CN215994236U - Steel wire rope pre-tightening wheel disc and minimally invasive surgery robot - Google Patents

Abstract

A steel wire rope pre-tightening wheel disc and a minimally invasive surgical robot relate to the field of main hand joints of surgical robots. The utility model provides a current wire rope preloading device exist not to be suitable for the precision and the high minimal access surgery robot's of reliability requirement main hand joint's problem. The utility model discloses a flange plate assembly comprises a flange plate and a threaded shaft, one end of the threaded shaft is coaxially connected with the flange plate, the other end is sleeved with a sliding block and a nut is spirally installed, the nut is abutted against the sliding block, and the sliding block is closer to the flange plate than the nut; split type rim plate includes along the circumferencial direction evenly arranges a plurality of fan-shaped rim plate pieces around the screw shaft, and every fan-shaped rim plate piece all butts on the ring flange, and wire rope twines in the periphery of a plurality of fan-shaped rim plate pieces, and the one end of a plurality of connecting rods is articulated with a plurality of fan-shaped rim plate pieces respectively, and the other end all articulates with the sliding block. The utility model is used for improve wire rope preloading device's precision and reliability.

Description

Steel wire rope pre-tightening wheel disc and minimally invasive surgery robot

Technical Field

The utility model relates to a surgical robot's major hand joint field, concretely relates to wire rope pretension rim plate and minimal access surgical robot.

Background

Compared with the traditional common surgical operation, the minimally invasive surgical operation has small wound opening, and generally has only a few small openings, thereby causing less pain to patients and having shorter recovery period after the operation. In recent years, the robot technology is successfully applied to minimally invasive surgery, so that the working strength of doctors is obviously reduced, and the surgery quality is also ensured. At present, most of surgical robots in the market are in a master-slave structure, a doctor holds a master hand by two hands to perform surgical operation, a control system accurately reproduces actions of the doctor in the master hand on a slave hand, and the slave hand operates a focus of a patient, so that the quality of the master hand has a great influence on the performance of the whole robot system.

For the master hand of the surgical robot, steel wire rope transmission is mostly adopted in joint transmission, and the cost and the volume of a steel wire transmission rope are far lower than those of a chain and a belt and are in transmission ratio with a gear, so that the structure is extremely simple and the cost is extremely low; low noise, no backlash, high rigidity, small inertia, stable transmission and lower maintenance cost; high tensile strength, clean whole drive mechanism and no pollution. However, the steel wire transmission device always has the problems that pre-tightening needs to be considered when the steel wire transmission device is used for installing the steel wire, the steel wire can deform after the steel wire is used for a long time, so that the precision of a transmission mechanism is reduced, and at the moment, the steel wire needs to be re-pre-tightened.

Chinese utility model patent with publication number CN203582200U discloses a wire rope tensioning device, which comprises a fixed plate X1, a fixed sliding plate X2, a movable sliding plate X5 and two sliding rods X3, referring to fig. 1, the fixed sliding plate X2 is fixed on a fixed plate X1, the two sliding rods X3 pass through the fixed sliding plate X2 and the movable sliding plate X5, one end of the two sliding rods X3 passes through the fixed sliding plate X2 and then is fixed on the fixed plate X1, the movable sliding plate X5 slides on the sliding rod X3, and a screw X4 is arranged between the fixed sliding plate X2 and the movable sliding plate X5; the fixed sliding plate X2 and the movable sliding plate X5 are both provided with at least one rope-passing hole X6. The utility model discloses a well wire rope penetrates from fixed slide X2's wire rope handling hole to wear out from activity slide X5's wire rope handling hole, when needs tensioning, as long as rotate screw rod X4 through twist grip X7, change fixed slide X2 and activity slide X5 between the distance can.

However. In the above patent, the steel wire rope is in frictional contact with the rope-through holes of the fixed sliding plate X2 and/or the movable sliding plate X5, which easily damages the steel wire rope, the fixed sliding plate X2 or the movable sliding plate X5, and only the movable sliding plate X5 moves, the force on both sides of the steel wire rope is uneven, and the pre-tightening effect on the steel wire rope is affected. The structure is not suitable for the main hand joint of the minimally invasive surgery robot with high requirements on precision and reliability.

In conclusion, the existing steel wire rope pre-tightening device has the problem that the existing steel wire rope pre-tightening device is not suitable for the main hand joint of the minimally invasive surgery robot with high requirements on precision and reliability.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problem that the existing steel wire rope pre-tightening device is not suitable for the main hand joint of the minimally invasive surgery robot with high requirements on precision and reliability, and then providing a steel wire rope pre-tightening wheel disc and the minimally invasive surgery robot.

The technical scheme of the utility model is that:

a steel wire rope pre-tightening wheel disc comprises a flange disc assembly 2, a sliding block 5, a nut 6, a split type wheel disc and a plurality of connecting rods 4, wherein the flange disc assembly 2 comprises a flange disc 21 and a threaded shaft 22, one end of the threaded shaft 22 is coaxially connected with the flange disc 21, the other end of the threaded shaft is sleeved with the sliding block 5 and is spirally provided with the nut 6, the nut 6 is abutted against the sliding block 5, and the sliding block 5 is closer to the flange disc 21 than the nut 6; split type rim plate includes along circumferencial direction evenly arranges a plurality of fan-shaped wheel dish pieces 3 around threaded spindle 22, and every fan-shaped wheel dish piece 3 all the butt is on ring flange 21, and wire rope 1 winding is in a plurality of fan-shaped wheel dish pieces 3's periphery, and a plurality of connecting rods 4's one end is articulated with a plurality of fan-shaped wheel dish pieces 3 respectively, and the other end all articulates with sliding block 5.

Further, each segment wheel disk block 3 comprises a bottom plate 31, a supporting plate 32 and a first connecting rod mounting portion 33, the supporting plate 32 is of a circular arc plate-shaped structure, the bottom plate 31 is parallel to the flange plate 21, the bottom plate 31 is closer to the outer side of the circumference of the flange plate than the supporting plate 32, the supporting plate 32 is located on one side, away from the flange plate 21, of the bottom plate 31 and is higher than the plane of the bottom plate 31, and the first connecting rod mounting portion 33 is mounted in the middle of the inner arc surface of the supporting plate 32.

Further, the bottom plate 31 is also formed in a circular arc plate-like structure and is integrally formed with the support plate 32.

Furthermore, at least one wire guiding groove is formed on the outer arc surface of the supporting plate 32 along the circumferential direction.

Further, the bottom plate 31 includes a plurality of toothed laths, which are uniformly arranged on the support plate 32 in the circumferential direction.

Furthermore, the rolling device also comprises a plurality of rolling bodies, wherein a spherical groove is formed in the center of the end face of one side, close to the flange plate 21, of each toothed lath, the rolling bodies are embedded in the spherical grooves, and the toothed laths are in rolling fit with the flange plate 21 through the rolling bodies.

Further, the flange 21 is radially provided with a plurality of strip-shaped grooves along the direction of each toothed lath, and each rolling body rolls in the corresponding strip-shaped groove so as to limit the movement direction of the toothed lath.

Further, still include a plurality of bolts, evenly seted up a plurality of mounting holes 23 along the circumferencial direction on the ring flange 21, the bolt mounting just projects ring flange 21 in mounting hole 23 to carry on spacingly to the biggest motion stroke of fan-shaped wheel plate piece 3.

Further, the sliding block 5 includes a hollow shaft 51 and a plurality of second link mounting portions 52 uniformly arranged along the circumferential direction of the hollow shaft 51, the inner diameter of the hollow shaft 51 is larger than the threaded shaft 22, and the plurality of second link mounting portions 52 respectively correspond to the plurality of first link mounting portions 33 of the split type wheel disc one to one.

A minimally invasive surgery robot comprises a main hand joint, wherein the main hand joint comprises a steel wire rope pre-tightening wheel disc in any one of the first to ninth specific implementation modes.

Compared with the prior art, the utility model has the following effect:

1. the utility model discloses a plurality of fan-shaped split type rim plates become circular and wire rope between no closed angle contact, and bending angle is big, reduces friction and stress between wire rope and the device, improves device and wire rope's reliability.

2. The utility model discloses a central symmetry structure, a plurality of fan-shaped rim plate pieces that circumference was arranged outwards move simultaneously to pretension wire rope both sides simultaneously, improve pretension precision and effect, applicable in the pretension of the master hand joint wire rope of the minimally invasive surgery robot that precision and reliability required height.

Drawings

FIG. 1 is a schematic diagram of a prior art wire rope tensioner;

fig. 2 is a schematic structural view of the steel wire rope pre-tightening wheel disc of the present invention;

fig. 3 is a cross-sectional view of the steel wire rope pre-tightening wheel disc of the present invention;

fig. 4 is a schematic structural view of the flange plate assembly of the present invention;

fig. 5 is a schematic structural view of the sliding block of the present invention;

FIG. 6 is a schematic structural view of a sector wheel block according to a second embodiment;

fig. 7 is a schematic structural diagram of a sector wheel disk block according to the fifth embodiment.

Detailed Description

The first embodiment is as follows: the embodiment is described with reference to fig. 2 to 7, and the steel wire rope pre-tightening wheel disc of the embodiment is installed at a joint part of a main hand and used for pre-tightening a main hand transmission steel wire rope, and comprises a flange disc assembly 2, a sliding block 5, a nut 6, a split type wheel disc and a plurality of connecting rods 4, wherein the flange disc assembly 2 comprises a flange disc 21 and a threaded shaft 22, one end of the threaded shaft 22 is coaxially connected with the flange disc 21, the other end of the threaded shaft is sleeved with the sliding block 5 and is spirally provided with the nut 6, the nut 6 is abutted against the sliding block 5, and the sliding block 5 is closer to the flange disc 21 than the nut 6; split type rim plate includes along circumferencial direction evenly arranges a plurality of fan-shaped wheel dish pieces 3 around threaded spindle 22, and every fan-shaped wheel dish piece 3 all the butt is on ring flange 21, and wire rope 1 winding is in a plurality of fan-shaped wheel dish pieces 3's periphery, and a plurality of connecting rods 4's one end is articulated with a plurality of fan-shaped wheel dish pieces 3 respectively, and the other end all articulates with sliding block 5. Specifically, the steel wire rope 1 is installed on a shell of a main hand joint through a flange 21, and the nut 6 is rotated manually or by a torque wrench to pre-tighten the steel wire rope 1.

This embodiment drives sliding block 5 syntropy motion through nut 6 towards the rotary motion of ring flange 21, struts split type rim plate under the effect of connecting rod 4, makes every fan-shaped rim plate piece 3 of split type rim plate move to the outside on the plane of ring flange 21. Because every fan-shaped wheel plate piece 3 is outside removal simultaneously, wire rope 1 receives even distraction effect, consequently is equivalent to simultaneously carry out the pretension to wire rope 1 both sides, can improve pretension precision and effect, applicable in the pretension of the master hand joint wire rope of the minimal access surgery robot of precision and reliability high requirement.

The second embodiment is as follows: referring to fig. 2, 3 and 6, the present embodiment is described, each segment wheel disk block 3 of the present embodiment includes a bottom plate 31, a supporting plate 32 and a first link mounting portion 33, the supporting plate 32 is a circular arc plate-shaped structure, the bottom plate 31 is parallel to the flange 21, the bottom plate 31 is closer to the outer side of the circumference of the flange than the supporting plate 32, the supporting plate 32 is located on the side of the bottom plate 31 away from the flange 21 and is higher than the plane of the bottom plate 31, and the first link mounting portion 33 is mounted in the middle of the inner circular arc surface of the supporting plate 32. So set up, backup pad 32 is used for exerting the pretightning force to wire rope 1, and first connecting rod installation portion 33 is used for installing connecting rod 4. Other components and connections are the same as in the first embodiment.

The split type wheel disc of the embodiment is divided into four sector wheel disc blocks 3 which are circumferentially arranged, and each sector wheel disc block 3 is the same. Because the supporting plate 32 adopts the arc-shaped plate-shaped structure, the supporting plate does not contact with the steel wire rope 1 on the supporting plate at a sharp angle, the bending angle of the steel wire is large, the bending angle is further increased along with the increase of the pretightening force, the friction and the stress between the steel wire rope and the device are reduced, and the reliability of the device and the steel wire rope can be improved. And the design of the bottom plate 31 outside the support plate 32 is convenient for providing a supporting force for the sector wheel disc block 3, and the sector wheel disc block 3 is prevented from overturning under the force action of the connecting rod 4 and the steel wire rope 1.

The third concrete implementation mode: the present embodiment will be described with reference to fig. 6, and the bottom plate 31 of the present embodiment is also formed in an arc plate-like configuration and is integrally formed with the support plate 32. Other compositions and connections are the same as in the first or second embodiments.

In order to facilitate manufacturing and reduce the number of assembly steps, the bottom plate 31 and the support plate 32 are integrally formed in the present embodiment, and since a metal plate material is used, a general metal plate material forming process can be used. In order to further reduce the cost of the mold, the bottom plate 31 and the support plate 32 are provided in the same circular arc plate-like structure. Specifically, the bottom plate 31 and the support plate 32 are a fan-shaped flat plate before the bottom plate 31 is folded.

The fourth concrete implementation mode: in the present embodiment, at least one wire guide groove is formed in the outer arc surface of the support plate 32 in the circumferential direction, as described with reference to fig. 6. So set up, do not play along backup pad 32 when being convenient for wire rope 1 pretension, the metallic channel also can be provided with a plurality ofly to realize pretension simultaneously to many wire rope 1. Other compositions and connection relationships are the same as in the first, second or third embodiment.

The fifth concrete implementation mode: referring to fig. 7, the bottom plate 31 of the present embodiment includes a plurality of toothed laths uniformly arranged on the support plate 32 in the circumferential direction. So set up, the bottom plate 31 of every fan-shaped wheel dish piece 3 of split type rim plate is by a plurality of dentations constitution, has reduced the apparent area of contact of bottom plate 31 with ring flange 21 to under the same pressure, actual area of contact reduces, thereby has reduced the frictional force between the two, the regulation of the nut 6 of being convenient for. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.

The sixth specific implementation mode: the embodiment is described with reference to fig. 7, and further includes a plurality of rolling bodies, a spherical groove is formed in the center of an end surface of each toothed lath on a side close to the flange 21, a rolling body is embedded in the spherical groove, and the toothed lath is in rolling fit with the flange 21 through the rolling body. Specifically, the rolling bodies are made of stainless steel. The rolling bodies are arranged to change the sliding friction between the base plate 31 and the flange plate 21 into rolling friction, so that the friction between the base plate and the flange plate can be further reduced, and the adjustment of the nut 6 is facilitated. Other components and connection relationships are the same as those in the fifth embodiment.

The seventh embodiment: referring to fig. 7, the flange 21 of the present embodiment has a plurality of strip-shaped grooves radially formed along the direction of each toothed lath, and each rolling element rolls in the corresponding strip-shaped groove to limit the movement direction of the toothed lath. Specifically, a strip-shaped groove is formed in the flange plate 21 at a position corresponding to the middle of each toothed lath, all strip-shaped grooves are radially and outwards distributed, and inward extension lines intersect with the circle center of the flange plate 21. So set up, carried on spacingly to the direction of motion of dentate lath, can prevent that the uneven atress of sector wheel dish piece 3 from bringing the motion deviation, further guaranteed the pretension effect. Other components and connection relationships are the same as those in the sixth embodiment.

The specific implementation mode is eight: the embodiment is described with reference to fig. 2, and the embodiment further includes a plurality of bolts, a plurality of mounting holes 23 are uniformly formed in the flange 21 along the circumferential direction, and the bolts are mounted in the mounting holes 23 and protrude out of the flange 21 to limit the maximum movement stroke of the sector wheel disk block 3. In this arrangement, the flange 21 is provided with four mounting holes 23 for mounting the device on the shell of the master hand joint. Meanwhile, the bolts or screws in the mounting holes 23 can also provide limit for the movement of the sector wheel disc block 3, so that the device is prevented from being out of work due to the fact that the sector wheel disc block 3 is spread out beyond the flange 21. Of course, the mounting hole 23 may also be a countersunk hole, and the bolt is mounted therein not higher than the surface of the flange 21, but other methods are used to limit the maximum movement stroke of the segment wheel block 3, such as adding a housing to the device, and the housing covers the edge of the flange 21, and thus also can limit the maximum movement stroke. Other compositions and connection relationships are the same as those of embodiment one, two, three, four, five, six or seven.

The specific implementation method nine: referring to fig. 5, 6 and 7, the sliding block 5 of the present embodiment includes a hollow shaft 51 and a plurality of second link installation parts 52 uniformly arranged along the circumferential direction of the hollow shaft 51, the inner diameter of the hollow shaft 51 is larger than the threaded shaft 22, the plurality of second link installation parts 52 respectively correspond to the plurality of first link installation parts 33 of the split wheel disc one by one, and the second link installation parts 52 are similar to the first link installation parts 33 in structure and are used for rotatably installing the links 4. With this arrangement, it is ensured that the pushing force from the nut 6 received by the sliding block 5 is uniformly transmitted to each segment disk block 3. Other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh or eighth embodiment.

The second link mounting part 52 and the first link mounting part 33 of this embodiment both adopt a pair of connecting lug plates and a pin shaft, one end of the link 4 is rotatably connected with the pair of connecting lug plates of the sector wheel disc block 3 through the pin shaft, and the other end of the link 4 is rotatably connected with the pair of connecting lug plates of the sliding block 5 through the pin shaft. The sliding block 5 can move along the threaded shaft 22 under the pushing of the nut 6, so that each sector wheel disc block 3 of the split wheel disc is driven to move outwards under the transmission force of the connecting rod 4.

The detailed implementation mode is ten: the present embodiment is described with reference to fig. 2 to 7, and a minimally invasive surgical robot of the present embodiment includes a main hand joint including the wire rope pre-tightening sheave according to any one of the first to ninth embodiments. The minimally invasive surgery robot has the advantages and the effects of the steel wire rope pre-tightening wheel disc, so that the reliability of equipment is improved.

Principle of operation

The working principle of the steel wire rope pre-tightening wheel disc of the present invention is described with reference to fig. 2 to 7: when the steel wire rope pre-tightening wheel disc is used, firstly, the steel wire rope 1 is wound by a circle on the split wheel disc, and the nut 6 is used for propping against the sliding block 5, so that the size of the split wheel disc is not changed any more; the whole steel wire rope transmission device is installed and then the steel wire rope 1 is pre-tightened, and the nut 6 is screwed on the threaded shaft 22, so that the sliding block 5 moves towards the sector wheel disc block 3. The sliding block 5 props against the connecting rod 4 to move, the flange disc 21 is used for blocking the fan-shaped wheel disc block 3 at the other end of the fan-shaped wheel disc block 3, and the fan-shaped wheel disc block 3 cannot move in the axial direction, so that the connecting rod 4 props open the split type wheel disc, the peripheral diameter of the split type wheel disc is enlarged, and the pre-tightening of the steel wire rope 1 is completed.

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 (10)

1. A steel wire rope pre-tightening wheel disc is characterized in that: the flange plate assembly comprises a flange plate assembly (2), a sliding block (5), a nut (6), a split type wheel disc and a plurality of connecting rods (4), wherein the flange plate assembly (2) comprises a flange plate (21) and a threaded shaft (22), one end of the threaded shaft (22) is coaxially connected with the flange plate (21), the other end of the threaded shaft is sleeved with the sliding block (5) and is spirally provided with the nut (6), the nut (6) is in butt joint with the sliding block (5), and the sliding block (5) is closer to the flange plate (21) than the nut (6); the split type wheel disc comprises a plurality of fan-shaped wheel disc blocks (3) which are uniformly arranged on the periphery of a threaded shaft (22) along the circumferential direction, each fan-shaped wheel disc block (3) is abutted against the flange plate (21), a steel wire rope (1) is wound on the periphery of the fan-shaped wheel disc blocks (3), one ends of a plurality of connecting rods (4) are hinged to the fan-shaped wheel disc blocks (3) respectively, and the other ends of the connecting rods are hinged to a sliding block (5).

2. The steel cord pre-tensioned sheave of claim 1 wherein: every fan-shaped wheel dish piece (3) includes bottom plate (31), backup pad (32) and first connecting rod installation department (33), backup pad (32) are convex platelike structure, bottom plate (31) are parallel with ring flange (21), and bottom plate (31) compare in backup pad (32) and be closer to the circumference outside of ring flange, backup pad (32) are located one side that ring flange (21) were kept away from in bottom plate (31) and are higher than bottom plate (31) plane, the inboard arc surface middle part in backup pad (32) is installed in first connecting rod installation department (33).

3. The steel cord pre-tensioned sheave of claim 2, wherein: the bottom plate (31) is also of an arc-shaped plate-shaped structure and is integrally formed with the support plate (32).

4. The steel cord pre-tensioned sheave of claim 2, wherein: at least one wire guide groove is arranged on the outer side arc surface of the supporting plate (32) along the circumferential direction.

5. The steel cord pre-tensioned sheave of claim 2, wherein: the base plate (31) comprises a plurality of toothed strips which are arranged uniformly in the circumferential direction on the support plate (32).

6. The steel cord pretensioned sheave of claim 5, wherein: the rolling device is characterized by further comprising a plurality of rolling bodies, wherein a spherical groove is formed in the center of the end face of one side, close to the flange plate (21), of each toothed lath, the rolling bodies are embedded in the spherical grooves, and the toothed laths are in rolling fit with the flange plate (21) through the rolling bodies.

7. The steel cord pretensioned sheave of claim 6, wherein: the flange (21) is radially provided with a plurality of strip-shaped grooves along the direction of each toothed lath, and each rolling body rolls in the corresponding strip-shaped groove so as to limit the movement direction of the toothed lath.

8. The steel cord pre-tensioned sheave of claim 1 wherein: still include a plurality of bolts, evenly seted up a plurality of mounting holes (23) along the circumferencial direction on ring flange (21), the bolt mounting just projects ring flange (21) in mounting hole (23) to carry on spacingly to the maximum motion stroke of fan-shaped wheel dish piece (3).

9. The steel cord pre-tensioned sheave of claim 2, wherein: the sliding block (5) comprises a hollow shaft (51) and a plurality of second connecting rod installation parts (52) which are uniformly arranged along the circumferential direction of the hollow shaft (51), the inner diameter of the hollow shaft (51) is larger than the threaded shaft (22), and the second connecting rod installation parts (52) are in one-to-one correspondence with the first connecting rod installation parts (33) of the split type wheel disc respectively.

10. A minimally invasive surgical robot, characterized in that: comprising a master hand joint comprising a steel cord pretensioned wheel according to any of claims 1 to 9.

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