CN209713141U - Medical robot pitching mechanical arm - Google Patents

Abstract

The utility model relates to the technical fields of medical robot mechanical arm, and more particularly, to a kind of medical robot pitching mechanical arm, the first, last both ends of actuating arm are hingedly arranged with the dynamic, end of fixed arm and head end by hinge assembly respectively；Main driving assembly and the first crank link mechanism are installed, main driving assembly drives the first crank link mechanism to rotate actuating arm relative to fixed arm in fixed arm；The second crank link mechanism is equipped in actuating arm, the second crank link mechanism of actuating arm rotate driving rotates slave arm relative to actuating arm, makes, remains parallel between fixed arm；Slave arm rotate driving is set to the third crank link mechanism work in slave arm, and third crank link mechanism drives the secondary driving assembly for being set to slave arm head end to work asynchronously.The utility model smoothness with higher, while can effectively ensure the safety of medical surgery operation.

Description

Medical robot pitching mechanical arm

Technical field

The utility model relates to the technical field of medical robot mechanical arm, more particularly, to a kind of medical robot with bowing Face upward mechanical arm.

Background technique

In the common scene of the surgical operation under operating robot auxiliary, doctor operates machine in the position far from patient The main hand end of people controls the surgical instruments of patient end robot in operative site with this according to the control model of master-slave operation Movement.The form at main hand end includes but is not limited to connect isomorphism mechanical arm, series connection isomery mechanical arm, parallel mechanical arm, dermoskeleton Bone gloves etc. can control surgical instruments in the position and orientation of operative site by these devices.

At present both at home and abroad, the robot arm used when performing the operation to medical surgery then has higher requirement, in instrument After end carries out precise positioning to a certain position of the body of patient, need to be adjusted the relative position between mechanical arm When, then need guarantee effect not shift in the corresponding position of the instrument at a certain position of patient body, and only need mechanical arm Corresponding displacement occurs.Therefore for the mechanical arm in medical field how to realize mechanical arm during being subjected to displacement, no The corresponding position for the instrument for acting on a certain position of patient body can be made to shift, while also ensuring that mechanical arm is being displaced When, higher smoothness is kept, it is a problem to be solved that the safety for making medical surgery perform the operation, which is further promoted,.

Utility model content

The purpose of the utility model is to provide a kind of mechanical arms when adjustment position is subjected to displacement, with higher steady Degree, while can effectively ensure the medical robot pitching mechanical arm of the safety of medical surgery operation.

The above-mentioned technical purpose of the utility model has the technical scheme that

A kind of medical robot pitching mechanical arm drives including relatively parallel slave arm and fixed arm and actuating arm The first, last both ends of swing arm are hingedly arranged with the head end of the end of slave arm and fixed arm by hinge assembly respectively；In fixed arm Main driving assembly and the first crank link mechanism are installed, main driving assembly drives the first crank link mechanism to keep actuating arm opposite It is rotated in fixed arm；Be equipped with the second crank link mechanism in actuating arm, the second crank link mechanism of actuating arm rotate driving make from Swing arm is rotated relative to actuating arm, makes to remain parallel between slave arm, fixed arm；Slave arm rotate driving is set to slave arm Interior third crank link mechanism work, third crank link mechanism drive the synchronous work of the secondary driving assembly for being set to slave arm head end Make.

By using above-mentioned technical proposal, pass through three crank link mechanisms in slave arm, actuating arm, fixed arm three Cooperating so that this mechanical arm is during use, slave arm, fixed arm are remained in parallel, and actuating arm then institute The diagonal line for the parallelogram that role is, is formed after the head and end virtual line of fixed arm, is made based on this principle Mechanical arm is obtained when adjustment position is subjected to displacement, the track of the head end displacement of slave arm is the camber line in the fixed center of circle, meanwhile, pair drive Dynamic component synchronization rotation, can drive instrument to have and correspondingly rotate, reach guarantee effect patient Yu to cooperate arching trajectory The corresponding position of the instrument at a certain position of body does not shift, in this operational process, smoothness with higher, simultaneously It can effectively ensure the safety of medical surgery operation.

The utility model is further arranged to: the hinge assembly of the head end of the end and fixed arm of the actuating arm are as follows: Gu The head end of fixed arm and towards the side of actuating arm be equipped with the first hinge hole, the end of the actuating arm side opposite with the first hinge hole Equipped with the first hinged disk to match with the first hinge hole.

It can make actuating arm and fixed arm using the design of hinge hole and hinged disk by using above-mentioned technical proposal It is more stable during relative rotation, and the opposite increase of the active force that can bear of the hinged place.

The utility model is further arranged to: the structure of the first crank link mechanism are as follows: eccentric setting on the first hinged disk There is shaft, shaft end corresponding with the master connecting-rod being set in fixed arm is hinged, and the other end of master connecting-rod is articulated with by leading On the actuator of driving assembly driving.

By using above-mentioned technical proposal, actuating arm is driven to rotate by master connecting-rod using main driving assembly, effective use The structure of each regulating arm itself, does not need excessive many and diverse drive line, this kind design can reduce production to a certain extent The space hold of product, while the first crank mechanism forms a more stable parallelogram sturcutre, so that power herein It is high that square transmits smoothness.

The utility model is further arranged to: the structure of the main driving assembly are as follows: the middle part in fixed arm, which is provided with, leads To pedestal, the side of guide base towards fixed arm end is equipped with servo motor；The electricity with servo motor is equipped in guide base Arbor coaxial line and the ball screw being fixedly connected with motor shaft, guide base towards actuating arm a lateral edge ball screw axis Line direction offers guide chute, and actuator is slidedly arranged on guide chute and cooperates with ball screw and drives.

By using above-mentioned technical proposal, ball screw and actuator are directly driven by servo motor, make actuator edge Ball screw it is axially displaced, with drive master connecting-rod simultaneously along the axially displaced of ball screw, the design can Noise when instrument work is effectively reduced, while smoothness is also obviously improved, and makes the drive of entire main driving assembly Dynamic precision is greatly improved.

The utility model is further arranged to: the hinge assembly of the end of the head end and slave arm of the actuating arm are as follows: is driven The head end of swing arm and it is equipped with the second hinge hole towards the side of slave arm, the end of slave arm is equipped with to match with the second hinge hole The second hinged disk.

It can make actuating arm and slave arm using the design of hinge hole and hinged disk by using above-mentioned technical proposal It is more stable during relative rotation, and the opposite increase of the active force that can bear of the hinged place.

The utility model is further arranged to: second crank link mechanism include long connecting rod in the actuating arm, Short connecting rod close to actuating arm head end and the rocker arm close to actuating arm end；The first, last both ends of long connecting rod respectively with short connecting rod End, the head end of rocker arm it is hinged；The head end of short connecting rod and the second hinged disk are hinged；It is fixed between the end and fixed arm of rocker arm Connection.

By using above-mentioned technical proposal, another is formd more stable parallel four using the second crank link mechanism Side shape structure reduces the space hold of product, Neng Gouyou so that torque transmitting smoothness herein is high to a certain extent The space using product of effect, while precision is also obviously improved.

The utility model is further arranged to: the structure of the third crank link mechanism are as follows: hinged on the second hinged disk There is the axis of coaxial line, axis is installed on the medium position of STATEMENT OF FEDERALLY SPONSORED, and the head end of STATEMENT OF FEDERALLY SPONSORED and the end of driving member are hinged；Pair is driven Dynamic component is driven by driving member.

By using above-mentioned technical proposal, driving member is driven to rotate using STATEMENT OF FEDERALLY SPONSORED, driving member drives secondary driving assembly fortune Turn, is here formed as another more stable parallelogram sturcutre, so that torque transmitting smoothness herein is high, meanwhile, This kind designs the space hold for reducing product to a certain extent, can effectively utilize the space of product, while precision Also it is obviously improved.

The utility model is further arranged to: being equipped with the guiding of arc on the slave arm positioned at the end side of STATEMENT OF FEDERALLY SPONSORED Hole, the end of STATEMENT OF FEDERALLY SPONSORED are equipped with the guiding axis that can be slided in pilot hole, and guiding axis passes through pilot hole and is fixedly connected with actuating arm.

By using above-mentioned technical proposal, the design of pilot hole avoids two crank link mechanisms mutually matched In the process, the unnecessary probability for swinging and leading to equipment fault occurs, meanwhile, the moving range that pilot hole is capable of guiding axis obtains Effective control, also improves safety of the mechanical arm in medical surgery surgical procedure to a certain extent.

The utility model is further arranged to: the pair driving assembly is the rotation axis set on slave arm head end, rotation axis It is equipped with rotating disc, bias is hinged with hinge bar on rotating disc, and the head end of driving member is articulated on hinge bar.

It effectively improves and sets using the connection relationship between driving member and rotating disc by using above-mentioned technical proposal For when in use, by secondary driving assembly driving effect when the instrument at patient body a certain position, secondary driving assembly can be three The operating of crank link mechanism keeps synchronizing, and can guarantee the displacement of the arching trajectory along concentric, makes instrument end not It shifts, smoothness with higher, while can effectively ensure the safety of medical surgery operation.

In conclusion the utility model has following advantageous effects: being set using the fusion of multiple brace and connecting rod frameworks Meter, so that slave arm, fixed arm and actuating arm one big parallelogram sturcutre of formation, and three crank link mechanisms Three small parallelogram are then formd, under the interaction of multiple parallelogram, realize synchronous working, and be arranged simultaneously Secondary driving assembly synchronous working, so that mechanical arm, when adjustment position is subjected to displacement, the track of the head end displacement of slave arm is solid The camber line of centering, guarantee effect does not shift in the corresponding position of the instrument at a certain position of patient body, with higher Smoothness, while can effectively ensure the safety of medical surgery operation.

Detailed description of the invention

Fig. 1 is the side structure schematic view of the utility model.

Fig. 2 is by the side structure schematic view after the guide base removal in Fig. 1.

Fig. 3 is the schematic cross-sectional view in the face A-A in Fig. 2.

Fig. 4 is the structural schematic diagram of the main driving assembly of the utility model.

Fig. 5 is the side structure schematic view of another angle of the utility model.

Fig. 6 is the structural schematic diagram for highlighting the second crank link mechanism of the utility model.

In figure, 1, slave arm；2, fixed arm；3, actuating arm；4, guide base；5, servo motor；6, ball screw；7, it drives Moving part；8, guide chute；9, the first hinged disk；10, shaft；11, master connecting-rod；12, long connecting rod；13, short connecting rod；14, rocker arm； 15, the second hinged disk；16, STATEMENT OF FEDERALLY SPONSORED；17, driving member；18, guiding axis；19, pilot hole；20, rotation axis；21, rotating disc；22, Hinge bar；23, axis.

Specific embodiment

The utility model is described in further detail below in conjunction with attached drawing.

Referring to Fig.1, the utility model discloses a kind of medical robot pitching mechanical arm, including relatively parallel driven Arm 1 and fixed arm 2 and actuating arm 3, the first, last both ends of actuating arm 3 head end with the end of slave arm 1 and fixed arm 2 respectively Hingedly it is arranged by hinge assembly, to mechanical arm in this present embodiment, then needs to guarantee good smoothness and using safe Property.Therefore, in the process of work, dynamic, fixed arm will remain in parallel, need to realize the synchronous fortune of parallelogram-type Make, then actuating arm 3 is needed to play cornerwise function of parallelogram.

Referring to shown in Fig. 2,3, the hinge assembly of the head end of the end and fixed arm 2 of actuating arm 3 are as follows: the head end of fixed arm 2 And the first hinge hole is equipped with towards the side of actuating arm 3, the end of actuating arm 3 side opposite with the first hinge hole is equipped with the The first hinged disk 9 that one hinge hole matches；The hinge assembly of the end of the head end and slave arm 1 of actuating arm 3 are as follows: actuating arm 3 Head end and towards the side of slave arm 1 be equipped with the second hinge hole, the end of slave arm 1 is equipped with to match with the second hinge hole Second hinged disk 15.

Referring to Fig. 4, main driving assembly, structure are installed in fixed arm 2 are as follows: the middle part in fixed arm 2 is provided with guiding The side of pedestal 4, guide base 4 towards 2 end of fixed arm is equipped with servo motor 5；It is equipped with and servo motor 5 in guide base 4 Motor shaft coaxial line and the ball screw 6 that is fixedly connected with motor shaft, a lateral edge ball of the guide base 4 towards actuating arm 3 The axis direction of screw rod 6 offers guide chute 8, and 8 slidable fit of guide chute has the actuator 7 driven by ball screw 6, drives Moving part 7 can drive the first crank link mechanism in fixed arm 2 to work.Wherein, actuator 7 is on guide chute 8 With ball screw 6 cooperate guiding slide, guiding slide then directly with the first crank link mechanism cooperating.

Referring to Fig. 3,5, the structure of the first crank link mechanism are as follows: eccentric setting has shaft 10, shaft on the first hinged disk 9 10 is hinged with the head end for the master connecting-rod 11 being set in fixed arm 2, and the end of master connecting-rod 11 is articulated on actuator 7.This first Crank link mechanism forms the structure of first parallelogram, and setting with this configuration makes actuating arm 3 along the hinge of its end Connect position rotation.

Referring to Fig. 3,6, the first crank link mechanism drives actuating arm 3 as intermediate transition piece by the first hinged disk 9 Rotation, 3 rotate driving of actuating arm are set to the second crank link mechanism work in actuating arm 3；Second crank link mechanism includes Long connecting rod 12 in actuating arm 3, the short connecting rod 13 close to 3 head end of actuating arm and the rocker arm close to 3 end of actuating arm 14；The first, last both ends of long connecting rod 12 are hinged with the head end of the end of short connecting rod 13, rocker arm 14 respectively；The head end of short connecting rod 13 with Second hinged disk hingedly with drive third crank link mechanism work asynchronously, make slave arm 1 along its end hinge position rotation with Reach and remains parallel between slave arm 1, fixed arm 2；The end of rocker arm 14 passes through the perforation among the first hinged disk 9 and consolidates It is fixedly connected between fixed arm 2, and passes through the rocker arm 14 perforated among the first hinged disk 9 and set relative to the center of circle bias of hinged disk 9 It sets.Under normal circumstances, it avoids rocker arm 14 from not interfereing with each other at work with shaft 10, the position of the two can be oppositely arranged, this Sample makes synchronous effect higher, while the transmitting of power is also more convenient.

The second crank link mechanism among the above forms second parallelogram sturcutre, is formed with the first crank mechanism First parallelogram sturcutre transmits power with the first hinged disk of transition piece 9 among merga pass, makes being transmitted across for power Cheng Wending, but also the realization of actuating arm 3 can be driven to correspondingly rotate.

Referring to Fig. 3,5, the structure of third crank link mechanism are as follows: be hinged with the axis of coaxial line on the second hinged disk 15 23, axis 23 is installed on the medium position of STATEMENT OF FEDERALLY SPONSORED 16, and the end of the head end and driving member 17 of STATEMENT OF FEDERALLY SPONSORED 16 is hinged；Slave arm 1 Head end at secondary driving assembly is installed, secondary driving assembly is driven by the head end of driving member 17.Third crank link mechanism is formed Third parallelogram sturcutre matches merga pass STATEMENT OF FEDERALLY SPONSORED with second parallelogram sturcutre that the second crank mechanism is formed 16 transmitting power, stablize the transmission process of power.Wherein, arc is equipped with positioned at the end side of STATEMENT OF FEDERALLY SPONSORED 16 on slave arm 1 Pilot hole 19, the end of STATEMENT OF FEDERALLY SPONSORED 16 is equipped with the guiding axis 18 that can be slided in pilot hole 19, and guiding axis 18 passes through pilot hole 19 It is fixedly connected with actuating arm 3.

Secondary driving assembly is provided in slave arm 1 among the above at the position of head end, secondary driving assembly is set on slave arm 1 The rotation axis 20 of head end, rotation axis 20 are equipped with rotating disc 21, and bias is hinged with hinge bar 22 on rotating disc 21, driving member 17 Head end, which is articulated on hinge bar 22, drives rotating disc 21 to work asynchronously.

In the present embodiment, pass through the cooperation of three crank link mechanisms in slave arm 1, actuating arm 3,2 three of fixed arm Work, so that this mechanical arm forms the 4th parallelogram sturcutre, and then role is slave arm 1, fixes actuating arm 3 The diagonal line of the parallelogram formed after the head and end virtual line of arm 2 makes mechanical arm in adjustment position based on this principle It sets when being subjected to displacement, the track of the head end displacement of slave arm 1 be the camber line in the fixed center of circle, meanwhile, secondary driving assembly synchronous rotation, Instrument can be driven to have to correspondingly rotate, reach guarantee effect in the instrument at a certain position of patient body to cooperate arching trajectory The corresponding position of device does not shift, in this operational process, smoothness with higher, while can effectively ensure doctor Treat the safety of surgical operation.

In the specific implementation, main driving assembly drives the movement of the first crank link mechanism to the present embodiment, so that first is hinged Disk 9 rotates, while rotation, so that actuating arm 3 also rotates synchronously the angle so that between actuating arm 3 and fixed arm 2 Change, simultaneously, since one end of rocker arm is affixed on fixed arm 2, short connecting rod 13 be with the second hinged disk 15 it Between it is hinged, when the rotational angle of actuating arm 3 changes, the angle between short connecting rod 13 and long connecting rod 12 also can passively occur Variation, short connecting rod 13 can be rotated relative to long connecting rod 12 at this time, and therefore, short connecting rod 13 can also synchronize driving slave arm 1 and occur together Step rotates, and in slave arm 1, since the middle part of STATEMENT OF FEDERALLY SPONSORED 16 is hinged relationship, and between guiding axis 18 and actuating arm 3 is fixed company Relationship is connect, then opposite rotation can also occur in pilot hole 19 for guiding axis 18 during slave arm 1 rotates, at this point, connection Moving part 16 can drive driving member 17 that secondary driving assembly is driven to work.

Wherein, slave arm 1, actuating arm 3, fixed arm 2 hinge position be then the angle of the 4th parallelogram, and rotation Joint, at the same time, the corresponding position of the instrument driven by secondary driving mechanism can be set to the angle of the 4th parallelogram, this During this operating, the corresponding position for the instrument for acting on a certain position of patient body does not shift sample, have compared with High smoothness, while can effectively ensure the safety of medical surgery operation.

This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability Field technique personnel can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but As long as all by the protection of Patent Law in the scope of the claims of the utility model.

Claims (9)

1. a kind of medical robot pitching mechanical arm, including relatively parallel slave arm (1) and fixed arm (2) and driving Arm (3), it is characterised in that: the first, last both ends of actuating arm (3) are logical with the head end of the end of slave arm (1) and fixed arm (2) respectively Hinge assembly is crossed hingedly to be arranged；Main driving assembly and the first crank link mechanism are installed, main driving assembly drives in fixed arm (2) Dynamic first crank link mechanism rotates actuating arm (3) relative to fixed arm (2)；The second crank connecting link is equipped in actuating arm (3) Mechanism, actuating arm (3) second crank link mechanism of rotate driving rotate slave arm (1) relative to actuating arm (3), make slave arm (1), remain parallel between fixed arm (2)；Slave arm (1) rotate driving is set to the third crank connecting link in slave arm (1) Mechanism work, third crank link mechanism drive the secondary driving assembly for being set to slave arm (1) head end to work asynchronously.

2. medical robot according to claim 1 pitching mechanical arm, it is characterised in that: the end of the actuating arm (3) The hinge assembly at end and the head end of fixed arm (2) are as follows: the head end of fixed arm (2) and be equipped with first towards the side of actuating arm (3) Hinge hole, the end of actuating arm (3) are equipped with the first hinged disk (9) to match with the first hinge hole.

3. medical robot according to claim 2 pitching mechanical arm, it is characterised in that: the first crank connecting link machine The structure of structure are as follows: there is shaft (10) eccentric setting on the first hinged disk (9), shaft (10) and the master being set in fixed arm (2) The corresponding end of connecting rod (11) is hinged, and the other end of master connecting-rod (11) is articulated with the actuator (7) driven by main driving assembly On.

4. medical robot according to claim 3 pitching mechanical arm, it is characterised in that: the knot of the main driving assembly Structure are as follows: the middle part in fixed arm (2) is provided with guide base (4), and the side of guide base (4) towards fixed arm (2) end is set There are servo motor (5)；It is equipped in guide base (4) and the motor shaft coaxial line of servo motor (5) and is fixedly connected with motor shaft Ball screw (6), the axis direction of guide base (4) towards a lateral edge ball screw (6) of actuating arm (3) offers guiding Sliding slot (8), actuator (7) are slidedly arranged on guide chute (8) and cooperate with ball screw (6) and drive.

5. medical robot according to claim 1 pitching mechanical arm, it is characterised in that: the head of the actuating arm (3) The hinge assembly at end and the end of slave arm (1) are as follows: the head end of actuating arm (3) and be equipped with second towards the side of slave arm (1) Hinge hole, the end of slave arm (1) are equipped with the second hinged disk (15) to match with the second hinge hole.

6. medical robot according to claim 5 pitching mechanical arm, it is characterised in that: the second crank connecting link machine Structure includes the long connecting rod (12) in actuating arm (3), the short connecting rod (13) close to actuating arm (3) head end and close driving The rocker arm (14) of arm (3) end；The first, last both ends of long connecting rod (12) head with the end of short connecting rod (13), rocker arm (14) respectively End is hinged；The head end and the second hinged disk (15) of short connecting rod (13) are hinged；It is fixed between the end and fixed arm (2) of rocker arm (14) Connection.

7. medical robot according to claim 5 pitching mechanical arm, it is characterised in that: the third crank connecting link machine The structure of structure are as follows: the axis (23) of coaxial line is hinged on the second hinged disk (15), axis (23) is installed on STATEMENT OF FEDERALLY SPONSORED (16) The end of medium position, the head end and driving member (17) of STATEMENT OF FEDERALLY SPONSORED (16) is hinged；Secondary driving assembly is driven by driving member (17).

8. medical robot according to claim 7 pitching mechanical arm, it is characterised in that: the slave arm (1) is upper It is equipped with the pilot hole (19) of arc in the end side of STATEMENT OF FEDERALLY SPONSORED (16), the end of STATEMENT OF FEDERALLY SPONSORED (16) is equipped with can be in pilot hole (19) The guiding axis (18) of sliding, guiding axis (18) pass through pilot hole (19) and are fixedly connected with actuating arm (3).

9. medical robot according to claim 7 pitching mechanical arm, it is characterised in that: the pair driving assembly is to set In the rotation axis (20) of slave arm (1) head end, rotation axis (20) is equipped with rotating disc (21), and bias is hinged on rotating disc (21) Hinge bar (22), the head end of driving member (17) are articulated on hinge bar (22).