CN208371898U - Micro-wound operation robot joint based on ball-type axis - Google Patents
Micro-wound operation robot joint based on ball-type axis Download PDFInfo
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- CN208371898U CN208371898U CN201720833862.1U CN201720833862U CN208371898U CN 208371898 U CN208371898 U CN 208371898U CN 201720833862 U CN201720833862 U CN 201720833862U CN 208371898 U CN208371898 U CN 208371898U
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Abstract
The utility model belongs to the field of medical instrument technology, provides a kind of micro-wound operation robot joint based on ball-type axis, comprising: leading portion connector (1)；An axial diverter is fixedly connected on leading portion connector (1), axial diverter includes the second substrate (4)；A ball axis center ball (5) is fixed on the second substrate (4)；Large arm fixed connection device (6) withstands on the ball axis concave cambered surface (11) of ball axis center ball (5) by one, then cooperates 4 electric telescopic rods, realizes that three-dimensional space is swung, two-dimensional surface rotates and axial autorotation.Compared with prior art, the utility model has the beneficial effects that: having functional integration high based on the micro-wound operation robot joint of ball-type axis, three-dimensional space swing, two-dimensional surface rotation and axial autorotation can be completed at the same time, and structure is more simple, the service life is longer, and is applicable to use in border easy to damage.
Description
Technical field
The utility model belongs to the field of medical instrument technology, is related to a kind of joint of micro-wound operation robot, in particular to
To a kind of micro-wound operation robot joint based on ball-type axis.
Background technique
Traditional surgical operation, which is doctor, the treatment such as cuts off, sutures with body lesion of the medical instrument to patient.With
Knife, cut, the instruments such as needle are operated in body local, remove pathological tissues, repair damage, transplant organ, improvement function and shape
State etc..However in certain operations, patient needs to bear huge pain.For traditional surgery, surgical machine
People has that positioning time is short, wound is small, positioning accurate, reduces human error, can replace medical worker and carry out prejudicial operation
The advantages that.
Operating robot is completed to research and develop and be specifically applied in medical operating implementation by the last century 20's.So far
In decades, operating robot is kept updating.For application market occupation rate, most wide at present mainly includes Aesop's hand
Art robot, Zeus's operating robot and Leonardo da Vinci's operating robot.
Leonardo da Vinci's operating robot is substantially a kind of advanced laparoscopic minimally invasive surgery robot.With Leonardo da Vinci's surgical machine
For people's system, it is located at mechanical arm fixed on patients surgery vehicle, including sequentially connected mechanical arm pedestal, root axis close
Section, the first linking arm, center axis joint, the second linking arm, leading portion axis joint, third linking arm and flexible shaft member, are located at
Surgical instrument end holders are fixedly installed on flexible week component.Although more freedom degree can be completed according to above structure
Movement, but the disadvantages of that there are components is excessive, and structure complexity is high, and equipment volume is big, and in some cases, it is intended to telescopic shaft
When component locations are adjusted, need whole multicomponent associated movements that could adjust and finish.
Summary of the invention
The purpose of the utility model is to provide a kind of structure is simple, can be completed at the same time three-dimensional space swing, two dimension it is flat
The micro-wound operation robot joint of face rotation and axial autorotation.
In order to achieve the above object, the utility model provides a kind of micro-wound operation robot joint based on ball-type axis,
Include:
Leading portion connector；An axial diverter, the axial direction diverter are fixedly connected on the leading portion connector
Pass through the second substrate of an automatically controlled plane axis connection including first substrate and with the first substrate；The leading portion connector is logical
It crosses and is fixed with the first substrate, realize the connection with the axial diverter；A ball is fixed in the second substrate
Axis center ball；
Large arm fixed connection device；The large arm fixed connection device includes top surface, bottom surface and circumferential surface, is set on the top surface
It is equipped with large arm connection detent, a ball axis concave cambered surface is offered on the bottom surface, the ball axis center top dome is in the ball
At axis concave cambered surface；The large arm fixed connection device and the second substrate are arranged by the ball axis center ball interval；
It is automatically controlled that one is fixedly connected with by a universal shaft on the four direction of the circumferential surface of the large arm fixed connection device
One end of telescopic rod, also another universal shaft is connected the other end of the automatically controlled telescopic rod with the second substrate simultaneously.
Leading portion connector is mainly used for for being connected on the pedestal or the upper arm member of leading portion in micro-wound operation robot joint.The
One substrate and the second substrate can do Plane Rotation along axis on the rotation axial plane of automatically controlled plane axis by automatically controlled plane axis.Ball
The effect of axis center ball is to provide central point for large arm fixed connection device and support.Large arm fixed connection device can be around ball axis center
Ball change and the second substrate between angle, concrete implementation method be using large arm fixed connection device ball axis concave cambered surface with
The formation of ball axis center ball agrees with sliding surface, so that large arm fixed connection device can slide swing on the sliding surface.Large arm is fixed to be connected
It connects device and passes through the automatically controlled telescopic rod being arranged on circumferential surface, touch it with ball axis center ball always.Each automatically controlled telescopic rod can be complete
At expanding-contracting action, according to the different retracted position of each automatically controlled telescopic rod, large arm fixed connection device completes wobbling action.This technology
The advantages of scheme is, using above structure, joint integral planar axial-rotation, the three-dimensional space of large arm can be swung and
One is integrated in the axial autorotation of large arm, is completed structure and is simplified, the reduction of equipment volume and the occupied space that works.And this pass
Section is in the case where being accidentally impacted and part electric telescopic rod is caused to be damaged, it is only necessary to guarantee to have to be connected two and electronic stretch
Contracting bar can work, and just still can be carried out global function work, to ensure that equipment has the advantages that higher stability in use.
Preferably, the automatically controlled plane axis can be rotated around 360 ° of own axes；The ball axis concave cambered surface can be along ball axis
Center ball surface does three-dimensional space swing and autorotation, wherein swinging maximum angle is 90 °~135 °, autorotation maximum angle is
30 °~60 °.It is further preferred that the swing maximum angle is 135 °, autorotation maximum angle is 30 °.It is also preferable that
The swing maximum angle is 90 °, and autorotation maximum angle is 60 °.It is constant in the length of automatically controlled telescopic rod and flexible ability
In the case where, automatically controlled telescopic rod is fixed on that the positional distance ball axis center ball in large arm fixed connection device is closer, and autorotation is most
Wide-angle is bigger；It is remoter that automatically controlled telescopic rod is fixed on the positional distance ball axis center ball in the second substrate, the maximum angle of swing
It is bigger.Therefore, it can be seen that the maximum angle of swing necessarily becomes smaller, on the contrary similarly when tuning up autorotation maximum angle.For
The best fit of two angles is obtained, this preferred embodiment limits each maximum angle.When a certain angle too small, will limit
Maneuverability of the joint in this angle；When a certain angle is excessive, maneuverability of the joint in another angle can be caused
It is limited.It is further preferably in, two specific value schemes are provided, for can be according to itself functionality to joint
It is required that being selected.
Preferably, the ball axis concave cambered surface diameter is more than or equal to the ball axis center ball.It is further preferred that the ball
Axis concave cambered surface is equal with the diameter of the ball axis center ball.It is straight that the diameter of ball axis concave cambered surface cannot be less than ball axis center ball
Diameter.When ball axis concave cambered surface diameter be less than ball axis center bulb diameter, can cause ball axis concave cambered surface can not be with ball axis center ball
Face contact is done, or formed tight fit and can not slide.In optimal technical scheme, both restrictions diameter is equal, and reason is
When diameter is not equal, ball axis concave cambered surface and ball axis center ball are point contact, are used for a long time and easily cause part distortion, and because
Unstable to slide, equipment operating noise is also larger.When the two diameter is equal, ball axis concave cambered surface is formed with ball axis center ball
The face contact agreed with completely not only slides sound very little, and contact surface each point uniform force, can effectively extend joint and use the longevity
Life.
Compared with prior art, the utility model has the beneficial effects that:
Have functional integration high based on the micro-wound operation robot joint of ball-type axis, three-dimensional space can be completed at the same time
Swing, two-dimensional surface rotation and axial autorotation, and structure is more simple, and the service life is longer, and is applicable to rapid wear
It is used in bad border.
Detailed description of the invention
Fig. 1 is the schematic perspective view in the micro-wound operation robot joint based on ball-type axis of the utility model.
Fig. 2 is the side structure schematic diagram in the micro-wound operation robot joint based on ball-type axis of the utility model.
Fig. 3 is the schematic perspective view of large arm fixed connection device.
Fig. 4 is the side perspective schematic diagram of large arm fixed connection device.
Wherein:
1, leading portion connector；2, first substrate；3, automatically controlled plane axis；4, the second substrate；5, ball axis center ball；6, large arm is solid
Determine connector；7, top surface；8, bottom surface；9, circumferential surface；10, large arm connects detent；11, ball axis concave cambered surface；12, universal shaft；13, electric
Control telescopic rod.
Specific embodiment
Embodiment 1
Referring to FIG. 1, FIG. 2 and FIG. 3, this embodiment describes a kind of micro-wound operation robot joint based on ball-type axis, packets
It includes: leading portion connector 1；An axial diverter is fixedly connected on leading portion connector 1, axial diverter includes first substrate
2 and pass through the second substrate 4 that connect of an automatically controlled plane axis 3 with first substrate 2；Leading portion connector 1 passes through solid with first substrate 2
It is fixed, realize the connection with axial diverter；A ball axis center ball 5 is fixed in the second substrate 4；Large arm fixed connection device 6；
Large arm fixed connection device 6 includes top surface 7, bottom surface 8 and circumferential surface 9, and large arm connection detent 10 is provided on top surface 7, is located at bottom
A ball axis concave cambered surface 11 is offered on face 8, ball axis center ball 5 peaks at ball axis concave cambered surface 11；Large arm fixed connection device 6 with
The second substrate 4 is spaced by ball axis center ball 5 to be arranged；Pass through one on the four direction of the circumferential surface 9 of large arm fixed connection device 6
Universal shaft 12 is fixedly connected with one end of an automatically controlled telescopic rod 13, the other end of automatically controlled telescopic rod 13 simultaneously also another universal shaft 12 and
The second substrate 4 is connected.Swinging maximum angle is 135 °, and autorotation maximum angle is 30 °.In ball axis concave cambered surface 11 and ball axis
The diameter of bulbus cordis 5 is equal.
Embodiment 2
This embodiment describes the micro-wound operation robot joint based on ball-type axis of another structure, the present embodiment introductions
Joint structure it is roughly the same with embodiment 1, difference is that ball axis concave cambered surface 11 can be done along 5 surface of ball axis center ball
Three-dimensional space is swung and autorotation, and swinging maximum angle is 90 °, and autorotation maximum angle is 60 °.
Claims (6)
1. a kind of micro-wound operation robot joint based on ball-type axis characterized by comprising
Leading portion connector (1)；An axial diverter, the axial steering are fixedly connected on the leading portion connector (1)
Device includes first substrate (2) and passes through the second substrate (4) that an automatically controlled plane axis (3) connect with the first substrate (2)；Institute
Leading portion connector (1) is stated by fixing with the first substrate (2), realizes the connection with the axial diverter；Positioned at described
A ball axis center ball (5) is fixed in the second substrate (4)；
Large arm fixed connection device (6)；The large arm fixed connection device (6) includes top surface (7), bottom surface (8) and circumferential surface (9), is located at
It is provided with large arm connection detent (10) on the top surface (7), is located on the bottom surface (8) and offers a ball axis concave cambered surface
(11), the ball axis center ball (5) peaks at the ball axis concave cambered surface (11)；The large arm fixed connection device (6) with it is described
The second substrate (4) is spaced by the ball axis center ball (5) to be arranged；
It is fixedly connected by a universal shaft (12) on the four direction of the circumferential surface (9) of the large arm fixed connection device (6)
One end of one automatically controlled telescopic rod (13), the other end of the automatically controlled telescopic rod (13) also another universal shaft (12) and described the simultaneously
Two substrates (4) are connected.
2. the micro-wound operation robot joint according to claim 1 based on ball-type axis, which is characterized in that described automatically controlled flat
Face axis (3) can be rotated around 360 ° of own axes；The ball axis concave cambered surface (11) can do three-dimensional along ball axis center ball (5) surface
Space is swung and autorotation, wherein swinging maximum angle is 90 °~135 °, autorotation maximum angle is 30 °~60 °.
3. the micro-wound operation robot joint according to claim 2 based on ball-type axis, which is characterized in that the swing is most
Wide-angle is 135 °, and autorotation maximum angle is 30 °.
4. the micro-wound operation robot joint according to claim 2 based on ball-type axis, which is characterized in that the swing is most
Wide-angle is 90 °, and autorotation maximum angle is 60 °.
5. the micro-wound operation robot joint according to claim 1 based on ball-type axis, which is characterized in that the ball axis is recessed
Type cambered surface (11) diameter is more than or equal to the ball axis center ball (5).
6. the micro-wound operation robot joint according to claim 5 based on ball-type axis, which is characterized in that the ball axis is recessed
Type cambered surface (11) is equal with the diameter of the ball axis center ball (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720833862.1U CN208371898U (en) | 2017-07-10 | 2017-07-10 | Micro-wound operation robot joint based on ball-type axis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720833862.1U CN208371898U (en) | 2017-07-10 | 2017-07-10 | Micro-wound operation robot joint based on ball-type axis |
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| Publication Number | Publication Date |
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| CN208371898U true CN208371898U (en) | 2019-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720833862.1U Active CN208371898U (en) | 2017-07-10 | 2017-07-10 | Micro-wound operation robot joint based on ball-type axis |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110814624A (en) * | 2019-12-13 | 2020-02-21 | 陈英 | Automatic change big degree of freedom cambered surface of welding machines hand and support base drive structure |
| CN113558772A (en) * | 2021-08-19 | 2021-10-29 | 合肥工业大学智能制造技术研究院 | Medical robot for surgical operation |
| CN114176731A (en) * | 2021-12-24 | 2022-03-15 | 王延宏 | Auxiliary positioning device for low-temperature plasma radio frequency ablation |
-
2017
- 2017-07-10 CN CN201720833862.1U patent/CN208371898U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110814624A (en) * | 2019-12-13 | 2020-02-21 | 陈英 | Automatic change big degree of freedom cambered surface of welding machines hand and support base drive structure |
| CN110814624B (en) * | 2019-12-13 | 2021-06-11 | 威海迪尚众合机电有限公司 | Automatic change big degree of freedom cambered surface of welding machines hand and support base drive structure |
| CN113558772A (en) * | 2021-08-19 | 2021-10-29 | 合肥工业大学智能制造技术研究院 | Medical robot for surgical operation |
| CN114176731A (en) * | 2021-12-24 | 2022-03-15 | 王延宏 | Auxiliary positioning device for low-temperature plasma radio frequency ablation |
| CN114176731B (en) * | 2021-12-24 | 2024-01-12 | 王秀萍 | Auxiliary positioning device for low-temperature plasma radio frequency ablation |
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