CN210056223U - Robot rotating device and medical robot - Google Patents
Robot rotating device and medical robot Download PDFInfo
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- CN210056223U CN210056223U CN201920406389.8U CN201920406389U CN210056223U CN 210056223 U CN210056223 U CN 210056223U CN 201920406389 U CN201920406389 U CN 201920406389U CN 210056223 U CN210056223 U CN 210056223U
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Abstract
The embodiment of the utility model provides a relate to medical instrument technical field, especially relate to a rotary device of robot and medical robot, include: drive arrangement, ball screw mechanism, drive mechanism and eccentric mechanism, drive arrangement's output shaft and ball screw mechanism's screw rod are connected, it rotates to drive the screw rod, ball screw mechanism's nut is connected with drive mechanism's one end, turn into reciprocal linear motion with the torque of output, eccentric structure includes dislocation connection's primary shaft and secondary shaft, the end fixing of primary shaft, and other optional position and the drive mechanism's of primary shaft other are connected, it is rotatory along the tip, puncture unit and the coaxial setting of secondary shaft, realize that puncture unit is in human shallow surface or deep tissue, only with a degree of freedom, only need utilize a drive arrangement drive promptly, just can accomplish around a virtual axle pivoted action, the utility model has the advantages of simple structure, the volume is less, does not have the problem in transmission clearance.
Description
Technical Field
The embodiment of the utility model provides a relate to medical instrument technical field, especially relate to a rotary device of robot and medical robot.
Background
In the field of lancing medical technology, a lancet is required to reach a target site by piercing the skin. When puncturing different body tissues and organs, the puncture needle needs to adjust different needle inserting angles, and meanwhile, in order to prevent the infection risk caused by overlarge wound in the puncture, the wound caused by the puncture needle on the skin surface needs to be as small as possible. In order to solve the problems, the puncture rotation central point of the puncture auxiliary medical robot puncture needle is fixed at the wound on the surface of the skin. In clinic, if a mechanical structure is arranged at the puncture rotation central point, the puncture needle can be prevented from entering, and meanwhile, the mechanical structure is contacted with the skin to cause the risk of cross infection, so that a device with a virtual rotation point is required to be developed, so that the puncture rotation point can be ensured on the surface of the skin, and meanwhile, the mechanical structure is ensured to be far away from the puncture surface.
However, the virtual rotation point in the prior art has the problems of complex structure, overlarge volume, transmission clearance and the like.
SUMMERY OF THE UTILITY MODEL
An embodiment of the utility model provides a robot rotating device and medical robot for it is complicated to solve virtual rotation point structure among the prior art, and is bulky, can produce the problem of transmission clearance etc. simultaneously.
An embodiment of the utility model provides a robot rotating device, include: the output shaft of the driving device is connected with the screw rod of the ball screw mechanism to drive the screw rod to rotate, the nut of the ball screw mechanism is connected with one end of the transmission mechanism, the eccentric structure comprises a first shaft and a second shaft which are connected in a staggered mode, the end portion of the first shaft is fixed, other optional positions of the first shaft are connected with the other end of the transmission mechanism, and the puncture unit is coaxially arranged with the second shaft.
Wherein the driving device is a motor.
Wherein, the transmission mechanism is a transmission connecting rod.
The eccentric mechanism is an eccentric connecting rod, the eccentric connecting rod comprises a first rod and a second rod which are connected, and the first rod and the second rod are arranged eccentrically.
The ball screw mechanism comprises a first shaft, a second shaft, a ball screw mechanism and a connecting piece, wherein the ball screw mechanism is arranged on the first shaft, the ball screw mechanism is arranged on the second shaft, the ball screw mechanism is arranged on the first shaft, and the ball screw mechanism is arranged on the second shaft.
The ball screw mechanism comprises a ball screw mechanism, a driving device, a belt transmission device and a driving device, wherein the driving device and the first transmission wheel rotate coaxially, the second transmission wheel and a screw rod of the ball screw mechanism rotate coaxially, and the first transmission wheel is in transmission with the second transmission wheel through the driving belt.
The utility model discloses still disclose a medical robot, include: the robot rotating device according to the utility model.
The utility model discloses a robot rotating device and medical robot, drive arrangement turns into reciprocal linear motion with the torque of output through ball screw mechanism, fix eccentric mechanism's the primary shaft a bit, the linear motion who produces ball screw mechanism again drives the primary shaft through drive mechanism and rotates this bit, and the puncture unit is along the coaxial setting of secondary shaft with the primary shaft dislocation set, therefore the puncture unit can be followed certain virtual rotation point and rotated, realize the puncture unit in human shallow table or deep tissue, only with a degree of freedom, only need utilize a drive arrangement drive promptly, just can accomplish around a virtual axle pivoted action, the utility model has the advantages of simple structure, the volume is less, does not have the problem in transmission clearance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of a first rotation state structure of a robot rotation device according to the present invention;
fig. 2 is a structural diagram of a second rotation state of the robot rotation device according to the present invention;
fig. 3 is a structural diagram illustrating a third rotation state of the robot rotation device according to the present invention;
fig. 4 is a schematic structural view of a robot rotation device according to the present invention;
fig. 5 is a simplified view of a material point of the robot rotating device of the present invention at a puncture angle of 60 °;
fig. 6 is a simplified view of a mass point of the robot rotating device of the present invention at a puncture angle of 45 °;
fig. 7 is a simplified view of a mass point of the robot rotation device of the present invention at a puncture angle of 15 °.
1. A drive device; 2. a transmission mechanism; 3. an eccentric mechanism; 31. a first shaft; 32. a second shaft; 4. a connecting member; 5. a puncture unit; 6. a virtual rotation point; 7. a fixed platform; 8. a ball screw mechanism; 9. a belt drive device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1-7, the utility model discloses a robot rotating device, include: drive arrangement 1, ball screw mechanism 8, drive mechanism 2 and eccentric mechanism 3, drive arrangement 1's output shaft with ball screw mechanism 8's screw rod is connected, drives the screw rod rotates, ball screw mechanism 8's nut with drive mechanism 2's one end is connected, eccentric mechanism 3 includes dislocation connection's primary shaft 31 and secondary shaft 32, the end fixing of primary shaft 31, just other optional position of primary shaft 31 with drive mechanism 2's the other end is connected, puncture unit 5 with the coaxial setting of secondary shaft 32.
Specifically, drive arrangement 1 gives the utility model provides a power is passed through host computer and next machine by the doctor, and control drive arrangement 1 produces power, turns into linear reciprocating motion with the torque of drive arrangement 1 output through ball screw mechanism 8, also can adopt other devices to turn into linear motion with the torque of drive arrangement 1 output according to prior art, for example cam structure etc.. The transmission mechanism 2 transmits the linear reciprocating motion to the first shaft 31 of the eccentric mechanism 3, the end of the first shaft 31 is fixed, so that the eccentric mechanism 3 can rotate along the fixed end of the first shaft 31, the first shaft 31 and the second shaft 32 are arranged in an eccentric connection mode, and the puncture unit 5 is arranged coaxially with the second shaft 32, so that the actual rotating point of the eccentric mechanism 3 is the end of the first shaft 31, the puncture unit 5 rotates around a virtual rotating point 6, and the virtual rotating point 6 is actually generated at the intersection of the tail end of the second shaft 32 and the skin plane of the human body. The movement state of the transmission mechanism 2 is adjusted according to the driving device 1, so that the eccentric mechanism 3 and the puncturing unit 5 are in different states, and the structure schematic diagram in different rotation states as shown in fig. 1-3 can be generated, and fig. 4 is the structure schematic diagram of the device of the present invention, such as the puncturing angle of 60 degrees shown in fig. 5, the puncturing angle of 45 degrees shown in fig. 6, and the puncturing angle of 15 degrees shown in fig. 7. It is worth noting that: the virtual rotation point 6 in fig. 1-4 is a virtual structure, which is labeled for ease of viewing only.
The utility model discloses a robot rotating device and medical robot, drive arrangement turns into reciprocal linear motion with the torque of output through ball screw mechanism, fix a bit on eccentric mechanism's the primary shaft, it is rotatory this bit to pass through drive mechanism with the linear motion that ball screw mechanism produced again and drive the primary shaft along this bit, and the puncture unit is along the coaxial setting of secondary shaft with the primary shaft dislocation set, therefore certain virtual rotation point can be followed to the puncture unit and is rotated, realize that the puncture unit is in human shallow table or deep tissue, only with a degree of freedom, only need utilize a drive arrangement drive promptly, just can accomplish around a virtual axle pivoted action, the utility model has the advantages of simple structure, the volume is less, does not have the problem in transmission clearance
Wherein the driving device 1 is a motor. The transmission mechanism 2 is a transmission connecting rod. The eccentric mechanism 3 is an eccentric connecting rod, the eccentric connecting rod comprises a first rod and a second rod which are connected, and the first rod and the second rod are arranged eccentrically. Other devices can be adopted by the skilled person as the driving device 1, the transmission mechanism 2 and the eccentric mechanism 3 according to actual needs.
The ball screw mechanism further comprises a fixed platform 7 and a connecting piece 4, one end of the connecting piece 4 is fixed to the bottom of the fixed platform 7, the other end of the connecting piece 4 is fixed to the end portion of the first shaft 31, and the ball screw mechanism 8 is installed on the fixed platform 7. The fixed platform 7 in this embodiment is a part for carrying the ball screw mechanism 8, and is fixed to other mechanisms, and the bottom of the fixed platform 7 fixes the end of the first shaft 31 by the connecting member 4 so as to rotate along the end.
The automatic feeding device is characterized by further comprising a belt transmission device 9, wherein the belt transmission device 9 comprises a first transmission wheel, a second transmission wheel and a transmission belt, the driving device 1 and the first transmission wheel rotate coaxially, the second transmission wheel and a screw rod of the ball screw mechanism 8 rotate coaxially, and the first transmission wheel is in transmission with the second transmission wheel through the transmission belt. As shown in fig. 4, the drive device 1 and the ball screw mechanism 8 in the present embodiment are arranged side by side, so that the torque of the output shaft of the drive device 1 is transmitted to the screw of the ball screw mechanism 8 through the belt transmission device 9.
The utility model discloses still disclose a medical robot, include: such as the utility model discloses a robot rotating device.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (7)
1. A robot rotation device, comprising: the output shaft of the driving device is connected with the screw rod of the ball screw mechanism to drive the screw rod to rotate, the nut of the ball screw mechanism is connected with one end of the transmission mechanism, the eccentric mechanism comprises a first shaft and a second shaft which are connected in a staggered mode, the end portion of the first shaft is fixed, other optional positions of the first shaft are connected with the other end of the transmission mechanism, and the puncture unit is coaxially arranged with the second shaft.
2. A robot spinning device according to claim 1, characterized in that the driving means is a motor.
3. A robot spinning device according to claim 1, characterised in that the transmission mechanism is a transmission link.
4. The robot rotation device of claim 1, wherein the eccentric mechanism is an eccentric link comprising a first rod and a second rod connected and disposed eccentrically to the first rod and the second rod.
5. The robot rotation device according to claim 1, further comprising a fixed platform and a connecting member, one end of the connecting member being fixed to a bottom of the fixed platform, the other end of the connecting member being fixed to an end of the first shaft, the ball screw mechanism being mounted to the fixed platform.
6. The robot rotation device according to claim 1, further comprising a belt transmission device including a first transmission wheel, a second transmission wheel, and a transmission belt, wherein the driving device rotates coaxially with the first transmission wheel, the second transmission wheel rotates coaxially with the screw of the ball screw mechanism, and the first transmission wheel is transmitted to the second transmission wheel through the transmission belt.
7. A medical robot, comprising: the robot rotating apparatus according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920406389.8U CN210056223U (en) | 2019-03-28 | 2019-03-28 | Robot rotating device and medical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920406389.8U CN210056223U (en) | 2019-03-28 | 2019-03-28 | Robot rotating device and medical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210056223U true CN210056223U (en) | 2020-02-14 |
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ID=69435139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920406389.8U Expired - Fee Related CN210056223U (en) | 2019-03-28 | 2019-03-28 | Robot rotating device and medical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210056223U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820596A (en) * | 2019-03-28 | 2019-05-31 | 北京理工大学 | A kind of robot rotating device and medical robot |
| CN114469283A (en) * | 2022-03-31 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Connecting rod type four-freedom-degree puncture needle positioning and guiding device |
-
2019
- 2019-03-28 CN CN201920406389.8U patent/CN210056223U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820596A (en) * | 2019-03-28 | 2019-05-31 | 北京理工大学 | A kind of robot rotating device and medical robot |
| CN114469283A (en) * | 2022-03-31 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Connecting rod type four-freedom-degree puncture needle positioning and guiding device |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200214 |