CN211930420U

CN211930420U - Motor combination and surgical robot with same

Info

Publication number: CN211930420U
Application number: CN202020173962.8U
Authority: CN
Inventors: 高元倩; 孙强
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2020-02-09
Filing date: 2020-02-09
Publication date: 2020-11-13
Anticipated expiration: 2030-02-09

Abstract

The utility model relates to a motor combination and have surgical robot of this motor combination, a motor combination includes: the motor comprises a motor body and a rotating shaft arranged in the motor body, wherein the rotating shaft comprises an installation end face vertical to the axial direction of the rotating shaft; the speed reducer comprises a speed reducer body, the speed reducer body comprises a cam, the cam is located in the center of the speed reducer, and the cam is locked with the mounting end face. The motor combination effectively saves the whole space of the motor.

Description

Motor combination and surgical robot with same

Technical Field

The utility model relates to the field of medical equipment, especially relate to a motor combination and have surgical robot of this motor combination.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table comprises a handle, a doctor sends a control command to the slave operation device through the operation handle, the slave operation device comprises a plurality of mechanical arms and an operation arm, the mechanical arms drive the operation arm to move, the operation arm is provided with a tail end instrument, and when the operation arm is in a working state, the tail end instrument moves along with the handle so as to realize remote operation. The existing mechanical arm is provided with a plurality of motors, the free end of the rotating shaft of the traditional motor is longer, other parts are sleeved on the rotating shaft, the overall size is larger, the space of the shell of the mechanical arm is limited, and how to design a compact motor to save space is very necessary.

SUMMERY OF THE UTILITY MODEL

Accordingly, there is a need for a motor assembly with high space efficiency and a surgical robot having the same.

An electric machine combination comprising:

the motor comprises a motor body and a rotating shaft arranged in the motor body, wherein the rotating shaft comprises an installation end face vertical to the axial direction of the rotating shaft; and

the speed reducer comprises a speed reducer body, the speed reducer body comprises a cam, the cam is located in the center of the speed reducer, and the cam is locked with the mounting end face.

Preferably, the speed reducer body comprises a wave generator, an external flexible gear and an internal steel gear, wherein the external flexible gear and the internal steel gear are positioned outside the wave generator, and the cam is positioned in the center of the wave generator.

Preferably, the motor assembly further comprises a braking piece, and the braking piece and the speed reducer are mounted on two opposite sides of the motor.

Preferably, the motor assembly further comprises a wire passing piece, the wire passing piece comprises an installation part and a pipe body formed by extending the installation part, the pipe body is provided with a wire passing channel, the installation part is provided with an opening communicated with the channel, the rotating shaft is provided with an accommodating channel in the axial direction of the rotating shaft, the pipe body is accommodated in the accommodating channel, the installation part is fixed on the brake piece, an installation bearing is installed at the center of the output part, the end part of the pipe body is installed in the installation bearing, and a gap is kept between the pipe body and the inner wall of the rotating shaft.

Preferably, the mounting portion is provided with a plurality of apertures surrounding the opening.

Preferably, the mounting portion is a circular sheet.

Preferably, the mounting portion is further provided with a plurality of fixing holes.

Preferably, the reducer further comprises an output portion mounted on the internally-toothed steel wheel.

Preferably, the speed reducer body is located between the output portion and the motor body.

Preferably, the output part is provided with a plurality of positioning holes for accommodating the positioning columns.

Preferably, the output portion is disc-shaped.

Preferably, the mounting end face is provided with a plurality of locking holes, the cam is provided with a mounting hole corresponding to each locking hole, and the locking holes and the corresponding mounting holes are locked together by screws.

A surgical robot comprises the motor combination.

Compared with the prior art, the utility model discloses a motor combination and surgical robot's pivot is equipped with the mounting end face of the axial direction of perpendicular pivot, the mounting end face with the direct lock solid of the cam of speed reducer makes like this the pivot with the fixed part of speed reducer can set up than short and can realize fixed effect to the whole space of motor has been saved effectively.

Drawings

Fig. 1 is a schematic structural view of an embodiment of the surgical robot of the present invention.

Fig. 2 is a three-dimensional exploded view of the motor assembly of the present invention.

Fig. 3 is another exploded perspective view of the motor assembly of the present invention.

Fig. 4 is a perspective view of the motor of fig. 2.

Fig. 5 is a perspective exploded view of the motor body of fig. 4.

Fig. 6 is a perspective assembly view of fig. 5.

Fig. 7 is a schematic view of another embodiment of the placement member of fig. 5.

Fig. 8 is an assembly view of the placement member of fig. 7 with another embodiment of a motor body.

Figure 9 is a schematic view of yet another embodiment of the placement member of figure 5.

Fig. 10 is an assembly view of the placement member of fig. 7 with another embodiment of a motor body.

Fig. 11 is a perspective view of the speed reducer of fig. 2.

Fig. 12 is a perspective view of the wire passing member of fig. 2.

Fig. 13 is a perspective assembly view of fig. 2.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It should be noted that the terms "distal" and "proximal" are used herein as terms of orientation that are conventional in the medical device art, wherein "distal" refers to the end of the device that is distal from the operator during a surgical procedure, and "proximal" refers to the end of the device that is proximal to the operator during a surgical procedure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1, the surgical robot includes a master operation table 1 and a slave operation device 2. The main console 1 is configured to transmit a control command to the slave operating device 2 according to a doctor's operation to control the slave operating device 2, and is configured to display an image acquired by the slave operating device 2. The slave operation device 2 is used for responding to the control command sent by the master operation table 1 and performing corresponding operation, and the slave operation device 2 is also used for acquiring the images in the body.

The slave operation device 2 includes a robot arm 21, a power mechanism 22 provided on the robot arm, a surgical instrument 23 provided on the power mechanism, and a cannula 24 in which the surgical instrument is mounted. The robotic arm 21 is used to adjust the position of the surgical instrument 23; the power mechanism 22 is used for driving the surgical instrument 23 to perform corresponding operation, and the power mechanism 22 is provided with a mounting shell which is connected with the mechanical arm and can move relative to the mechanical arm; the surgical instrument 23 is used to extend into the body and perform surgical procedures, and/or acquire in vivo images, with its distally located end instrument. Wherein the robot arm 21 has a base with a support device to move and support the robot arm 21.

Referring to fig. 2, fig. 3 and fig. 4, the motor assembly of the present invention includes a motor 10, a speed reducer 30, a brake element 50 and a wire passing element 70. In this embodiment, the brake element 50 is provided with a through hole 51 for the wire passing element 70 to pass through.

The motor 10 comprises a motor body 11 and a rotating shaft 13 installed in the motor body 11, wherein the rotating shaft 13 comprises an installation end surface 131 perpendicular to the axial direction of the rotating shaft 13, the rotating shaft 13 is provided with an accommodating channel 133 penetrating through the rotating shaft 13 in the axial direction of the rotating shaft 13, and the rotating shaft 13 is further provided with a plurality of installation holes 1311 located on the installation end surface 131.

The motor body 11 includes a motor housing 111 and a cover plate 113 mounted on the motor housing 111. The rotating shaft 13 is disposed through the motor housing 111 and the cover plate 113.

Referring to fig. 5 and 6, the rotating shaft 13 is provided with a positioning groove 132 formed by inward recessing of the outer side of the rotating shaft 13, the motor 10 further includes a placing member 134, an elastic member 136 and a positioning bearing 138 for positioning in the positioning groove 132, the placing member 134 is annular, the placing member 134 is provided with a notch to form two free ends 1341, so that the two free ends 1341 of the placing member 134 can be elastically expanded outwards to be installed in the positioning groove 132 when the placing member 134 is assembled in the positioning groove 132. In this embodiment, the elastic member 136 is a wave spring.

When the motor 10 is assembled, the placing member 134 is sleeved on the rotating shaft 13, the two free ends 1341 of the placing member 134 elastically deform and stretch outwards, the placing member 134 is moved downwards to move the placing member 134 to the positioning groove 132, and the two free ends 1341 of the placing member 134 elastically recover to allow the placing member 134 to be accommodated in the positioning groove 132. The elastic member 136 is sleeved on the rotating shaft 13 and placed on the placing member 134, and then the positioning bearing 138 is sleeved on the rotating shaft 13, so that the elastic member 136 elastically abuts between the placing member 134 and the inner ring of the positioning bearing 138.

Referring to fig. 7 and 8, in another embodiment, the placing member 134 'includes a ring-shaped placing member body 1341', the placing member body 1341 'is provided with a notch to form two free ends, the placing member 134' includes a positioning portion 1343 'formed by extending from an inner side of the placing member body 1341', and a fastening portion 1345 'formed by extending from an inner side of the free end of the placing member body 1341', and the positioning portion 1343 'is located in the middle of the placing member body 1341'. In addition, the locking portion 1345 'may be formed to extend only at one free end, and the locking portion 1345' may not be provided at the other free end. The rotating shaft 13 ' is provided with a positioning hole 137 ' corresponding to the positioning portion 1343 ' and two fastening holes 135 ' corresponding to the fastening portions 1345 ', and the center of the rotating shaft 13 ' is provided with an accommodating channel 133 '. In this embodiment, the placing member 134' is made of an elastic material.

During assembly, the positioning portion 1343 ' of the placing member 134 ' is aligned with the positioning hole 137 ' of the rotating shaft 13 ', the two free ends of the placing member body 1341 ' abut against the outer side of the rotating shaft 13 ' to elastically expand by moving towards the rotating shaft 13 ', the placing member 134 ' is continuously moved to align the fastening portion 1345 ' with the fastening hole 135 ' of the rotating shaft 13 ', the placing member body 1341 ' elastically returns to fasten the fastening portion 1345 ' in the fastening hole 135 ', so that the placing member 134 ' is installed on the rotating shaft 13 ', and then the elastic member 136 and the positioning bearing 138 are sequentially installed on the rotating shaft 13 '.

Referring to fig. 9 and 10, in another embodiment, the placing element 134 "includes a circular placing element body 1341" and an elastic abutting portion 1343 "extending from an inner side of the placing element body 1341', wherein the elastic abutting portion 1343" may be an elastic sheet, a flexible protrusion made of a flexible material, or other elastic components. The shaft 13 "is provided with a housing channel 133".

During assembly, the placing member 134 is sleeved on the rotating shaft 13 ', the elastic abutting portion 1343' elastically abuts against the outer side of the rotating shaft 13 ', and the placing member 134' can be placed on different positions of the rotating shaft 13 'as required due to the elastic abutting portion 1343' elastically abutting against the outer side of the rotating shaft 13 ', and then the elastic member 136 and the positioning bearing 138 are sequentially arranged on the rotating shaft 13'.

Referring to fig. 11, the speed reducer 30 includes a speed reducer body 31 and an output part 33 mounted on the speed reducer body 31, in this embodiment, the speed reducer body 31 is a harmonic gear speed reducer, the speed reducer body 31 includes a wave generator 311, an external gear flexible wheel 313 and an internal gear steel wheel 315, the wave generator 311 includes a cam 3111, the cam 3111 is located at the center of the wave generator 311, the cam 3111 is provided with an opening 3113 corresponding to the receiving channel 133, the cam 3111 is further provided with a plurality of locking holes 3115 corresponding to the mounting hole 1311 of the rotating shaft 13, and the locking holes 3115 surround the opening 3113. The output 33 is fixed to the internal-tooth steel wheel 315. A bearing 331 is mounted at the center of the output portion 33.

In this embodiment, the output portion 33 is disc-shaped, and the output portion 33 is provided with a plurality of positioning holes 333 for receiving positioning posts (not shown).

Referring to fig. 12, the wire passing member 70 includes a mounting portion 71 and a tube 73 extending from the mounting portion 71, the tube 73 is provided with a wire passing passage 731, the mounting portion 71 is provided with an opening 711 communicating with the wire passing passage 731, and the tube 73 is configured to penetrate through the brake member 50, is accommodated in the accommodating passage 133, and passes through the opening 3113 and is mounted in the bearing 331. The mounting portion 71 is a circular plate, and the mounting portion 71 is further provided with a plurality of through holes 713 and fixing holes 715 surrounding the opening 711. In this embodiment, the number of the through holes 713 is 4, the number of the fixing holes 715 is 4, the opening 711, the through holes 713, and the fixing holes 715 are all circular, and the aperture of the through holes 713 is larger than that of the fixing holes 715.

In this embodiment, the tube 73 is fixed to the mounting portion 71 by welding, the tube 73 is made of a metal material, so that the tube 73 is not easily deformed after the connecting wire passes through the tube 73, and the tube 73 may be made of other materials having hardness. In another embodiment, the tube 73 is integrally formed with the mounting portion 71.

Referring to fig. 2 to 6 and 11 to 13, in assembly, the motor 10 is moved toward the cam 3111 to make the mounting end surface 131 contact the cam 3111 of the speed reducer 30, the accommodating passage 133 of the motor 10 is aligned with the opening 3113 of the cam 3111, the mounting holes 1311 of the mounting end surface 131 are aligned with the locking holes 3115 of the cam 3111, and a plurality of locking members (e.g., screws) are locked into the corresponding mounting holes 1311 and locking holes 3115, thereby fixing the motor 10 and the speed reducer 30 together. The brake piece 50 is placed on the motor body 11, the wire passing piece 70 is then inserted through the through hole 51 of the brake piece 50 and is received in the receiving channel 133, the wire passing piece 70 is moved further so that the wire passing piece 70 is installed in the bearing 331 through the opening 3113, and a plurality of locking pieces (not shown) are inserted through the fixing holes 715 of the installation part 71 of the wire passing piece 70 and are locked in the brake piece 50, so that the wire passing piece 70 is fixed on the brake piece 50, and thus, the assembly is completed. At this time, the speed reducer body 31 is positioned between the output part 33 and the motor body 11; the tube 73 is spaced apart from the inner wall of the shaft 13, so that friction between the shaft 13 and the tube 73 is prevented.

In the normal use process, the motor assembly is installed in the housing of the mechanical arm, and some connecting wires can pass through the accommodating channel 133 of the tube body 73, so that the interior of the mechanical arm is not messy due to too many connecting wires, and the space can be better utilized under the condition that the internal space of the mechanical arm is limited.

In addition, during normal use, since the inner ring of the positioning bearing 138 is interfered by the elastic member 136, the play between the outer ring and the inner ring of the positioning bearing 138 is effectively reduced for three months, thereby improving the stability of the rotation of the rotating shaft 13.

The above-mentioned embodiments only express the embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the patent. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention.

Claims

1. An electric machine combination, comprising:

2. The electric machine combination of claim 1, wherein: the speed reducer body comprises a wave generator, an external flexible gear and an internal steel gear, wherein the external flexible gear and the internal steel gear are positioned on the outer side of the wave generator, and the cam is positioned in the center of the wave generator.

3. The electric machine combination of claim 1, wherein: the motor assembly further comprises a braking piece, and the braking piece and the speed reducer are mounted on two opposite sides of the motor.

4. The electric machine combination of claim 3, wherein: the motor combination still includes the line piece of crossing, cross the line piece including the installation department and certainly the installation department extends the body that forms, the body is equipped with the line passageway, the installation department is equipped with the intercommunication the opening of passageway, the pivot is in be equipped with on the axial direction of pivot and accept the passageway, the body accept in the passageway, the installation department is fixed in on the brake piece, the speed reducer still includes the output part, the installation bearing is installed at the center of output part, the tip of body install in the installation bearing, the body with the inner wall of pivot keeps the clearance.

5. The electric machine combination of claim 4, wherein: the mounting portion is provided with a plurality of openings surrounding the opening.

6. The electric machine combination of claim 4, wherein: the installation department is circular lamellar body.

7. The electric machine combination of claim 4, wherein: the installation department still is equipped with a plurality of fixed orificess.

8. The electric machine combination of claim 2, wherein: the speed reducer further comprises an output part arranged on the internal tooth steel wheel.

9. The electric machine combination of claim 8, wherein: the speed reducer body is located between the output part and the motor body.

10. The electric machine combination of claim 8, wherein: the output part is provided with a plurality of positioning holes for accommodating the positioning columns.

11. The electric machine combination of claim 8, wherein: the output part is disc-shaped.

12. The electric machine combination of claim 1, wherein: the mounting end face is provided with a plurality of locking holes, the cam is provided with mounting holes corresponding to each locking hole, and the locking holes and the corresponding mounting holes are locked together through screws.

13. A surgical robot, characterized in that it comprises a motor combination according to any one of claims 1 to 12.