CN216200220U

CN216200220U - Flexible transmission structure, mechanical arm and surgical robot

Info

Publication number: CN216200220U
Application number: CN202122403865.0U
Authority: CN
Inventors: 刘丹
Original assignee: Chongqing Jinshan Medical Robot Co ltd
Current assignee: Chongqing Jinshan Medical Robot Co ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-04-05
Anticipated expiration: 2031-09-30

Abstract

The utility model discloses a flexible transmission structure, a mechanical arm and a surgical robot, wherein the flexible transmission structure comprises a synchronous belt, and the synchronous belt is provided with a toothed belt section and a rigid telescopic section which are connected; the rigid telescopic section comprises a first toothed plate connecting piece and a second toothed plate connecting piece which are located at two ends and used for connecting the toothed belt section, and a telescopic device is arranged between the first toothed plate connecting piece and the second toothed plate connecting piece. The flexible transmission structure has the advantages of good pre-tightening effect, stable and precise transmission and small friction force, avoids additionally installing a tension wheel, reduces the requirement on the driving force and reduces the installation space requirement of the transmission structure; the mechanical arm and the surgical robot have compact structures, small occupied space and small requirement on driving force, and can realize the precise control of the control tail end.

Description

Flexible transmission structure, mechanical arm and surgical robot

Technical Field

The utility model relates to the technical field of machinery, in particular to a flexible transmission structure, a mechanical arm and a surgical robot.

Background

The flexible transmission structure of the surgical robot mechanical arm has to meet the requirements of flexible installation, small installation space, long transmission distance, high transmission efficiency, high transmission precision, good vibration reduction effect, strong impact resistance and the like, but in the prior art, the flexible transmission structure has the following defects: firstly, the belt transmission tension wheel is difficult to assemble due to the limitation of an installation space, a pre-tightening wrap angle is large, so that the friction force is large, a large driving force is required, and the application in a mechanical arm of a surgical robot is limited; and secondly, under the condition of long distance of the flexible transmission, even if the pre-tightening is good, the flexible transmission still generates large elastic deformation to cause transmission return difference, the dead zone is large, the precise transmission cannot be realized, the application of the flexible transmission in the precise transmission of the surgical robot is influenced, and the precise control and the realization of the working precision of the surgical robot are difficult.

Therefore, those skilled in the art are dedicated to develop a flexible transmission structure, a mechanical arm and a surgical robot with good pre-tightening effect.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned defects of the prior art, the present invention provides a flexible transmission structure, a robot arm and a surgical robot with good pre-tightening effect.

In order to achieve the purpose, the utility model provides a flexible transmission structure, which comprises a synchronous belt, wherein the synchronous belt is provided with a toothed belt section and a rigid telescopic section which are connected;

the rigid telescopic section comprises a first toothed plate connecting piece and a second toothed plate connecting piece which are located at two ends and used for being connected with the toothed belt section, and a telescopic device is arranged between the first toothed plate connecting piece and the second toothed plate connecting piece.

Preferably, the telescopic device comprises a connecting rod, two ends of the connecting rod are respectively provided with a first thread and a second thread with opposite rotation directions, and two ends of the connecting rod are respectively sleeved with a first nut matched with the first thread and a second nut matched with the second thread;

and a first threaded hole and a second threaded hole which are used for the first thread and the second thread of the connecting rod to be matched and connected are respectively arranged on the first toothed plate connecting piece and the second toothed plate connecting piece.

Preferably, a clamping section is arranged between the first thread and the second thread on the connecting rod, and the cross section of the clamping section is polygonal.

Preferably, the number of the rigid telescopic sections is 2, and the rigid telescopic sections are arranged among the toothed belt sections at intervals.

Preferably, the first toothed plate connecting piece comprises a mounting plate and a toothed plate which are connected by a locking screw, inner teeth matched with the toothed belt section are arranged on the lower side of the toothed plate, and the end of the toothed belt section is locked between the mounting plate and the toothed plate; the mounting plate is also provided with a groove for accommodating the toothed belt section;

preferably, the second toothed plate connecting piece and the first toothed plate connecting piece have the same structure.

Preferably, the synchronous belt is sleeved on the periphery of the driving wheel and the driven wheel, and teeth of the toothed belt section are meshed with the driving wheel and the driven wheel.

Preferably, the rigid telescopic section is arranged between the driving wheel and the driven wheel.

The utility model also provides a mechanical arm which comprises the flexible transmission structure.

Preferably, the device further comprises a driving module, an output shaft of the driving module is connected with a driving wheel of the flexible transmission structure, and a driven wheel axle of the flexible transmission structure is connected with the oscillating rod.

The utility model also provides a surgical robot, which comprises the flexible transmission structure or the mechanical arm.

The utility model has the beneficial effects that: the flexible transmission structure has the advantages of good pre-tightening effect, stable and precise transmission and small friction force, avoids additionally installing a tension wheel, reduces the requirement on the driving force and reduces the installation space requirement of the transmission structure; the mechanical arm and the surgical robot have compact structures, small occupied space and small requirement on driving force, and can realize the precise control of the control tail end.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is an enlarged schematic view of a structure at a in fig. 1.

Fig. 3 is a schematic structural view of a first tooth plate connection member in accordance with an embodiment of the present invention.

Fig. 4 is a schematic illustration of an explosive structure according to an embodiment of the present invention.

Fig. 5 is an enlarged schematic view of B in fig. 4.

FIG. 6 is a schematic view of a robotic arm according to an embodiment of the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples, wherein the terms "upper", "lower", "left", "right", "inner", "outer", and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is for convenience and simplicity of description, and does not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular manner, and thus should not be construed as limiting the present invention. The terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 to 5, a flexible transmission structure comprises a synchronous belt 1, wherein the synchronous belt 1 is provided with a toothed belt section 13 and a rigid telescopic section 14 which are connected. The rigid telescopic section 14 includes a first toothed plate connecting part 21 and a second toothed plate connecting part 22 located at two ends and used for connecting the toothed belt section 13, and a telescopic device is arranged between the first toothed plate connecting part 21 and the second toothed plate connecting part 22.

The telescopic device may be any mechanical device with telescopic function, such as a telescopic rod, in this embodiment, the telescopic device includes a connecting rod 3, two ends of the connecting rod 3 are respectively provided with a first thread 31 and a second thread 32 with opposite turning directions, and two ends of the connecting rod 3 are further respectively sleeved with a first nut 41 engaged with the first thread 31 and a second nut 42 engaged with the second thread 32.

The first toothed plate connecting piece 21 comprises a mounting plate 211 and a toothed plate 212 which are connected by a locking screw 8, the lower side of the toothed plate 212 is provided with internal teeth which are in toothed fit with the toothed belt segment 13, and the end of the toothed belt segment 13 is locked between the mounting plate 211 and the toothed plate 212. The mounting plate 211 is also provided with a recess 213 for receiving the toothed belt section 13. The second tooth plate connection member 22 is identical in structure to the first tooth plate connection member 21. When the utility model is used, the end of the toothed belt section 13 is placed in the groove 213, and the locking bolt 8 is screwed down, so that the toothed belt section 13 and the rigid telescopic section 14 can be stably connected.

The first and second tooth

plate connecting pieces

21 and 22 are further provided with first and second threaded holes (not shown) for the first and second threads of the connecting rod 3 to be coupled in a mating manner, respectively. During the use, with first screw hole 214 and second screw hole of connecting rod 3 both ends screw in simultaneously, adjust to suitable length, lock first nut 41 and second nut 42, can realize the adjustment and the fixed of telescoping device length, adjust to suitable pretension degree. The connecting rod 3 is made of metal, so that the elastic deformation is small, and the elastic deformation of a transmission system is greatly reduced.

The connecting rod 3 is provided with a clamping section 33 between the first thread 31 and the second thread 32, the section of the clamping section 33 is polygonal, so that clamping is facilitated, the connecting rod 3 can be rotated, and the polygon can be a quadrangle or a hexagon. When the device is used, the clamping section 33 is clamped by the clamping device, the connecting rod 3 is rotated, because the first thread 31 and the second thread 32 are opposite in rotating direction, when the connecting rod 3 is rotated, the connecting rod 3 can drive the first toothed plate connecting piece 21 and the second toothed plate connecting piece 22 to move towards or away from each other, so that the whole telescopic device is extended or shortened, the synchronous belt 1 is tightly pre-tightened, and after pre-tightening adjustment is completed, the first nut 41 and the second nut 42 are screwed, so that the connecting rod 3 and the toothed plate connecting piece are prevented from loosening, and the pre-tightening reliability is ensured.

In this embodiment, the synchronous belt 1 is sleeved around the driving wheel 51 and the driven wheel 52, and the teeth of the toothed belt segment 13 are meshed with the driving wheel 51 and the driven wheel 52. The number of the rigid telescopic sections 14 is 2, the rigid telescopic sections are arranged between the toothed belt sections 13 at intervals, arranged between the driving wheel 51 and the driven wheel 52 and respectively arranged at the upper part and the lower part of the synchronous belt 1, so that the adjusting range is large during pre-tightening, and the adjustment is more precise.

As shown in fig. 6, the present invention also provides a robot arm including the flexible transmission structure as described above. The device further comprises a driving module 6, an output shaft of the driving module 6 is connected with a driving wheel 51 of the flexible transmission structure, and a driven wheel 52 of the flexible transmission structure is connected with the swing rod 7 through a wheel shaft. The driving module 6 drives the driving wheel 51 to do a reciprocating motion with a certain angle, drives the driven wheel to do a reciprocating motion with a certain angle, and drives the oscillating rod to oscillate with a certain angle in a reciprocating way by the driven wheel, thereby driving the connected apparatus to move.

The foregoing detailed description of the preferred embodiments of the utility model has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims

1. A flexible drive structure, characterized by: the synchronous belt comprises a synchronous belt (1), wherein the synchronous belt (1) is provided with a toothed belt section (13) and a rigid telescopic section (14) which are connected;

the rigid telescopic section (14) comprises a first toothed plate connecting piece (21) and a second toothed plate connecting piece (22) which are located at two ends and used for being connected with the toothed belt section (13), and a telescopic device is arranged between the first toothed plate connecting piece (21) and the second toothed plate connecting piece (22).

2. The flexible drive configuration of claim 1, wherein: the telescopic device comprises a connecting rod (3), wherein a first thread (31) and a second thread (32) with opposite rotation directions are respectively arranged at two ends of the connecting rod (3), and a first nut (41) matched with the first thread (31) and a second nut (42) matched with the second thread (32) are respectively sleeved at two ends of the connecting rod (3);

the first toothed plate connecting piece (21) and the second toothed plate connecting piece (22) are respectively provided with a first threaded hole (214) and a second threaded hole, wherein the first threaded hole (31) and the second threaded hole (32) are matched and connected with the connecting rod (3).

3. The flexible drive configuration of claim 2, wherein: and a clamping section (33) is arranged between the first thread (31) and the second thread (32) on the connecting rod (3), and the section of the clamping section (33) is polygonal.

4. The flexible transmission structure according to claim 1 or 2, wherein: the number of the rigid telescopic sections (14) is 2, and the rigid telescopic sections are arranged between the toothed belt sections (13) at intervals.

5. The flexible drive configuration of claim 1, wherein: the first toothed plate connecting piece (21) comprises a mounting plate (211) and a toothed plate (212) which are connected through a locking screw (8), inner teeth matched with teeth of the toothed belt section (13) are arranged on the lower side of the toothed plate (212), and the end of the toothed belt section (13) is locked between the mounting plate (211) and the toothed plate (212); the mounting plate (211) is also provided with a groove (213) for accommodating the toothed belt section (13);

the second toothed plate connecting piece (22) and the first toothed plate connecting piece (21) are identical in structure.

6. The flexible drive configuration of claim 1, wherein: the synchronous belt (1) is sleeved on the peripheries of the driving wheel (51) and the driven wheel (52), and the teeth of the toothed belt section (13) are meshed with the driving wheel (51) and the driven wheel (52).

7. The flexible drive configuration of claim 6, wherein: the rigid telescopic section (14) is arranged between the driving wheel (51) and the driven wheel (52).

8. A kind of mechanical arm, its characteristic is: comprising a flexible transmission structure according to any of claims 1 to 7.

9. A robotic arm as claimed in claim 8, wherein: the flexible transmission mechanism is characterized by further comprising a driving module (6), an output shaft of the driving module (6) is connected with a driving wheel (51) of the flexible transmission structure, and a wheel shaft of a driven wheel (52) of the flexible transmission structure is connected with the swinging rod (7).

10. A surgical robot is characterized in that: comprising a flexible transmission structure according to any of claims 1 to 7 or a robot arm according to any of claims 8 to 9.