

1. In the above patent scheme, the mechanical arm is directly driven to rotate by using the motor, so that the requirements on the motor and the control system are high, namely the torque of the motor is required to be large, the control system is complex, the hollow motor in (3) is higher in manufacturing cost, and the space occupied by the large-torque motor is large, so that the miniaturization of the structure is not facilitated.

2. There is no protection between the motor and the output shaft, and the drive motor is easily damaged when an overload condition occurs.

3. The balance assembly in the step (3) is not reasonable, and the requirement on the spring is high.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a main hand mechanical arm and a minimally invasive surgery robot.

In order to achieve the above object, the present invention is achieved by the following technical scheme.

The application provides a master manipulator arm which is provided with a mounting frame, a rotating assembly, a large arm, a link rod, a transverse swinging arm and a wrist assembly, and comprises,

the fixed box body is used for connecting the rotating assembly with the big arm and the connecting rod;

the driving assembly is arranged at the fixed box body, a driving steel wire rope is led out from the driving assembly, and the leading-out end of the driving steel wire rope is matched with the large arm or the link rod;

the balance component is arranged at the fixed box body and is matched with the big arm or the link rod;

The driving assembly is used for driving the driving steel wire rope so as to drive the large arm or the link rod to rotate; the balancing assembly is used for balancing the gravity of the large arm or the link rod and parts thereon.

Further defined, the drive assembly further comprises a main shaft, and the large arm and the link rod are matched with the main shaft through a turntable;

the leading-out end of the driving steel wire rope extends into the turntable along the circumferential side edges of the turntable at the positions of the large arm and the link rod and is fixed, so that the driving steel wire rope is matched with the turntable;

one of the large arm and the rotary table at the connecting rod is fixedly connected with the main shaft, and the other is connected with the main shaft in a relative rotation manner so as to realize mutual independence of the large arm and the connecting rod.

Further defined, the drive assembly further comprises,

the coupler is fixed at the fixed box body;

the driving motor is connected with one end of the coupler;

the winding shaft is connected with the other end of the coupler;

the driving steel wire rope is arranged on the winding shaft and led out from the winding shaft to the large arm or the connecting rod; the winding shaft can rotate to drive the large arm or the link rod to rotate through the driving steel wire rope.

Further limited, the two driving steel wire ropes are arranged on the winding shaft, and the two driving steel wire ropes are respectively wound from two ends of the winding shaft to the middle in the same spiral direction and led out from the middle of the winding shaft;

the two leading-out ends of the driving steel wire ropes are respectively connected with the turntable from two sides of the turntable along the circumferential direction.

Further defined, the balancing assembly includes,

a gravity balance adjusting device;

one end of the balance steel wire rope is matched with the gravity balance adjusting device, and the other end of the balance steel wire rope is connected with a load;

the gravity balance adjusting device is used for adjusting the tension applied to the balance steel wire rope so as to realize balance force adjustment.

Further defined, the balance assembly further comprises a pulley feedback unit matched with the gravity balance adjusting device and the balance steel wire rope, and the pulley feedback unit is connected with the turntable;

the pulley feedback unit is used for providing balance force for the turntable so as to realize balanced gravity moment required by balance under different working postures.

Further defined, the pulley feedback unit comprises a first movable pulley and a first fixed pulley which are arranged on one side of the big arm or the link rod, the first movable pulley is arranged on the turntable on the corresponding side, and the first fixed pulley is fixedly connected with the fixed box body;

The balance steel wire rope bypasses the first movable pulley or the first fixed pulley and is fixedly connected with the first fixed pulley or the first movable pulley.

Further defined, the balance wire rope between the first movable sheave and the first fixed sheave on the boom side passes through the center of the main shaft at an initial position where the boom is vertically downward.

Further defined, the pulley feedback unit includes a second movable pulley, a second fixed pulley, a center pulley disposed at one side with respect to the link; the central pulley is rotatably arranged on the main shaft;

the balance steel wire rope led out from the gravity balance adjusting device bypasses the center pulley and the second movable pulley and is fixedly connected with the second fixed pulley.

Further defined, the balance wire between the gravity balance adjustment device and the center pulley and the line between the centers of the second stationary pulley and the center pulley are parallel.

Further defined, the outer contour of the second stationary sheave is tangential to the outer contour of the outlet end of the gravity balance adjustment device.

The application also provides a minimally invasive surgery robot, which comprises a master hand and a slave hand, wherein the master hand comprises a base, a display and the master hand manipulator.

The invention has at least the following beneficial effects:

1. compared with the mode of adopting a driving motor to directly drive, the invention has the advantages that the force arm is larger, the requirement on the driving motor can be reduced, and the space occupation of the driving motor is further reduced.

2. The invention has small requirements on the driving motor, can use the driving motor with small size, and therefore, the coupling is arranged between the driving motor and the winding shaft, thereby playing a role in protecting the driving motor on one hand and reducing the processing and assembling requirements of parts on the other hand.

3. Compared with a motor balancing mode, the invention has the advantages that the structure of the pure machine is simple, no electric control system is provided, balance failure can not occur even if power is off, and the safety of the structure is ensured.

4. The invention further makes special design on the arrangement of the balance component, on one hand, the balance steel wire rope between the leading-out end of the balance steel wire rope and the central pulley is parallel to the central connecting line of the fixed pulley and the central pulley, on the other hand, the fixed pulley is nearly tangent to the periphery of the guide wheel fixing seat of the leading-out end of the balance steel wire rope, and the two aspects are both for ensuring that the loss of the pulling force spring is reduced as much as possible, so that the technical requirements of parts can be reduced, and the service life of the whole device can be prolonged.

Drawings

Fig. 1 is a schematic structural view of a minimally invasive surgical robot according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a master arm 10 according to an embodiment of the present disclosure;

fig. 3 is a schematic diagram of a specific structure of a master arm 10 according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of the main arm 10 of the embodiment of the present application, excluding the rear arm 400 of the rotating assembly 200;

FIG. 5 is a schematic view of a structure of the main arm 10 with one side of the rear link 500 of the rotating assembly 200 omitted;

FIG. 6 is a schematic diagram of a structure of a spool 620 in a driving assembly 600 according to the embodiment of the present disclosure;

FIG. 7 is an enlarged schematic view of the portion of the "first winding slot 621" of the "driving assembly 600" according to the embodiment of the present application;

FIG. 8 is a schematic view of the structure of the "first rotor 650" part of the locking device according to the embodiment of the present application;

FIG. 9 is a schematic view of the structure of the "first rotor 650" part of the locking device according to the embodiment of the present application;

FIG. 10 is a schematic view of the structure of the "second turntable 660" part of the locking device according to the embodiment of the present application;

FIG. 11 is a schematic view of the structure of a "wire holder 670" of the locking device according to the embodiment of the present application;

FIG. 12 is a schematic diagram of the arrangement of the pulley feedback unit on the side of the "large arm 400" in the "balance assembly 700" according to the embodiment of the present application;

FIG. 13 is a schematic diagram of the arrangement of the pulley feedback unit on the side of the "large arm 400" in the "balance assembly 700" according to the embodiment of the present application;

FIG. 14 is a schematic diagram of the arrangement of the pulley feedback unit on the side of the "large arm 400" in the "balance assembly 700" according to the embodiment of the present application;

FIG. 15 is a schematic view of an arrangement of a pulley feedback unit on the side of the "link 500" in the "balancing assembly 700" according to the embodiment of the present application;

FIG. 16 is an enlarged schematic cross-sectional view of the "stationary housing 300" of the "balancing assembly 700" of the present embodiment with respect to the gravity balance adjustment device portion;

FIG. 17 is a schematic view of the structure of a portion of a gravity balance adjustment device in a "balance assembly 700" according to an embodiment of the present application;

FIG. 18 is a schematic diagram of a structure of a spring holder 710 in a balance assembly 700 according to an embodiment of the present disclosure;

FIG. 19 is a schematic diagram of the structure of a "spring tensioner 730" in a "counterbalance assembly 700" of the present embodiment;

FIG. 20 is a schematic diagram of the structure of a spring drawbar 740 in a balancing assembly 700 according to an embodiment of the present disclosure;

FIG. 21 is a schematic diagram of a structure of a guide wheel holder 720 in a balancing assembly 700 according to an embodiment of the present disclosure;

FIG. 22 is a schematic view of a "wire lock 750" in a "balancing assembly 700" according to an embodiment of the present disclosure;

Fig. 23 is a schematic structural diagram of a "fixed box 300" in the "master arm 10" according to the embodiment of the present application.

Reference numerals

10-main mechanical arm, 100-mounting rack, 200-rotating component, 210-rotating motor, 220-supporting seat, 230-rotating gear, 240-annular tooth segment, 300-fixed box, 310-supporting seat mounting groove, 320-rotating shaft hole, 330-coupling mounting hole, 340-fixed piece through hole, 350-shaft mounting hole, 360-avoidance concave part, 370-limit groove, 400-large arm, 500-link rod, 600-driving component, 610-main shaft, 611-driving motor, 612-coupling, 620-winding shaft, 621-first winding groove, 622-connecting part, 623-first step hole, 630-driving steel wire rope, 640-encoder, 650-first rotary disc, 651-first annular ring, 652-first through wire hole 653-spindle via, 654-wire-drain, 655-fastening ring, 656-aluminum tension sleeve, 657-first threaded bore, 660-second rotary disk, 661-second annular ring, 662-second wire-drain, 663-link mount, 664-bearing mount, 670-fastener, 671-second wire-drain, 672-screw end, 673-wire-drain, 674-first thread segment, 675-second thread segment, 676-second stepped bore, 680-support boss, 690-reinforcing nut, 700-balance assembly, 701-adjustment chamber, 702-tension spring, 710-spring mount, 711-second threaded bore, 712-first flange, 713-first nesting boss, 720-guide mount, 721-guide wheel, 722-fixed lug, 723-travel cavity, 724-third wire passing hole, 725-second flange, 726-second nesting protrusion, 727-guide shaft, 728-stopper, 729-latch, 730-spring tensioner, 731-third threaded section, 732-adjusting nut, 733-clip hole, 734-pull rod passing hole, 735-conical concave table, 740-spring pull rod, 741-pull rod body, 742-pull rod cap, 743-spherical transition portion, 744-first spring connecting hole, 750-wire locker, 751-second spring connecting hole, 752-fourth wire passing hole, 760-balance wire rope, 770-nesting hole, 781-first pulley holder, 782-first movable pulley, 783-first fixed pulley, 784-first pulley mount, 791-second pulley holder, 792-second movable pulley, 793-second fixed pulley, 794-center pulley, 795-second pulley mount, 800-lateral swing arm assembly, 900-30, wrist assembly, and wrist assembly.

Detailed Description

Technical solutions in 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. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the 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 objects 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 not limited to the number of objects, e.g., 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 balance adjusting device, the main arm mechanical arm and the minimally invasive surgery robot provided by the embodiment of the application are described in detail through specific embodiments and application scenes thereof with reference to the accompanying drawings.

As shown in fig. 1, an embodiment of the present application provides a minimally invasive surgical robot including a master hand (also referred to as a doctor console), a slave hand (also referred to as a patient side cart), the master hand including a base 20, a master hand robotic arm 10, and a display 30. The master hand is used to provide input for manipulation by a physician, and the slave hand is used to connect with a patient and provide output derived from the physician input. Generally, a doctor operates a master control input device on the master manipulator arm 10, and an instrument or an endoscope and other end components on the slave manipulator arm provide corresponding actions according to the movement of the master control input device, so that the purposes of positioning, adjusting the visual angle, operating and the like are achieved. The display 30 is used to provide the surgeon with a surgical field of view within the patient, with images from the endoscope on the slave manipulator.

As shown in fig. 2 to 23, the embodiment of the present application provides a master manipulator 10 for adapting to the multi-degree-of-freedom motion of the hands of a doctor, and generally, the master manipulator 10 includes two left and right manipulator arms, and only one manipulator arm is illustrated as an example because the two manipulator arms are symmetrical in structure. The master manipulator 10 includes a mounting frame 100 for being mounted at a predetermined position to fix the master manipulator 10, a rotation assembly 200 for realizing rotation of the master manipulator 10 along a vertical direction is disposed on the mounting frame 100, the vertical direction referred to in this embodiment is specifically referred to as a ground direction in the mounting state of the master manipulator 10, the rotation assembly 200 can drive the whole master manipulator 10 to rotate clockwise or anticlockwise, it can be understood that the rotation can be active or passive, and the master manipulator 10 is an active manipulator or a passive manipulator correspondingly. The rotary output end of the rotary assembly 200 is fixedly provided with a fixed box 300, and the fixed box 300 is used as a shell which accommodates a plurality of components and is supported up and down, and the whole body of the fixed box 300 can rotate along with the rotary assembly 200, and besides, no other degrees of freedom of movement exist. The fixing box 300 is provided with a large arm 400, a link rod 500, a driving assembly 600 for driving the large arm 400 and the link rod 500 to act, and a balancing assembly 700 for balancing the gravity of the large arm 400 and the link rod 500, wherein the large arm 400 is rotatably provided with a transverse swing arm 800, the link rod 500 is rotatably connected with the transverse swing arm 800 at a position far away from the joint of the large arm 400, and the transverse swing arm 800 is provided with a wrist assembly 900 for receiving and sensing the action of a user. It will be appreciated that the large arm 400 and the link 500 may both rotate in a vertical plane relative to the stationary box 300.

In a preferred embodiment, as shown in fig. 2 and 3, the rotating assembly 200 includes a rotating motor 210 fixedly disposed on the mounting frame 100 and a supporting seat 220 rotatably disposed on the mounting frame 100 by a bearing, a rotating gear 230 is disposed on an output shaft of the rotating motor 210, an annular tooth segment 240 matched with the rotating gear 230 is disposed on the supporting seat 220, a supporting seat mounting groove is disposed on the top of the fixed case 300, and the bottom of the supporting seat 220 protrudes out of the mounting frame 100 and is fixedly disposed in the supporting seat mounting groove.

It should be understood that the annular tooth segment 240 may be integrally disposed on the supporting seat 220, or may be a portion of another part connected to the supporting seat 220, and in addition, the form of the rotating assembly 200 is not limited to a gear transmission manner, and any driving mechanism capable of driving the fixed case 300 to rotate about a vertical direction may be understood as the rotating assembly 200 of the present application.

In a preferred embodiment, as shown in fig. 2 to 5, the driving assembly 600 is used for driving the big arm 400 and/or the link 500 to rotate relative to the fixed box 300, and includes a main shaft 610, a winding unit, and a locking device, wherein the main shaft 610 is penetrated and rotatably disposed between two side end surfaces of the fixed box 300 relative to the big arm 400 and the link 500, the winding unit includes two driving motors 611 which are approximately centrosymmetric with respect to a vertical direction perpendicular to the main shaft 610 and are respectively fixedly disposed on two side end surfaces of the fixed box 300 close to and far from the big arm 400, a power output end of the driving motor 611 is connected with a power input end of a coupling 612, a power output end of the coupling 612 is connected with a winding shaft 620, a first winding groove 621 is disposed on the winding shaft 620, and two driving steel wires 630 which are connected with the locking device and are coupled with the big arm 400 or the link 500 are fixedly and winded on the first winding groove 621. It can be appreciated that in this embodiment, the driving wire rope 630 is used to indirectly drive the large arm 400 and/or the link 500, so that the length of the driving arm can be increased, the torque requirement on the driving motor 611 can be reduced, and therefore, a smaller driving motor 611 can be selected, on the one hand, the requirement of miniaturization can be met, and on the other hand, enough space can be provided for installing the coupling 612 between the driving motor 611 and the winding shaft 620, so that the protection effect on the driving motor 611 is achieved, and the machining precision of the mounting hole, the winding shaft 620 and other parts on the fixed box 300 can be reduced.

In a preferred embodiment, the fixed case 300 is provided with a rotation shaft hole 320 in a penetrating manner, the spindle 610 is rotatably disposed in the fixed case 300 through a bearing of the rotation shaft hole 320, the driving motor 611 is connected with an encoder 640 for sensing a rotation angle of the driving motor 611, a power output end of the driving motor 611 is located at one side close to the fixed case 300, two coupling mounting holes 330 are symmetrically disposed in the fixed case 300 approximately centrally with respect to a perpendicular bisector of the spindle 610, a coupling 612 connected with the two driving motors 611 is embedded in the coupling mounting holes 330 at corresponding positions, a fixing piece through hole 340 for mounting a fixing piece of the coupling 612 is provided between the coupling mounting holes 330 and an outer end surface of the fixed case 300 in a penetrating manner, a shaft mounting hole 350 is provided between an inner wall of the coupling mounting hole 330 at one side with respect to the corresponding position coupling 612 and an end surface at the corresponding side of the fixed case 300, a shaft connecting portion 622 is disposed on the winding shaft 620, the shaft connecting portion 622 and a first winding groove 621 are respectively located at two ends of the winding shaft 620, the shaft connecting portion 622 is mounted in the shaft mounting hole and connected with the corresponding position coupling mounting hole 330, the coupling 612 is provided between the corresponding position and the first winding groove 621 and the opposite side surface of the fixed case 300 with respect to the corresponding position of the fixed case 300. In the present embodiment, the components of the driving assemblies 600 on both sides of the fixed housing 300 are substantially distributed in a central symmetry, and it is understood that the driving assemblies 600 of the present embodiment may be used only on one side of the fixed housing 300, and other driving structures may be used on the other side, which is not limited in this application. The description of the structure layout of the two sides of the fixed case 300 with respect to the general center symmetry in the present embodiment should not be construed as limiting the present application.

In a preferred embodiment, as shown in fig. 6 and 7, two end points of the spool 620 about the first winding slot 621 are respectively and penetratingly provided with a first stepped hole 623 having an axis passing through the spool 620, the first stepped hole 623 has a large diameter end and a small diameter end, a lock sleeve having a diameter larger than that of the small diameter end of the first stepped hole 623 is clamped in the large diameter end of the first stepped hole 623, one end of the driving wire rope 630 is fixedly provided on the lock sleeve, the other end of the driving wire rope 630 is threaded out of the small diameter end of the first stepped hole 623 at the corresponding position and wound on the first winding slot 621, the two driving wire ropes 630 are wound in opposite directions from the side near the middle of the winding slot after being led out from the first stepped hole 623 at the corresponding position, and the reference view angle of the winding direction is one end of the spool 620, and the two driving wire ropes 630 are led out from the winding slot and fixed on the locking device in an uncrossed state. Because the two driving steel wire ropes 630 on the winding shaft 620 are wound from two sides to the middle, the positions led out in the axial direction are relatively close, on one hand, the driving steel wire ropes 630 can be relatively close to the corresponding leading-in positions of the big arm 400 or the link rod 500 in the axial direction, no larger moment is generated (the most ideal case is that the leading-in positions coincide in the axial direction, no moment is generated, but the moment cannot be generated actually), and on the other hand, the locking device for fixing the driving steel wire ropes 630 on the big arm 400 or the link rod 500 is similar in structure, so that the processing and manufacturing difficulty is reduced.

As shown in fig. 2 to 11, the embodiment of the present application further provides a locking device, which includes a first rotating disc 650 fixedly disposed at one side end of the main shaft 610 with respect to the large arm 400 and connected to the large arm 400, and a second rotating disc 660 rotatably disposed at one side end of the main shaft 610 with respect to the link 500 and connected to the link 500. According to the embodiment of the application, the main shaft 610 is connected with the big arm 400 or the link rod 500 through the turntable, so that the turntable can provide an installation space for parts of the locking device, and the length of a corresponding driving force arm of the driving steel wire rope 630 can be further increased, so that the performance requirement on the driving motor 611 is further reduced, and the advantages and technical effects described above are enhanced.

As shown in fig. 8 and 9, a first annular ring 651 coaxial with the main shaft 610 is fixedly arranged on the end surface of one side, far away from the fixed box 300, of the first rotary table 650, two wire fixing devices 670 are arranged on the first rotary table 650, second wire winding grooves 671 are arranged on the fixing devices, first wire passing holes 652 are formed between the outer annular surface of the first annular ring 651 and the inner annular surface in a penetrating manner at corresponding positions relative to the two second wire winding grooves 671, the axis of the first wire passing holes 652 passes through the axis of the main shaft 610 and is tangential to the second wire winding grooves 671 on the position fixing devices 670, and two driving wire ropes 630 at corresponding positions respectively penetrate from the two first wire passing holes 652 to the inner parts of the first annular ring 651 along the outer annular surface of the first annular ring 651 and are fixedly connected with the corresponding position fixing devices 670.

When the driving motor 611 drives the winding shaft 620 on the corresponding side of the large arm 400 to rotate, the lengths of the two driving wire ropes 630 on the corresponding positions are lengthened or shortened, and because the winding directions of the two driving wire ropes 630 on the winding shaft 620 are opposite (the winding directions are opposite, namely, the winding directions of the starting positions are opposite, one winding is from outside to inside, the winding directions of the winding grooves are the same), one of the two driving wire ropes 630 is lengthened while the other one is necessarily shortened, so that the first rotating disc 650 is driven to rotate, and the large arm 400 is connected with the first rotating disc 650, so that the large arm 400 also rotates, it can be understood that the large arm 400 can be fixedly connected with the first rotating disc 650, or fixedly connected with the first annular ring 651, or fixedly connected with the corresponding end of the main shaft 610, so long as the coupling relationship between the first rotating disc 650 and the large arm 400 can be realized. Of course, for ease of manufacturing and assembly, it is preferable that in this embodiment, the first rotating disk 620 and the first annular ring 651 are integrally formed stainless steel parts, and the large arm 400 is fixedly coupled to the first rotating disk 650 by bolts.

It can be appreciated that, in this embodiment, two wire holders 670 are provided, so as to be suitable for a working scenario in which the first rotating disc 650 is rotatably disposed on the main shaft 610 and is driven by two driving steel wires 630 to rotate in two directions, and in other working scenarios, for example, the first rotating disc 650 is driven by only one driving steel wire 630 to rotate in one direction, the corresponding structure can be simplified to one, for example, the first rotating disc 650 is coupled by a plurality of driving steel wires 630 to rotate and control, and the corresponding structure can be increased, so that the position of the wire holders 670 is adjusted according to the actual situation.

In this embodiment of the application, adopt foretell locking device, drive wire rope 630 pastes along the outer anchor ring of first annular ring 651 from first wire hole 652 get into first annular ring 651 inside and link to each other fixedly with solidifier 670 to make the outer anchor ring of first annular ring 651 have unnecessary spare part, the pleasing to the eye just difficult dust of piling up of structure, reduced the clean degree of difficulty of equipment. Because the axis of the first wire passing hole 652 passes through the center of the first rotating disc 650 and is tangential to the second wire winding groove 671 on the position fixing device 670, a larger angle of the driving wire rope 630 is avoided, and the service life of the driving wire rope 630 is ensured.

In a preferred embodiment, the first rotating disc 650 is provided with a rotating shaft via hole 653 and a wire arrangement port 654 for passing wires therethrough, a fastening ring 655 coaxial with the rotating shaft via hole 653 is fixedly arranged on the end surface of one side of the first rotating disc 650 far away from the fixed box 300 and corresponding to the rotating shaft via hole 653, and the corresponding end of the spindle 610 is fixedly connected with the first rotating disc 650 through an aluminum tensioning sleeve 656 arranged in the fastening ring 655 after passing through the rotating shaft via hole 653. In this embodiment, the first rotating disc 650 is fixedly connected to the main shaft 610, so that the main shaft 610 will also rotate when the first rotating disc 650 is driven to rotate by the driving wire rope 630. While to ensure that the movements of the large arm 400 and the link 500 are uncoupled, it will be appreciated that it is necessary to rotationally couple the second turntable 660 on the side of the link 500 to the spindle 610, for example by bearing coupling, so that their respective rotations do not affect each other.

It is to be understood that the connection manner of the first rotating disc 650 and the main shaft 610 is not limited to the above-mentioned scheme, for example, the nut and the main shaft 610 may be used to fix the first rotating disc 650, or the first rotating disc 650 may be directly welded on the main shaft 610, so long as the fixed connection relationship between the first rotating disc 650 and the main shaft 610 is achieved.

In a preferred embodiment, the two wire holders 670 on the first reel 650 are symmetrical about the line connecting the main shaft 610 and the corresponding side bobbin 620, and the corresponding two first wire vias 652 are also symmetrical about the line connecting the main shaft 610 and the corresponding side bobbin 620.

It will be appreciated that the two wire holders 670 and the first wire passing holes 652 on the first turntable 650 may not be symmetrical about the connection line between the main shaft 610 and the corresponding side winding shaft 620, as long as the first turntable 650 can be driven to rotate by tensioning and loosening the two driving wire ropes 630, and the symmetrical arrangement is adopted to facilitate the processing of the first turntable 650 and the first annular ring 651 and improve the driving accuracy of the driving wire ropes 630 and maximize the driving force arm (when the two first wire passing holes 652 are symmetrical about the first turntable center 650, the driving force arm of the driving wire ropes 630 is maximum).

In a preferred embodiment, two supporting protrusions 680 are fixedly arranged on the end surface of the side of the first rotating disc 650, which is far away from the fixed box 300, corresponding to the two wire fixing devices 670, and a first threaded hole 657 is formed between the end surface of the side of the supporting protrusion 680, which is far away from the rotating disc, and the end surface of the side of the rotating disc, which is far away from the supporting protrusion 680, wherein the supporting protrusion 680 is provided for fixing the wire fixing devices 670, and if the thickness of the rotating disc is thick enough, the supporting protrusion 680 can be omitted, but this can cause the rotating disc to be too heavy, burden the driving motor 611, and the technical requirements mentioned above are not met. The wire holder 670 includes a screwing end 672, a winding section 673, a first thread section 674 and a second thread section 675 connected in sequence, wherein the screwing end 672 adopts any structure which is convenient to screw by using the existing tool, such as a crossed plate shape, a square block shape and a hexagonal shape, and the diameter of the winding section 673 is larger than the diameter of the first thread hole 657 for processing. The second winding groove 671 is disposed on the winding section 673, the first thread section 674 is matched with the first threaded hole 657, the direction of driving the wire rope 630 to be screwed into the winding groove is the same as the direction of the first thread section 674 to be screwed into the first threaded hole 657, the thread on the second thread section 675 is opposite to the thread direction of the first thread section 674 (likewise, for convenience of processing, the diameter of the second thread section 675 is smaller than that of the first thread section 674), the wire fixer 670 is matched with the first threaded hole 657 through the first thread section 674 to be fixed on the first rotating disc 650, the second thread section 675 extends to the side, away from the corresponding supporting protrusion 680, of the first rotating disc 650 through the first threaded hole 657, and the reinforcing nut 690 with a diameter larger than that of the first threaded hole 657 is matched with the second thread section 675 to reinforce the connection of the wire fixer 670 and the first rotating disc 650, and the length of the first thread section 674 is smaller than the depth of the first threaded hole 657, so that the first thread section 674 is prevented from being screwed out of the first thread section 675 to cause the reinforcing nut 657 to be unable to compress the first rotating disc 650, and the fastening effect is affected.

In this embodiment of the present application, with the above locking device, through the cooperation of the first thread segment 674 and the second thread segment 675, the locking of the wire fixing device 670 can be realized and the connection reliability between the wire fixing device and the turntable can be enhanced, when the driving wire rope is used for a long time to cause deformation and elongation, the direction of the driving wire rope 630 screwed into the second winding groove 671 is the same as the direction of the first thread segment 674 screwed into the first thread hole 657, so that the driving wire rope 630 on the wire fixing device 670 is further wound in the process of rotating and screwing into the first thread hole 657, thereby realizing the pretensioning of the wire rope. Of course, if the wire becomes loose, the screw end 672 may be rotated to re-tighten the drive wire 630 and adjust the reinforcement nut 690 to ensure reinforcement of the retainer 670.

It will be appreciated that if a thread compound is used or the wire holder 670 is directly welded to the first rotating disc 650, the locking effect may be achieved, and a complex thread structure is not required to be provided on the wire holder 670, but the problem that the driving wire rope 630 is difficult to disassemble and cannot be re-tensioned is caused, so that such a non-detachable connection structure is not generally adopted in medical equipment.

In a preferred embodiment, the winding segment 673 is provided with a second stepped hole 676 at a position of the second winding slot 671, i.e. at a position of the fixed end of the driving wire rope 630, and the axis of the second stepped hole 676 passes through the axis of the winding segment 673 and the penetrating direction is approximately perpendicular to the tangential plane of the penetrating point of the winding segment 673, so as to reduce bending of the driving wire rope 630 in the second stepped hole 676.

The second stepped hole 676 has the same structure as the first stepped hole 623, has a large diameter end and a small diameter end, and when the driving wire rope 630 is led into the second winding groove 671 and wound to the stepped hole, the end of the driving wire rope 630 at the position passes through the small diameter end of the second stepped hole 676 and is fixedly provided with a lock sleeve, and the diameter of the lock sleeve is larger than that of the small diameter end of the second stepped hole 676 and is clamped in the large diameter end of the second stepped hole 676, so that the driving wire rope 630 is fixed.

In this embodiment, adopt foretell locking device, through the cooperation of lock sleeve with first step hole 623, second step hole 676, need not to tie a knot the operation to drive wire rope 630, and make on spool 620, the wire winding section 673 excircle face not have unnecessary protruding, the precision of wire winding is higher. Specifically, regarding the press-fit structure of the lock sleeve and the steel wire rope, the press-fit pliers or the press-fit machine can be used to fix the lock sleeve and the steel wire rope, and the more detailed content can be referred to the chinese patent application 202220636992.7 of the applicant, which is not described herein.

In a preferred embodiment, since the two driving wires 630 are wound from two ends to the middle on the first winding groove 621, when the two driving wires 630 are led out from the first winding groove 621, there is a certain dislocation in the axial direction of the winding shaft 620, and the axes of the two first wire through holes 652 are not on the same vertical plane of the axis of the first winding groove 651, that is, the two first wire through holes 652 are dislocated in the axial direction of the first winding groove 651, so that the leading direction of the first wire through holes 652 and the corresponding driving wires 630 from the winding shaft 620 are located on the same vertical plane of the axis of the main shaft 610, the distance between the two supporting protrusions 680 in the corresponding positions in the axial direction of the first winding groove 651 based on the corresponding height difference between the two first wire through holes 652 and the corresponding positions also has, so that after the wire fixing device 670 is installed on the supporting protrusions 680 in the corresponding positions, the direction of the driving wires 630 is not substantially parallel to the first wire through holes 652 in the corresponding positions, thereby avoiding that the direction of the driving wires 630 led in the second winding groove 671 is substantially parallel to the axes of the corresponding positions, so that the positions of the driving wires 630 led in the second winding groove 671 are not longer than the first wire through holes 652, and the positions of the driving wires 630 are prevented from extending out of the first wire through holes 652 from the corresponding positions, and the first wire through holes 630 are not longer than the corresponding positions, and are extended from the corresponding positions to the first wire through holes 630. That is, the height dimension of the two support protrusions 680 is different, so that the height difference of the two first via holes 652 in the axial direction can be accommodated, i.e., the height difference of the two support protrusions 680 is equal to the height difference of the two first via holes 652 in the axial direction. Of course, since there is a certain distance (between the radius and the diameter of the first turn plate 650 in the present embodiment) between the spool 620 and the two first wire through holes 652, the larger the distance, the smaller the above-described influence.

In this embodiment, with the above locking device, the height difference between the two first via holes 652 and the two supporting protrusions 680 is satisfied: on one side of the first rotating disc 650, the leading-out end of the driving wire rope 630 from the first winding groove 621, the first wire passing hole 652 and the leading-in end of the driving wire rope 630 of the second winding groove 671 are located on the same plane, so that deformation of the driving wire rope 630 caused by the height difference of each node is reduced, and the service life and the driving precision of the driving wire rope 630 are further improved.

In a preferred embodiment, as shown in fig. 10, the second turntable 660 is circular, and the outer ring surface is fixedly provided with a second annular ring 661 coaxial with the main shaft 610, both end surfaces of the second annular ring 661 are respectively protruded (protruded is a protrusion, extended meaning) out of both sides of the second turntable 660, two wire fixing devices 670 and supporting protrusions 680 matched with the wire fixing devices 670 are also provided on the second turntable 660, the second annular ring 661 is provided with second wire passing holes 662 matched with the wire fixing devices 670 at corresponding positions, the wire fixing devices 670 on the second turntable 660 are similar to the wire fixing devices 670 on the first turntable 650 in arrangement position, and the difference is that the two supporting protrusions 680 are respectively arranged on both side end surfaces of the second turntable 660, namely, although the two wire fixing devices 670 are positioned at symmetrical positions of the connecting wires of the main shaft 610 and the corresponding side shafts 620, the installation directions of the two wire fixing devices 670 are opposite, and the second wire passing holes 662 corresponding to the wire winding grooves of the wire fixing devices 670 are also respectively positioned at both sides of the second annular ring 661 relative to the corresponding positions of the second turntable 661, and the two wire fixing devices 670 penetrate through the two wire fixing devices 670 from the corresponding positions of the two annular ring fixing holes 662 to the corresponding positions of the two wire fixing devices 670, so that the two wire fixing devices 670 penetrate through the two wire fixing holes 662 and the corresponding positions to the corresponding positions of the two wire fixing holes 662 are respectively located at the positions along the positions of the two fixing holes and the corresponding positions. On the side of the second turntable 660, the outgoing end of the driving wire rope 630 from the first winding groove 621, the first via 652, and the incoming end of the driving wire rope 630 from the second winding groove 671 are located on the same plane.

The positional relationship between the second wire passing hole 662 and the wire fixing device 670 on the second turntable 660, and the connection mode between the driving wire rope 630 and the wire fixing device 670 on the second turntable 660 are the same as the corresponding structure on the first turntable 650.

In this embodiment of the application, adopt foretell locking device, through the difference in height of solidus ware 670, second annular ring 661 and two supporting projections 680 for the both sides of second carousel 660 can both realize driving wire rope 630's fixed, not only can reduce driving wire rope 630 because the deformation that each node difference in height caused, further improves driving wire rope 630's life and driving accuracy, can provide more nimble driving wire rope 630 threading, fixed mode in the operational scenario of difference moreover.

It should be understood that two second turntables 660 may be symmetrically disposed and respectively located on two side end surfaces of the second turntables 660 near and far from the fixed case 300.

Similarly, since the first rotating disc 650 and the second rotating disc 660 are driven by the two driving steel wires 630 led out from the spool 620 at the corresponding positions, the arrangement mode of the wire fixing device 670 on the first rotating disc 650 and the second rotating disc 660 can be interchanged, and the corresponding structures arranged with the wire fixing device 670 can be interchanged, namely, the locking wire structures of the driving steel wires 630 at the two sides can be interchanged, in the application, the large arm 400 and the locking wire structure at the side of the link rod 500 are different, so as to match the sizes of all the components, the locking wire structure on the first rotating disc 650 can enable the connection between the first rotating disc 650 and the fixed box 300 to be more compact, and the locking wire structure on the second rotating disc 660 can enlarge the gap between the second rotating disc 660 and the fixed box 300, thereby being convenient for the installation and adjustment of the part at the side of the second rotating disc 660 close to the fixed box 300.

In a preferred embodiment, the outer circumferential surface of the second annular ring 661 is fixedly provided with a link rod mounting seat 663, one side end of the link rod 500 far away from the transverse swing arm 800 is rotationally connected with the link rod mounting seat 663, the second turntable 660 is provided with a bearing mounting seat 664 which is coaxial with the main shaft 610 and is in a hollow structure in a penetrating way, and the second turntable 660 is rotationally connected with the main shaft 610 through a bearing arranged in the bearing mounting seat 664, so that the rotation of the first turntable 650 and the rotation of the second turntable 660 are not coupled, and the two driving motors 611 are convenient for independently controlling the big arm 400 and the link rod 500.

It is to be understood that the structure of the bearing mount 664 is not limited to the above-described structure, as long as the bearing rotary connection of the main shaft 610 and the second turntable 660 can be realized.

In this embodiment of the present application, the above-mentioned master manipulator arm 10 is adopted, and the first rotating disc 650 and the second rotating disc 660 are directly driven by the driving steel wire rope 630, so as to drive the big arm 400 and the link rod 500 to rotate, and compared with the mode of directly driving the driving motor 611, the moment arm is larger (the specific size of the moment arm depends on the diameters of the first rotating disc 650 and the second rotating disc 660), so that the requirement on the driving motor 611 can be reduced, and the space occupation of the driving motor 611 is further reduced.

Because the requirement on the driving motor 611 is small, the size of the driving motor 611 can be smaller, so that the coupling 612 can be arranged between the driving motor 611 and the winding shaft 620, on one hand, the driving motor 611 can be protected, and on the other hand, the requirements on processing (mainly aiming at the winding shaft 620 and the fixed box 300) and assembling (mainly aiming at the motor, the winding shaft 620 and the fixed box 300) of parts can be reduced.

As shown in fig. 12 to 22, the present embodiment further provides a balancing assembly 700 for balancing the gravity of the boom 400, the link 500, the transverse swing arm 800, the wrist assembly 900, etc., which includes a gravity balance adjusting device and a pulley feedback unit connected with the gravity balance adjusting device, wherein the pulley feedback unit is connected with the first rotating disc 650 or the second rotating disc 660 and provides a variable balancing force to the corresponding components thereof through the gravity balance adjusting device, thereby being capable of well balancing the gravity moment of the components under different working postures. It should be noted that, although only the gravity moment is described here, there is a friction moment that needs to be balanced out, and since the friction moment is much smaller than the gravity moment, the industry tends to only speak the gravity moment, but the existence and the need to eliminate the friction moment are not negligible, and will not be described in detail later.

In a preferred embodiment, as shown in fig. 16 to 22, the gravity balance adjusting device includes two adjusting cavities 701 which are symmetrical about a perpendicular bisector of the main shaft 610 in a vertical direction and are arranged on two end faces of the fixed box 300 close to and far from the big arm 400 in a penetrating manner, a spring fixing base 710 and a guide wheel fixing base 720 are fixedly arranged on the end faces of the fixed box 300 corresponding to two ends of the adjusting cavities 701, the positions of the spring fixing base 710 and the guide wheel fixing base 720 which are correspondingly arranged in the two adjusting cavities 701 are opposite, that is, in the direction from the big arm 400 to the link 500, the guide wheel fixing base 720 close to the big arm 400 is located on the left side of the spring fixing base 710, and in the direction from the link 500 to the big arm 400, the guide wheel fixing base 720 close to the link 500 is located on the left side of the spring fixing base 710.

The spring fixing seat 710 is internally and in threaded connection with the spring tensioner 730, the spring tensioner 730 is connected with a spring pull rod 740 which can rotate relative to the spring tensioner 730, the spring pull rod 740 is connected with a tension spring 702, one end of the tension spring 702, far away from the spring pull rod 740, is connected with a steel wire locking device 750, the steel wire locking device 750 is connected with a balance steel wire rope 760, the guide wheel fixing seat 720 is provided with a guide wheel 721, the balance steel wire rope 760 penetrates out of the corresponding position adjusting cavity 701 and is connected with the pulley feedback unit through the guide wheel 721, the stress direction of the balance steel wire rope 760 on the tension spring 702 is parallel or collinear with the expansion axis of the tension spring, and when the stress direction of the balance steel wire rope 760 on the tension spring 702 is collinear with the expansion axis of the tension spring 702, the stress of the tension spring 702 is most uniform, and the balance effect is optimal.

In this embodiment of the present application, the above balance assembly 700 is adopted, and the relative position between the spring tensioner 730 and the adjusting cavity 701 can be adjusted by rotating the spring tensioner 730, so as to adjust the expansion and contraction amount of the tension spring 702, and further realize the balance force change of the tension spring 702, and the adjustment of the balance force is very important for the main arm 10: firstly, in the installation and debugging link of the main hand mechanical arm 10, due to manufacturing errors and assembly errors, the balance force needs to be adjusted so as to just balance the required balance weight moment; secondly, during the use of the main hand, the balance wire rope 760 and the tension spring 702 are irreversibly deformed due to long-term use, and the balance force needs to be adjusted to restore the original set value; third, during maintenance or replacement of the wrist assembly 900, the lateral swing arm 800, etc., the weight moment to be balanced may change, and the balancing force also needs to be readjusted.

It will be appreciated that the principle of the spring tensioner 730 for adjusting the balance force of the tension spring 702 is to adjust the relative position relationship between the spring tensioner 730 and the adjusting cavity 701, and at the same time, the relative position relationship between the spring tensioner 730 and the adjusting cavity 701 should be ensured to be stable, i.e. the spring tensioner 730 can move along the extension and retraction direction of the tension spring 702 and has a plurality of limiting points relative to the adjusting cavity 701, while the threaded connection between the spring tensioner 730 and the spring fixing base 710 can be understood as that the spring tensioner 730 has a plurality of limiting points relative to the adjusting cavity 701, i.e. the relative position relationship between the two is infinitely adjustable.

In a preferred embodiment, the relative position relationship between the spring tensioner 730 and the adjusting cavity 701 and the stability of the relative position relationship can be achieved by other connection methods, for example, the spring tensioner 730 is slidably connected with the spring fixing seat 710, a controllable telescopic clamping piece is arranged on the spring tensioner 730, meanwhile, a plurality of limiting holes matched with the telescopic clamping piece are arranged in the adjusting cavity 701 along the telescopic direction of the tension spring 702 in an array manner, the movement of the spring tensioner 730 in the adjusting cavity 701 along the telescopic direction of the tension spring 702 can be achieved by only controlling the retraction of the telescopic clamping piece, the limiting holes at corresponding positions are used for controlling the telescopic clamping piece to extend and be embedded into the limiting holes, and at this time, the relative position relationship between the spring tensioner 730 and the adjusting cavity 701 is multi-pole adjustment, the adjustment method needs a preset limiting point, and the tension control accuracy of the tension spring 702 is not high.

In a preferred embodiment, two nesting holes 770 which are coaxial with and penetrate through the adjusting cavity 701 are respectively arranged on corresponding side end surfaces of two ends of the adjusting cavity 701 of the fixing box 300, a second threaded hole 711 is penetrated through the spring fixing seat 710, a first flange 712 is fixedly arranged on the outer circular surface of the spring fixing seat 710, external threads matched with the second threaded hole 711 are arranged on the spring tensioner 730, a first nesting protrusion 713 is arranged on the outer circular surface of one side of the spring fixing seat 710, corresponding to the first flange 712, of the spring fixing seat 710, the spring fixing seat 710 is fixedly arranged on the fixing box 300 through the first flange 712, and the first nesting protrusion 713 is embedded in the nesting hole 770 at the corresponding position.

Two fixing lugs 722 are symmetrically and fixedly arranged on one side end face of the guide wheel fixing seat 720, the guide wheel 721 is rotatably arranged between the two fixing lugs 722, a travel cavity 723 with an opening facing away from one side of the guide wheel 721 is arranged in the guide wheel fixing seat 720, a third wire through hole 724 is arranged between one side end face of the guide wheel fixing seat 720, which is close to the guide wheel 721, and the corresponding side inner wall of the travel cavity 723, a second flange 725 is fixedly arranged on the outer circular face of the guide wheel fixing seat 720, which is far away from one side of the guide wheel 721, relative to the second flange 725, a second nested protrusion 726 is arranged on the outer circular face of the guide wheel fixing seat 720, which is far away from the guide wheel 721, the guide wheel fixing seat 720 is fixedly arranged on the fixed box 300 through bolts of the second flange 725, and the second nested protrusion 726 is embedded in the corresponding position nested hole 770.

The diameters of the second threaded hole 711 and the travel cavity 723 are larger than those of the tension spring 702, so that the tension spring 702 has a longer adjustment travel space and does not interfere with the spring fixing seat 710 or the guide wheel fixing seat 720.

It should be understood that the spring fixing base 710 or the guide wheel fixing base 720 may be omitted, that is, the spring tensioner 730 is directly connected with the adjusting cavity 701 in a threaded manner, the guide wheel 721 is directly disposed at the position of the fixing case 300 where the balancing wire rope 760 is led out, and the spring fixing base 710 and the guide wheel fixing base 720 are disposed to simplify the fixing case 300 and increase the adjusting stroke length of the tension spring 702 as much as possible, and if the spring fixing base 710 and the guide wheel fixing base 720 are not disposed, only the length of the adjusting cavity 701 is increased, that is, the thickness of the fixing case 300 at the position of the adjusting cavity 701 is increased, or the protrusions are disposed on the end surfaces of the fixing case 300 at the positions of both ends of the adjusting cavity 701 to extend the adjusting cavity 701.

In a preferred embodiment, a guide shaft 727 is disposed between two fixing lugs 722 in a penetrating and rotating manner, two ends of the guide shaft 727 respectively protrude from the corresponding fixing lugs 722 and are respectively provided with a limiting part, and a guide wheel 721 is disposed between two fixing lugs and is rotatably disposed on the guide shaft 727.

The limiting blocks 728 and the bolts 729 are respectively limited at the limiting positions at the two ends of the guide shaft 727, the limiting blocks 728 are fixedly arranged at the end parts, and the bolts 729 are inserted into the guide shaft 727 in the radial direction.

In a preferred embodiment, the spring tensioner 730 includes a cylindrical third threaded section 731 and an adjustment section at one end of the third threaded section 731, the external threads being disposed on the third threaded section 731, the adjustment section being embodied as an adjustment nut 732, it being understood that the adjustment section can be provided in any configuration that facilitates manual or tool threading.

The spring tensioner 730 is internally provided with a clamping hole 733 which is opened towards one side close to the adjusting section, a pull rod through hole 734 is communicated between the end face of one side, far away from the adjusting section, of the third threaded section 731 and the inner wall of the corresponding side of the clamping hole 733, the pull rod through hole 734 is coaxial with the clamping hole 733 and is smaller than the clamping hole 733 in diameter, and the spring pull rod 740 is clamped in the clamping hole 733 and one end of the spring pull rod 740 extends into the adjusting cavity 701 through the pull rod through hole 734.

In a preferred embodiment, the spring tension rod 740 includes a tension rod body 741 and a tension rod cap 742, the tension rod cap 742 having a diameter greater than the diameter of the tension rod via 734 and being captured within the capture bore 733, the tension rod body 741 extending through the tension rod via 734 into the adjustment chamber 701.

The clamping hole 733 is equipped with conical surface concave station 735 on the inner wall of tie rod via hole 734 hookup location department, and the direction of drawing in of conical surface concave station 735 is being close to tie rod via hole 734 one side direction, and tie rod cap 742 is close to tie rod body 741 one side be equipped with conical surface concave station 735 complex spherical transition portion 743, and tie rod body 741 keep away from tie rod cap 742 one side end and link up along radial being equipped with the first spring connecting hole 744 that is used for installing tension spring 702, and tie rod body 741 all cuts the setting platform about the outer disc at first spring connecting hole 744 both ends to shorten the length of first spring connecting hole 744, the installation of tension spring 702 of being convenient for.

In this embodiment, with the above balancing assembly 700, because the adjustment process of the spring tensioner 730 is rotating, if the spring pull rod 740 rotates along with the spring tensioner 730 to cause the tension spring 702 to rotate, and the tension spring 702 rotates to cause the balance wire rope 760 to rotate to bring adverse effects, in order to prevent the tension spring 702 from following rotation, when the pull rod cap 742 is clamped in the clamping hole 733 and the tension of the tension spring 702 collides with the inclined concave surface of the conical surface concave surface 735 of the clamping hole 733, the contact area between the pull rod cap 742 and the conical surface concave surface 735 is greatly reduced through the spherical transition portion 743, so that the connection of the two is annular linear collision, thereby reducing friction between the two, and further avoiding the spring pull rod 740 from following rotation when the spring tensioner 730 adjusts rotation.

It will be appreciated that the law of coulomb, a Meng Du-law, i.e. f=μf _n It is known that friction force is irrelevant to contact area, but in practice, friction coefficient measured by friction pair is often greater than the above formula because a Meng Du-coulomb law only considers normal load as a factor, while it is considered that friction coefficient is constant for given friction pair, in reality, friction coefficient is dependent on various factors such as surface film condition of friction pair, surface property, temperature, relative sliding speed, normal load, etc., corresponding friction theory is "sticking friction theory", "molecular-mechanical theory", etc., in these theory, friction coefficient is related to surface pressure, so that indirect and contact area are related, on the basis, friction coefficient between pull rod cap 742 and conical surface concave table 735 can be changed by reducing contact area therebetween, and further for friction pairThe friction between the two is affected.

In a preferred embodiment, to further avoid the spring tension rod 740 from following rotation during the adjustment of the spring tension device 730, the spherical transition portion 743 or the conical concave table 735 may be replaced by a contact convex point, so that the connection between the tension rod cap 742 and the inner wall of the clamping hole 733 is point contact, further reducing friction between the two, or a bearing is disposed between the spring tension rod 740 and the spring tension device 730, and a corresponding rotation limiting mechanism may be disposed between the spring tension rod 740 and the adjustment cavity 701, for example, a limiting protrusion is disposed on an outer circle of the spring tension rod 740, and a limiting groove matched with the spring tension rod 740 is disposed on the inner wall of the adjustment cavity 701, which can completely limit the rotation of the spring tension rod 740, but increase the overall manufacturing cost of the gravity balance adjustment device.

In a preferred embodiment, one end of the wire locker 750 is radially penetrated with a second spring coupling hole 751 for mounting the tension spring 702, and the wire locker 750 is provided with a platform cut with respect to the outer circumferential surface of both ends of the second spring coupling hole 751, thereby shortening the length of the second spring coupling hole 751 and facilitating the mounting of the tension spring 702.

The two ends of the wire lock 750 are provided with fourth wire passing holes 752 in a penetrating manner with respect to the axis, the starting end of the balance wire rope 760 is fixedly provided with a lock sleeve, the diameter of the lock sleeve is larger than that of the fourth wire passing holes 752, and the balance wire rope 760 passes through the fourth wire passing holes 752 from one side of the wire lock 750, which is close to the tension spring 702, and extends to be connected with the pulley feedback unit, and after the balance wire rope 760 is limited by the fourth wire passing holes 752 and is abutted against the wire lock 750.

In this embodiment of the application, adopt foretell master mobile mechanical arm 10, use the gravity of pulling force spring 702 balanced wire rope 760 balanced big arm 400, horizontal swing arm 800 and wrist subassembly 900, compare in motor balance's mode, this scheme adopts pure mechanical structure, and not only simple structure does not have electrical system moreover, even also can not take place balanced inefficacy under the circumstances of outage, has ensured the security of structure.

In a preferred embodiment, as shown in fig. 12, the pulley feedback unit includes a first pulley fixing frame 781 disposed on one side of the fixed housing 300 with respect to the boom 400, a first movable pulley 782, a first static pulley 783, and a first pulley mounting seat 784, the first pulley fixing frame 781 is fixedly disposed on an end surface of the fixed housing 300 near one side of the boom 400, the first pulley mounting seat 784 is fixedly disposed on an end surface of the first rotating disc 650 far from the fixed housing 300, the first movable pulley 782 is disposed on the first pulley mounting seat 784, the first static pulley 783 is fixedly disposed on the first pulley fixing frame 781, and a balance wire 760 led out from the guide pulley 721 on one side of the boom 400 bypasses the first movable pulley 782 and is fixedly connected with the first static pulley 783.

In the direction from the boom 400 to the link 500 (i.e., the boom 400 side), the first movable sheave 782 is located at the lower left corner position of the first rotating disc 650, the first stationary sheave 783 is located at the upper right corner position of the first rotating disc 650, and in the vertical state of the boom 400, the balance wire 760 between the first movable sheave 782 and the first stationary sheave 783 passes through the axis of the main shaft 610, and this routing manner of the balance wire 760 can give the first rotating disc 650 a clockwise torque with reference to the illustrated direction (because the torque direction of the balance wire 760 to the first movable sheave 782 is on the left side of the first rotating disc 650), thereby balancing out the weight moment that needs to be balanced. In this embodiment, with the vertical state of the boom 400 as the initial position, when the boom 400 rotates clockwise, the length of the portion of the balance wire 760 extending out is reduced (i.e. in the contracted state), and accordingly, the balance force is also reduced; while the length of the extended portion of the balance wire 760 increases and decreases at the time of counterclockwise rotation of the large arm 400, the moment direction of the balance wire 760 to the first movable pulley 782 passes through the center of the first rotating disc 650 at the critical point of increasing and decreasing, and the balance force is maximum but does not generate torque to the large arm 400, and when the counterclockwise rotation is continued at the critical point, the balance force gives the first rotating disc 650 a counterclockwise torque with reference to the illustrated direction (because the moment direction of the balance wire 760 to the first movable pulley 782 is on the right side of the first rotating disc 650). This critical point is referred to as the zero point of the balancing force, where the balancing force gives a clockwise moment when the boom 400 rotates clockwise, and a counterclockwise moment when the boom 400 rotates counterclockwise, thereby balancing out the required balancing weight moment and reducing the operational burden on the doctor's hand. It will be appreciated that the position at zero point depends on the relative positional relationship between first movable sheave 782, first stationary sheave 783, guide wheel 721, and boom 400 (also known as first rotating disc 650). Preferably, the position of the zero point is set to be the position of the large arm 400 when the large arm is vertically downward, so that the large arm is more in line with the use habit, the stress analysis and calculation are convenient, and the difficulty of equipment design is reduced.

It should be noted that, the definition of the dynamic and static of the pulley refers to whether the pulley is dynamic or static with respect to the fixed case 300, and the definition herein also applies to other parts of the whole document. Whether the fixed pulley or the movable pulley is a pulley for fixing the balance wire 760, the fixed pulley itself is not rotated, and the pulley for passing the balance wire 760 itself is rotated, for example, the first movable pulley 782 may rotate following the first rotating disc 650, and the fixed pulley 783 is fixed to the first rotating disc 650 and is not rotatable.

In a preferred embodiment, as shown in fig. 13, in the direction from the boom 400 to the link 500 (i.e., on the side of the boom 400), the first fixed pulley 783 is located at the lower left corner position of the first turntable 650, the first movable pulley 782 is located at the upper right corner position of the first turntable 650, the balance wire 760 led out from the guide pulley 721 on the side of the boom 400 bypasses the first fixed pulley 783 and is fixedly connected to the first movable pulley 782, and in the vertical state of the boom 400, the balance wire 760 between the first movable pulley 782 and the first fixed pulley 783 passes through the axis of the main shaft 610, the first movable pulley 782 can rotate along with the first turntable 650, and is fixed on the first turntable 650 and is not rotatable, and the running mode of the balance wire 760 is capable of giving a variable torque to the first turntable 650, thereby balancing off the required balancing weight moment. In this embodiment, with the above-mentioned balancing assembly 700, in the state that the boom 400 is vertical, the balancing wire 760 between the first movable pulley 782 and the first static pulley 783 passes through the axis of the spindle 610, and the balancing force is the largest, but because the force passes through the axis of the spindle 610, no torque is generated on the boom 400, and when the boom 400 rotates left and right to drive the first movable pulley 782 to rotate around the spindle 610, the balancing wire 760 deviates from the axis of the spindle 610, so as to generate a variable balancing force, that is, when the first turntable 650 rotates clockwise, the length of the balancing wire 760 decreases, and the balancing force also decreases correspondingly. Specifically, when the large arm 400 (also referred to as the first rotating disc 650) rotates clockwise, the force of the balance wire 760 to the first movable pulley 782 generates a clockwise torque; when the large arm 400 rotates anticlockwise, the force of the balance wire 760 to the first movable pulley 782 generates an anticlockwise torque, so that the required balanced heavy moment is balanced, and the operation burden of the hands of the doctor is reduced.

It should be further noted that, although the balance force generated by the balance wire 760 as the rotation proceeds is gradually smaller, the balance moment is increased as the force is increased with respect to the arm of the force of the rotation center of the first turntable 650. Of course, the moment arm changes differently beyond the limit position (i.e., the jump of the first movable pulley 782 from one side of the turntable center horizontal plane to the other), but is not considered herein because the rotation angle of the large arm 400 is limited (typically not more than 90 °), and the movement range of the first movable pulley 782 is limited.

In a preferred embodiment, as shown in fig. 14, in the direction from the boom 400 to the link 500 (i.e. on the side of the boom 400), the first movable pulley 782 is located at the lower left corner position of the first turntable 650, the first static pulley 783 is located at the upper right corner position of the first turntable 650, the balance wire 760 led out from the guide pulley 721 on the side of the boom 400 bypasses the first static pulley 783 and is fixedly connected to the first movable pulley 782, and in the vertical state of the boom 400, the balance wire 760 between the first movable pulley 782 and the first static pulley 783 passes through the axis of the main shaft 610, the first movable pulley 782 can rotate along with the first turntable 650, and is fixed on the first turntable 650 and is not rotatable, the first static pulley 783 is fixed on the first pulley fixing frame 781 and is rotatable, and the routing manner of the balance wire 760 can give a variable torque to the first turntable 650, so that the required balancing weight moment is balanced. The working principle of the embodiment of the present application is similar to that of the embodiment shown in fig. 13 (except that the positions of the first movable pulley 782 and the first fixed pulley 782 are interchanged), and will not be described again.

The direction in which the balance wire 760 passes around the first fixed sheave 783 may be a clockwise direction from the first fixed sheave 783 or a counterclockwise direction from the first fixed sheave 783.

It will be appreciated that the arrangement of the first movable pulley 782 and the first fixed pulley 783 is not limited to the above-described form, as long as the balance wire 760 between the first movable pulley 782 and the first fixed pulley 783 passes through the axis of the main shaft 610, and the running manner of the balance wire 760 can give a clockwise torque to the first turntable 650.

In a preferred embodiment, as shown in fig. 15, the pulley feedback unit includes a second pulley fixing frame 791 disposed on one side of the fixed housing 300 with respect to the link 500, a second movable pulley 792, a second fixed pulley 793, a central pulley 794, and a second pulley mounting seat 795, the second pulley fixing frame 791 is fixedly disposed on an end surface of the fixed housing 300 near the link 500, the second pulley mounting seat 795 is fixedly disposed on an end surface of the second turntable 660 far from the fixed housing 300, the second movable pulley 792 is disposed on the second pulley mounting seat 795, the second fixed pulley 793 is fixedly disposed on the second pulley fixing frame 791, the central pulley 794 is rotatably disposed on the main shaft 610, and the balance wire 760 led from the guide pulley 721 on one side of the link 500 bypasses the central pulley 794 and the second movable pulley 792 and is fixedly connected with the first fixed pulley 783.

From the direction of the link 500 to the boom 400 (i.e., the side of the link 500), the second movable pulley 792 is located at the upper right corner of the second turntable 660, and the second stationary pulley 793 is located at the upper left corner of the second turntable 660. Due to the running manner of the balancing wire 760, a counterclockwise torque is given to the second turntable 660, so that the remaining balance of the other part of the balancing weight moment (the transverse swing arm 800, the wrist assembly 900, etc.) can be balanced.

In a preferred embodiment, the balance wire 760 between the side guide wheel 721 of the link 500 and the center pulley 794 is parallel to the center line of the second fixed pulley 793 and the center pulley 794, the second fixed pulley 793 is close to tangent to the outer circumference of the guide wheel fixing base 720 at the corresponding position, that is, the closer the second fixed pulley 793 is to the guide wheel fixing base 720 at the upper left corner in the direction from the link 500 to the boom 400, the better, but the second fixed pulley 793 is only closest to the guide wheel fixing base 720 at the corresponding position, otherwise, interference occurs.

In this embodiment of the application, with the above-mentioned balance assembly 700, the balance wire rope 760 between the guide wheel 721 and the central pulley 794 is parallel to the central connecting line between the second fixed pulley 793 and the central pulley 794, and the second fixed pulley 793 is close to tangent with the periphery of the guide wheel fixing seat 720 at the corresponding position, by the above arrangement, the loss of the tension spring 702 can be reduced to a greater extent, and the technical requirements of parts (including the tension spring 702) can be reduced, and the service life of the whole device is prolonged.

It will be appreciated that the routing of the balancing wire 760 from the boom 400 to the link 500 (i.e., the boom 400 side) is used to provide a clockwise or varying torque to the first turntable 650, the routing of the balancing wire 760 from the link 500 to the boom 400 (i.e., the link 500 side) is used to provide a counterclockwise torque to the second turntable 660, and the weight balance adjustment device is centrally and symmetrically disposed on the fixed housing 300, so that the arrangement of the pulley feedback units on both sides of the boom 400 and the link 500 is not commonly used, but if the arrangement of the weight balance adjustment device is replaced, i.e., the balancing wire 760 outlets on both sides of the boom 400 and the link 500 are on the same side of the fixed housing 300, the pulley feedback units on both sides of the boom 400 and the link 500 can be mirror-arranged, and when the pulley feedback units on one side of the boom 400 are mirror-arranged on one side of the link 500, the balancing wire 760 can provide a counterclockwise torque to the second turntable 660, and when the pulley feedback units on one side of the boom 500 are arranged on one side of the boom 400, the pulley feedback units on the other side of the boom 400 and the pulley feedback units on the other side of the boom 400 can mirror-clockwise torque the balancing wire 760 from the boom 400 to the first turntable 650.

In this embodiment, as shown in fig. 23, with the above-mentioned master arm 10, the fixed box 300 plays the role of connecting the rotating assembly 200, the driving assembly 600 and the balancing assembly 700, and is of an approximately centrosymmetric structure as a whole, the position of the end face of one side of the fixed box 300, which is close to the big arm 400, corresponding to the rotating shaft hole 320 is provided with the avoiding concave portion 360, the avoiding concave portion 360 is used for installing an encoder for sensing the rotating angle of the big arm 400 and providing a space for installing the big arm 400, the avoiding concave portion 360 is provided with the limiting groove 370, and the limiting groove 370 is used for being matched with the limiting post fixed on the big arm 400 or the first rotating disc 650 to limit the rotating angle of the big arm 400.

Because the driving assembly 600 and the balancing assembly 700 are arranged on the fixed box 300 in a central symmetry manner as a whole, the main shaft 610 can be better stressed, and the structural stability and the service life can be improved.

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 also 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 of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.

Claims

1. A master manipulator arm has mounting bracket, rotating assembly, big arm, link rod, horizontal swing arm and wrist subassembly, its characterized in that: comprising the steps of (a) a step of,

2. The master manipulator of claim 1, wherein: the driving assembly further comprises a main shaft, and the big arm and the link rod are matched with the main shaft through a turntable;

3. Master manipulator according to claim 1 or 2, characterized in that: the drive assembly may further comprise a drive assembly,

the coupler is fixed at the fixed box body;

the driving motor is connected with one end of the coupler;

the winding shaft is connected with the other end of the coupler;

4. A master arm according to claim 3, wherein: the two driving steel wire ropes are respectively wound from two ends of the winding shaft to the middle of the winding shaft in the same spiral direction and led out from the middle of the winding shaft;

5. The master arm of claim 2 or 4, wherein: the balancing assembly may comprise a plurality of balancing assemblies,

a gravity balance adjusting device;

6. The master manipulator of claim 5, wherein: the balance assembly further comprises a pulley feedback unit matched with the gravity balance adjusting device and the balance steel wire rope, and the pulley feedback unit is connected with the turntable;

7. The master manipulator of claim 6, wherein: the pulley feedback unit comprises a first movable pulley and a first fixed pulley which are arranged on one side of the large arm or the connecting rod, the first movable pulley is arranged on the turntable on the corresponding side, and the first fixed pulley is fixedly connected with the fixed box body;

8. The master manipulator of claim 7, wherein: at the initial position of the vertical downward of the big arm, the balance wire rope between the first movable pulley and the first fixed pulley at one side of the big arm passes through the center of the main shaft.

9. The master manipulator of claim 6, wherein: the pulley feedback unit comprises a second movable pulley, a second fixed pulley and a central pulley which are arranged on one side of the connecting rod; the central pulley is rotatably arranged on the main shaft;

10. The master arm of claim 9, wherein: and the connecting lines of the centers of the balance steel wire rope between the gravity balance adjusting device and the center pulley and the centers of the second fixed pulley and the center pulley are parallel.

11. Master manipulator according to claim 9 or 10, characterized in that: the outer contour of the second static pulley is tangent with the outer contour of the leading-out end of the gravity balance adjusting device.

12. The utility model provides a minimally invasive surgery robot, includes master hand, slave hand, its characterized in that: the master arm comprising a base, a display, and a master arm according to any one of the preceding claims 1 to 11.