CN210931809U - Rotating arm mechanism and surgical robot - Google Patents
Rotating arm mechanism and surgical robot Download PDFInfo
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- CN210931809U CN210931809U CN201921390340.4U CN201921390340U CN210931809U CN 210931809 U CN210931809 U CN 210931809U CN 201921390340 U CN201921390340 U CN 201921390340U CN 210931809 U CN210931809 U CN 210931809U
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Abstract
The utility model provides a rotor arm mechanism and surgical robot relates to medical equipment technical field. The rotating arm mechanism includes: one end of the large arm is provided with a first connecting arm; the small arm is provided with a second connecting arm at one end, and the first connecting arm is hinged with the second connecting arm; wherein, one end of the big arm and one end of the small arm are both sharp-horn structures. Compared with the prior art, the rotating arm mechanism utilizes the first connecting arm and the second connecting arm, and the one end of the big arm and the one end of the small arm are both in a sharp-angle structure, so that the rotating range of the small arm relative to the big arm is fully enlarged, the problem that the existing rotating arm mechanism and the existing surgical robot have the limitation of the operation space direction in the surgical process is solved, the operable space of the robot is prevented from being limited, and the smooth operation is ensured.
Description
Technical Field
The utility model relates to a medical equipment technical field particularly, relates to a rotor arm mechanism and surgical robot.
Background
With the continuous development of science and technology, more and more advanced automatic medical equipment is applied to diagnosis and treatment of modern medicine, and in the process, corresponding auxiliary equipment is needed to help the advanced medical equipment and instruments to complete diagnosis and treatment of patients, and the rotary mechanical arm is a very important one of the auxiliary equipment.
Generally, large medical equipment, such as a surgical robot or medical comprehensive diagnosis and treatment equipment, uses a rotary mechanical arm, and the mutual matching of the existing rotary mechanical arm and the large medical equipment is not ideal in the matching use process, particularly, the surgical robot has the limitation of an operation space direction in the surgical process, so that the operable space of the robot is limited, and the operation is influenced; in addition, the rotational connection rigidity of the rotational joint of the conventional rotary mechanical arm is poor, so that the service life is short and frequent maintenance and replacement are required.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problem that the operation space and the orientation of the existing rotating arm mechanism and the operation robot are limited in the operation process to a certain extent, so that the operation space of the robot is limited and the operation is influenced; in addition, the rotary joint of the existing rotary mechanical arm has poor rotary connection rigidity, so that the service life is short, and the problems of frequent maintenance and replacement are caused.
In order to solve the above problem, on the one hand, the utility model provides a rotor arm mechanism, include:
one end of the large arm is provided with a first connecting arm; and
one end of the small arm is provided with a second connecting arm, and the first connecting arm is hinged with the second connecting arm;
wherein, one end of the big arm and one end of the small arm are both sharp-horn structures.
Furthermore, the sharp-angle-shaped structure at one end of the large arm is positioned at one side of the large arm in the width direction, the sharp-angle-shaped structure at one end of the small arm is positioned at one side of the small arm in the width direction, and the sharp angle at one end of the large arm is opposite to the sharp angle at one end of the small arm;
the first connecting arm extends along the length direction of the large arm, and the second connecting arm extends along the length direction of the small arm.
Further, the first connecting arm with the forearm is the interval setting, the second connecting arm with big arm is the interval setting.
Furthermore, first linking arm is two, two first linking arm sets up in parallel, the second linking arm is arranged in two between the first linking arm, the second linking arm simultaneously with two first linking arm is articulated.
Further, the rotating arm mechanism further includes: the upper connecting disc, the lower connecting disc, the shaft body, the upper bearing and the lower bearing are arranged on the upper connecting disc;
one first connecting arm is provided with a first through hole, the other first connecting arm is provided with a second through hole, the first through hole and the second through hole are oppositely arranged, and the second connecting arm is provided with a third through hole; the upper bearing and the lower bearing are respectively fixed at two communicated ends of the third through hole; the upper connecting disc is fixed to the first through hole, and the lower connecting disc is fixed to the second through hole; the upper connecting disc protrudes downwards and is in contact with the arc surface of the inner ring of the upper bearing, and the lower connecting disc protrudes upwards and is in contact with the arc surface of the inner ring of the lower bearing; the shaft body is inserted into and held by the upper connecting disc and the lower connecting disc.
Furthermore, the big arm or/and the small arm is/are provided with a concave cavity.
Further, the first connecting arm is hinged to the second connecting arm through a crossed roller bearing.
Furthermore, the rotating arm mechanism further comprises an electromagnetic brake, and the electromagnetic brake is respectively connected with the first connecting arm and the second connecting arm.
Furthermore, the rotating arm mechanism is provided with a limiting mechanism, and the limiting mechanism is used for limiting the rotating range of the small arm relative to the large arm.
On the other hand, the utility model also provides a surgical robot, surgical robot includes the rotor arm mechanism.
In the utility model, a first connecting arm is arranged at one end of the big arm, a second connecting arm is arranged at one end of the small arm, and the first connecting arm is hinged with the second connecting arm and is directly hinged relative to the big arm and the small arm, so that the relative rotation range of the big arm and the small arm is enlarged, and the problem that the big arm and the small arm are directly hinged and are easy to interfere with each other is avoided; meanwhile, one end of the large arm is of a pointed angle structure, so that the rotation interference of one end of the large arm on the second connecting arm in the rotation process of the rotary joint is fully avoided, the second connecting arm or the small arm can be contacted with the large arm with the pointed angle when the second connecting arm or the small arm rotates to a larger range, and correspondingly, the effect of the pointed angle structure at one end of the small arm is the same; thus, the rotation range of the rotary joint, namely the rotation range of the small arm relative to the large arm, is fully expanded by the pointed structure. Like this, utilize first linking arm and second linking arm to the one end of the big arm of cooperation and the one end of forearm are the characteristics of sharp horn shape structure, thereby fully enlarge the rotation range of the big arm relatively of forearm, thereby solve current rotor arm mechanism and surgical robot and have the problem of the restriction in operation space position at the operation in-process, avoid the operable space of robot to receive the restriction, and guarantee that the operation goes on smoothly.
Furthermore, through the mutual matching of the upper connecting disc, the lower connecting disc, the shaft body, the upper bearing and the lower bearing, on one hand, the rotating strength of the hinged part of the first connecting arm and the second connecting arm is improved, and particularly, the mutual matching of the upper bearing, the lower bearing, the upper connecting disc and the lower connecting disc is realized, so that the rotating process is stable and reliable. The upper connecting disc, the lower connecting disc and the shaft body are matched with each other, and meanwhile, the connecting strength of the rotary joint is improved, so that the rotary connecting rigidity and strength of the rotary joint are prolonged, the service life is prolonged, and the maintenance and replacement times are reduced.
Drawings
Fig. 1 is a schematic perspective view of the rotating arm mechanism according to an embodiment of the present invention;
fig. 2 is another schematic perspective view of the rotating arm mechanism according to an embodiment of the present invention;
fig. 3 is a schematic cross-sectional view of the hinge of the first connecting arm and the second connecting arm according to the embodiment of the present invention;
fig. 4 is a schematic perspective view of the large arm according to an embodiment of the present invention;
fig. 5 is a schematic front view of the large arm according to an embodiment of the present invention.
Description of reference numerals:
100 big arm, 101 big arm, 102 first connecting arm, 103 first through hole, 104 second through hole, 200 small arm, 201 small arm, 202 second connecting arm, 203 third through hole, 301 upper connecting disc, 302 lower connecting disc, 303 shaft body, 304 upper bearing, 305 lower bearing, 400 cavity, 501 brake body, 502 brake disc.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Referring to fig. 1 to 5, the present embodiment provides a swivel arm mechanism including: a large arm 100 and a small arm 200, one end 101 of the large arm is provided with a first connecting arm 102; a second connecting arm 202 is arranged at one end 201 of the small arm, and the first connecting arm 102 is hinged with the second connecting arm 202; wherein, one end 101 of the big arm 100 and one end 201 of the small arm 200 are both sharp-horn structures.
The rotating arm mechanism according to the present embodiment can be used not only for a surgical robot but also for connection of other medical diagnosis and treatment equipment, for example, a medical table used in dentistry.
For the sake of brevity, the first and second connection arms 102 and 202 and the joints thereof are referred to as "revolute joints".
In addition, the first connecting arm 102 and the second connecting arm 202 may be plate-shaped structures.
In the embodiment, one end 101 of the large arm is provided with the first connecting arm 102, one end 201 of the small arm is provided with the second connecting arm 202, and the first connecting arm 102 is hinged to the second connecting arm 202 and is directly hinged to the large arm 100 and the small arm 200, so that the relative rotation range of the large arm 100 and the small arm 200 is expanded, and the problem that the large arm 100 and the small arm 200 are directly hinged to each other and are easily interfered with each other is avoided; meanwhile, one end 101 of the large arm is in a pointed angle structure, so that the rotation interference of the one end 101 of the large arm on the second connecting arm 202 in the rotation process of the rotary joint is fully avoided, the second connecting arm 202 or the small arm 200 can be contacted with the large arm 100 with the pointed angle when rotating to a larger range, and correspondingly, the effect that one end 201 of the small arm is in the pointed angle structure is the same; thus, the rotation range of the rotary joint, that is, the rotation range of the small arm 200 with respect to the large arm 100 is sufficiently expanded by the pointed structure. In this way, by utilizing the first connecting arm 102 and the second connecting arm 202 and matching the characteristic that the end 101 of the large arm and the end 201 of the small arm are both in a sharp-angle structure, the rotation range of the small arm 200 relative to the large arm 100 is fully enlarged, the problem that the existing rotating arm mechanism and the existing surgical robot have the limitation of the operation space direction in the surgical process is solved, the limitation of the operable space of the robot is avoided, and the smooth operation is ensured.
Referring to fig. 2, further, the sharp angle structure of one end 101 of the big arm is positioned at one side of the width direction of the big arm 100, the sharp angle structure of one end 201 of the small arm is positioned at one side of the width direction of the small arm 200, and the sharp angle of one end 101 of the big arm is opposite to that of one end 201 of the small arm;
it should be noted that the width direction of the large arm 100 intersects with the length direction thereof, which includes the case that the width direction of the large arm 100 is perpendicular to the length thereof and is not perpendicular thereto; the width direction of the small arm 200 crosses the length direction thereof, which includes the case where the width direction of the small arm 200 is perpendicular and non-perpendicular to the length thereof.
The first connecting arm 102 protrudes along the length of the large arm 100, and the second connecting arm 202 protrudes along the length of the small arm 200.
Because the closed angle of one end 101 of the big arm is opposite to the closed angle of one end 201 of the small arm, the closed angle structure of one end 101 of the big arm is positioned on one side of the width direction of the big arm 100, the closed angle structure of one end 201 of the small arm is positioned on one side of the width direction of the small arm 200, and by the arrangement, the rotating range of the big arm 100 and the small arm 200 on the same side can be expanded, even the big arm 100 and the small arm 200 are folded together, the first connecting arm 102 and one end 201 of the small arm are arranged at a distance, the second connecting arm 202 and one end 101 of the big arm are arranged at a distance, and the moving range of the other side of the big arm 100 and the small arm 200 is also ensured.
Referring to fig. 1, 2, 4 and 5, the first connecting arm 102 is spaced from the small arm 200, and the second connecting arm 202 is spaced from the large arm 100. The rotation range of the first connecting arm 102 relative to the second connecting arm 202 is larger, especially, the first connecting arm 102 and the one end 201 of the small arm are arranged at an interval, the second connecting arm 202 and the one end 101 of the large arm are arranged at an interval, so that the interference of the one end 201 of the small arm on the rotation range of the first connecting arm 102 is avoided, the rotation range of the first connecting arm 102 relative to the small arm 200 can be larger, until the first connecting arm 102 rotates to be in contact with the one end 201 of the small arm, the small arm 200 cannot cause the interference on the rotation of the first connecting arm 102, and similarly, the interference of the one end 101 of the large arm on the rotation range of the second connecting arm 202 is also avoided, so that the operable space of the medical equipment using the rotating arm mechanism of the embodiment is larger, and the rotation range of the medical equipment is limited to be smaller.
Referring to fig. 1, 2, 4 and 5, further, the end of one end 101 of the large arm and the end of one end 201 of the small arm are respectively in a protruding pointed angle-shaped structure, the end of one end 101 of the large arm and the protruding direction of the first connecting arm 102 are the same, and the end of one end 201 of the small arm and the protruding direction of the second connecting arm 202 are the same.
It should be noted that the end of the one end 101 of the large arm may protrude along the longitudinal direction of the large arm 100, and the one end 101 of the large arm may extend perpendicular to the longitudinal direction of the large arm 100 or protrude in a direction intersecting the longitudinal direction of the large arm 100, depending on the specific use and application of the medical device.
In this embodiment, the one end 101 of the large arm and the one end 201 of the small arm are both in the pointed structure, so that the interference of the one end 101 of the large arm and the one end 201 of the small arm on the rotation range of the rotation joint is further reduced, the rotation range of the first connecting arm 102 relative to the small arm 200 is larger, because the first connecting arm 102 and the one end 201 of the small arm are arranged at a distance, the rotation range of the first connecting arm 102 is already expanded, and on the basis, the one end 201 of the small arm is in the pointed structure, so that the possibility that the first connecting arm 102 and the small arm 200 are interfered and contacted is smaller, the relative rotation range of the large arm 100 and the small arm 200 is further expanded, and the operable space of the medical device is further expanded.
Referring to fig. 3 and 4, further, there are two first connecting arms 102, two first connecting arms 102 are disposed in parallel, the second connecting arm 202 is disposed between the two first connecting arms 102, and the second connecting arm 202 is simultaneously hinged to the two first connecting arms 102.
The arrangement is such that the two first connecting arms 102 clamp one second connecting arm 202, and the connection strength and rigidity at the rotary joint are ensured.
Referring to fig. 3, further, the rotating arm mechanism further includes: an upper connecting disc 301, a lower connecting disc 302, a shaft body 303, an upper bearing 304 and a lower bearing 305; one first connecting arm 102 is provided with a first through hole 103, the other first connecting arm 102 is provided with a second through hole 104, the first through hole 103 and the second through hole 104 are arranged oppositely, and the second connecting arm 202 is provided with a third through hole 203; the upper bearing 304 and the lower bearing 305 are respectively fixed at the communicated two ends of the third through hole 203; the upper connecting disc 301 is fixed to the first through hole 103, and the lower connecting disc 302 is fixed to the second through hole 104; the upper connecting disc 301 protrudes downwards and is in contact with the cambered surface of the inner ring of the upper bearing 304, and the lower connecting disc 302 protrudes upwards and is in contact with the cambered surface of the inner ring of the lower bearing 305; the shaft 303 is inserted into and held by the upper land 301 and the lower land 302.
Through the mutual matching of the upper connecting disc 301, the lower connecting disc 302, the shaft body 303, the upper bearing 304 and the lower bearing 305, on one hand, the rotating strength of the hinged part of the first connecting arm 102 and the second connecting arm 202 is improved, and particularly, the mutual matching of the upper bearing 304, the lower bearing 305, the upper connecting disc 301 and the lower connecting disc 302 is realized, so that the rotating process is stable and reliable. The upper connecting disc 301, the lower connecting disc 302 and the shaft body 303 are matched with each other, so that the connecting strength of the rotary joint is improved, the rotary connecting rigidity and strength of the rotary joint are improved, the service life is prolonged, and the maintenance and replacement times are reduced.
Referring to fig. 2, further, the large arm 100 and/or the small arm 200 is opened with a cavity 400.
It should be noted that both large arm 100 and small arm 200 may be provided with cavity 400, or cavity 400 may be provided only in large arm 100 or small arm 200.
In addition, cavity 400 may be opened on the same side surface of large arm 100 or/and small arm 200, or cavity 400 may be opened on a different surface;
additionally, the configuration of cavity 400 may be a stepped cavity 400.
Preferably, the large arm 100 is provided with four concave cavities 400, and the four concave cavities 400 are arranged in a shape like a Chinese character 'tian'; thus, a sheet metal part is formed between the four cavities 400 to reinforce the structural strength of the large arm 100 and reduce the weight of the large arm 100; likewise, arm 200 may be formed with four cavities 400, which are equally effective.
Not shown in the drawings, further, the first connecting arm 102 is hinged to the second connecting arm 202 by a cross roller bearing. So as to ensure the smooth rotation of the rotary joint.
Referring to fig. 1 and 3, the rotating arm mechanism further includes an electromagnetic brake, and the electromagnetic brake is respectively connected to the first connecting arm 102 and the second connecting arm 202.
The electromagnetic brake comprises a brake body 501 and a brake disc 502, the brake disc 502 is fixed with the second connecting arm 202, the brake body 501 is fixed with the first connecting arm 102, the electromagnetic brake can enable the brake body 501 to brake the brake disc 502 under the power-off condition of the electromagnetic brake, and enable the brake body 501 and the brake disc 502 to rotate relatively under the power-on condition of the electromagnetic brake, and then, medical staff can push the small arm 200 to enable the small arm 200 to rotate relative to the large arm 100.
In addition, the electromagnetic brake can be powered off when the medical equipment is turned off and is not used, and the electromagnetic brake can be powered off when the large arm 100 and the small arm 200 are required not to rotate relatively, and the medical equipment still keeps the power-on use state. And the timing of de-energizing the electromagnetic brake may be selected based on the use of the particular medical device.
In particular, the electromagnetic brake may be an electromagnetic safety brake.
Not shown in the drawings, further, the rotating arm mechanism is provided with a limiting mechanism for limiting the rotating range of the small arm 200 relative to the large arm 100.
As most of the medical instruments are precise instruments, the occurrence of conditions such as collision and the like is avoided; for this reason, a limit mechanism is used to limit the rotation range of the small arm 200 with respect to the large arm 100, and prevent an instrument mounted on the small arm 200 from colliding in the case where the rotation range of the small arm 200 is excessively large.
Not shown in the drawings, specifically, the limiting mechanism may include two limiting stoppers and a movable block, the movable block may be installed at the second connecting arm 202 near the third through hole 203, and the two limiting stoppers may be installed at intervals along the arc surface of the first through hole 103 or the second through hole 104, it should be noted that, in order to ensure that the movable range of the forearm 200 is adjustable, the two limiting stoppers may be connected with the first connecting arm 102 through a threaded connector to realize detachable connection; thus, when the first connecting arm 102 rotates relative to the second connecting arm 202, the movable block is limited to rotate between the two limit stops, so that the rotation range of the first connecting arm 102 relative to the second connecting arm 202 is limited.
In addition, the present embodiment also provides a surgical robot including the rotating arm mechanism, and the surgical robot may be a laparoscopic surgical robot. Aiming at the situation that the abdomen of a human body is complex and the rotating range of the rotating arm of the surgical robot is larger, the operating space of the surgical robot is not limited. The technical problems solved and technical effects achieved by the surgical robot are the same as those of the rotating arm mechanism, and therefore, redundant explanation is not given.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Without departing from the spirit and scope of the present disclosure, those skilled in the art can make various changes and modifications, which will fall into the scope of the present disclosure.
Claims (10)
1. A swivel arm mechanism, comprising:
a large arm (100) having a first connecting arm (102) provided at one end (101); and
a small arm (200), wherein one end (201) of the small arm is provided with a second connecting arm (202), and the first connecting arm (102) is hinged with the second connecting arm (202);
wherein, one end (101) of the big arm (100) and one end (201) of the small arm (200) are both sharp-horn structures.
2. The rotating arm mechanism according to claim 1, wherein the sharp corner structure of one end (101) of the large arm (100) is located at one side of the width direction of the large arm (100), the sharp corner structure of one end (201) of the small arm (200) is located at one side of the width direction of the small arm (200), and the sharp corner of one end (101) of the large arm (100) is opposite to the sharp corner of one end (201) of the small arm (200);
the first connecting arm (102) extends along the length of the large arm (100), and the second connecting arm (202) extends along the length of the small arm (200).
3. The swivel arm mechanism according to claim 1, characterized in that the first connecting arm (102) is arranged at a distance from the small arm (200) and the second connecting arm (202) is arranged at a distance from the large arm (100).
4. The rotating arm mechanism according to claim 1, wherein there are two first connecting arms (102), two first connecting arms (102) are arranged in parallel, the second connecting arm (202) is arranged between the two first connecting arms (102), and the second connecting arm (202) is simultaneously hinged with the two first connecting arms (102).
5. The swivel arm mechanism of claim 4, further comprising: the device comprises an upper connecting disc (301), a lower connecting disc (302), a shaft body (303), an upper bearing (304) and a lower bearing (305);
one first connecting arm (102) is provided with a first through hole (103), the other first connecting arm (102) is provided with a second through hole (104), the first through hole (103) and the second through hole (104) are oppositely arranged, and the second connecting arm (202) is provided with a third through hole (203); the upper bearing (304) and the lower bearing (305) are respectively fixed at the communicated two ends of the third through hole (203); the upper connecting disc (301) is fixed to the first through hole (103), and the lower connecting disc (302) is fixed to the second through hole (104); the upper connecting disc (301) protrudes downwards and is in contact with the cambered surface of the inner ring of the upper bearing (304), and the lower connecting disc (302) protrudes upwards and is in contact with the cambered surface of the inner ring of the lower bearing (305); the shaft body (303) is inserted into and held by the upper connecting disc (301) and the lower connecting disc (302).
6. The swivel arm mechanism according to claim 1, characterized in that the large arm (100) or/and the small arm (200) is/are provided with a cavity (400).
7. The swivel arm mechanism according to claim 1, characterized in that the first connecting arm (102) is articulated to the second connecting arm (202) by means of cross roller bearings.
8. The rotating arm mechanism according to any of claims 1 to 7, characterized in that it further comprises electromagnetic brakes, which are connected to the first connecting arm (102) and the second connecting arm (202), respectively.
9. The swivel arm mechanism according to any of claims 1-5, characterized in that it is fitted with a limiting mechanism for limiting the range of rotation of the small arm (200) relative to the large arm (100).
10. A surgical robot, characterized in that it comprises a swivel arm mechanism according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921390340.4U CN210931809U (en) | 2019-08-26 | 2019-08-26 | Rotating arm mechanism and surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921390340.4U CN210931809U (en) | 2019-08-26 | 2019-08-26 | Rotating arm mechanism and surgical robot |
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| CN210931809U true CN210931809U (en) | 2020-07-07 |
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| CN201921390340.4U Active CN210931809U (en) | 2019-08-26 | 2019-08-26 | Rotating arm mechanism and surgical robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022148167A1 (en) * | 2021-01-06 | 2022-07-14 | 深圳康诺思腾科技有限公司 | Connecting arm, robotic arm, and robot |
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2019
- 2019-08-26 CN CN201921390340.4U patent/CN210931809U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022148167A1 (en) * | 2021-01-06 | 2022-07-14 | 深圳康诺思腾科技有限公司 | Connecting arm, robotic arm, and robot |
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