CN216495632U

CN216495632U - Swing arm lifting mechanism, mechanical arm and master-slave surgical robot

Info

Publication number: CN216495632U
Application number: CN202122734640.3U
Authority: CN
Inventors: 李鑫; 王建国
Original assignee: Harbin Sagebot Intelligent Medical Equipment Co Ltd
Current assignee: Harbin Sagebot Intelligent Medical Equipment Co Ltd
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2022-05-13
Anticipated expiration: 2031-11-09

Abstract

The utility model provides a swing arm lifting mechanism, a mechanical arm and a master-slave surgical robot. The swing arm lifting mechanism comprises a fixed seat, a lifting seat, a connecting rod and a gravity balance device, wherein the connecting rod is distributed in parallel along the vertical direction, and the connecting rod is hinged with the fixed seat and the lifting seat respectively; the gravity balance device is respectively arranged at two sides of the connecting rod, one end of the gravity balance device is hinged with the fixed seat, and the other end of the gravity balance device is hinged with the connecting rod. The swing arm lifting mechanism can balance the gravity of the swing arm lifting mechanism to a certain degree, and improves the lifting stability and flexibility of the lifting seat; can strengthen swing arm elevating system's whole atress stability to a certain extent, can avoid the gravity balance device to cause the interference or reduce the size demand to fixing base and lift seat in upper and lower direction to the swing range of connecting rod, reliability and stability are high.

Description

Swing arm lifting mechanism, mechanical arm and master-slave surgical robot

Technical Field

The utility model relates to the technical field of lifting, in particular to a swing arm lifting mechanism, a mechanical arm and a master-slave surgical robot.

Background

In the field of machinery, in some cases, one part needs to have a sufficient lifting range relative to another part to meet the operation requirement, and a common column type lifting mode occupies a large space and is not beneficial to small-space operation.

Although some swing arm lifting mechanisms are available at present, the lifting stability and the lifting range of the swing arm lifting mechanisms are still insufficient.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problem of improving the lifting stability and lifting range of the swing arm lifting mechanism to a certain extent.

In order to solve the above problems at least to a certain extent, in a first aspect, the present invention provides a swing arm lifting mechanism, including a fixed seat, a lifting seat, a connecting rod and a gravity balance device, wherein the connecting rod is distributed in parallel along an up-down direction, and the connecting rod is hinged to the fixed seat and the lifting seat respectively;

the gravity balance device is respectively arranged on two sides of the connecting rod, one end of the gravity balance device is hinged with the fixed seat, and the other end of the gravity balance device is hinged with the connecting rod.

Optionally, the gravity balance device is the air spring, the air spring set up in relatively the both sides of connecting rod, the air spring with be located the top the connecting rod is articulated, along upper and lower direction, the air spring with the articulated position of fixing base is less than the top the connecting rod with the articulated position of fixing base, and be higher than the bottom the connecting rod with the articulated position of fixing base.

Optionally, the fixing base includes a fixing base body, a first connecting shaft and a second connecting shaft, the fixing base body includes a first bottom plate and a first side plate disposed on the first bottom plate, the first side plate is disposed on one side of the lifting base, the connecting rod passes through the first connecting shaft and two first side plates, and the gravity balance device is connected to the first side plate through the second connecting shaft.

Optionally, the second connecting shafts are equidistant from the uppermost and lowermost first connecting shafts.

Optionally, the lifting seat comprises a lifting seat body and a third connecting shaft, the lifting seat body comprises a second bottom plate and a second side plate arranged on the second bottom plate, the second side plate is located on one side, facing the fixing seat, of the second bottom plate, and the connecting rod is connected with the second side plate through the third connecting shaft.

Optionally, the swing arm elevating system still includes encoder and stopper, the encoder with the stopper all respectively with the fixing base with the connecting rod is connected.

Optionally, the encoder and the brake are respectively disposed at different connecting rods.

According to the swing arm lifting mechanism, when the connecting rod swings relative to the fixed seat, the lifting seat lifts relative to the fixed seat, the connecting rods arranged in parallel ensure the stress stability of the lifting seat, and the lifting seat and parts on the lifting seat cannot generate inclination angle change relative to the vertical direction; compared with the lifting of the upright post, the mounting space requirement of the lifting swing arm lifting mechanism in the vertical direction (the mounting space requirement at the fixed seat) can be reduced; by arranging the gravity balancing device, the gravity of the swing arm lifting mechanism (the gravity of a balancing connecting rod, the lifting seat and a part connected with the lifting seat) can be balanced to a certain degree, and the lifting stability and flexibility of the lifting seat are improved; in addition, the gravity balance devices are respectively arranged on the two sides of the connecting rods, so that the overall stress stability of the swing arm lifting mechanism can be enhanced to a certain extent, and under the same condition, the weight balance device with smaller specification can be selected and arranged between the two connecting rods relative to the gravity balance device, so that the interference of the gravity balance device on the swing range of the connecting rods can be avoided or the size requirements of the fixed seat and the lifting seat in the vertical direction can be reduced; the lifting seat can obtain a larger lifting range and has high reliability and stability.

In a second aspect, the present invention provides a robot arm, including the swing arm lifting mechanism of the first aspect.

Optionally, the mechanical arm further comprises a passive lifting vertical arm and a front end joint assembly, the passive lifting vertical arm comprises a vertical arm body, a fixing seat of the swing arm lifting mechanism is connected with the vertical arm body, and a lifting seat of the swing arm lifting mechanism is connected with the front end joint assembly.

In a third aspect, the present invention provides a master-slave surgical robot comprising the swing arm lift mechanism of any one of the first aspect, or comprising the robotic arm of any one of the second aspect.

The mechanical arm and the master-slave surgical robot have all the advantages of the swing arm lifting mechanism, and the detailed description is omitted here.

Drawings

FIG. 1 is a schematic structural diagram of a swing arm lifting mechanism of the present embodiment;

fig. 2 is an exploded view of the swing arm lifting mechanism of the present embodiment;

fig. 3 is a plan view of the swing arm elevating mechanism of the present embodiment.

Description of reference numerals:

the lifting device comprises a fixed seat 1, a first connecting shaft 11, a second connecting shaft 12, a first bottom plate 13, a first side plate 14, a lifting seat 2, a third connecting shaft 21, a second side plate 22, a second bottom plate 23, a connecting rod 3, a gravity balance device 4, an encoder 5, a brake 6 and a vertical arm body 7.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description herein, references to the terms "an embodiment," "one embodiment," "some embodiments," "exemplary" and "one embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or embodiment is included in at least one embodiment or embodiment of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or implementation. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.

The terms "first", "second", etc. 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.

In the drawings, the Z-axis represents the vertical, i.e., up-down, position, and the positive direction of the Z-axis (i.e., the arrow of the Z-axis points) represents up, and the negative direction of the Z-axis (i.e., the direction opposite to the positive direction of the Z-axis) represents down; in the drawings, the X-axis represents a horizontal direction and is designated as a left-right position, and a positive direction of the X-axis (i.e., an arrow direction of the X-axis) represents a right side and a negative direction of the X-axis (i.e., a direction opposite to the positive direction of the X-axis) represents a left side; in the drawings, the Y-axis indicates the front-rear position, and the positive direction of the Y-axis (i.e., the arrow direction of the Y-axis) indicates the front side, and the negative direction of the Y-axis (i.e., the direction opposite to the positive direction of the Y-axis) indicates the rear side; it should also be noted that the foregoing Z-axis, Y-axis, and X-axis representations are merely intended to facilitate the description of the utility model and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the utility model.

As shown in fig. 1 and 2, an embodiment of the present invention provides a swing arm lifting mechanism, which includes a fixed seat 1, a lifting seat 2, two connecting rods 3 and two gravity balance devices 4, wherein the two connecting rods 3 are distributed in parallel along an up-down direction, and the two connecting rods 3 are respectively hinged to the fixed seat 1 and the lifting seat 2;

two gravity balance devices 4 are respectively arranged on two sides (namely the left side and the right side in the figure, namely two sides in the X-axis direction) of the connecting rod 3, one ends of the two gravity balance devices 4 are hinged with the fixed seat 1, and the other ends of the two gravity balance devices are hinged with one of the connecting rods 3.

It should be noted that, in this specification, the content of the present invention is described by taking the number of the links 3 as two as an example, but it may be set to 3 or more, which is not limited. The two connecting rods 3, the fixed seat 1 and the lifting seat 2 can be equivalent to a parallel four-bar linkage, and the structures of the two connecting rods 3 can be the same or different.

The gravity balance device 4 may be a component having a function of cushioning, supporting, or the like, for example, a gas spring described later.

Therefore, according to the swing arm lifting mechanism disclosed by the utility model, when the connecting rod 3 swings relative to the fixed seat 1, the lifting seat 2 is lifted relative to the fixed seat 1, the connecting rod 3 arranged in parallel ensures the stress stability of the lifting seat 2, and the lifting seat 2 and parts on the lifting seat 2 cannot change inclination angles relative to the vertical direction; compared with the lifting of the upright post, the mounting space requirement of the lifting swing arm lifting mechanism in the vertical direction (the mounting space requirement at the fixed seat 1) can be reduced; by arranging the gravity balancing device 4, the gravity of the swing arm lifting mechanism (the gravity of the balancing connecting rod 3, the lifting seat 2 and a part connected with the lifting seat 2) can be balanced to a certain degree, and the lifting stability and flexibility of the lifting seat 2 are improved; in addition, the gravity balance devices 4 are respectively arranged on two sides of the connecting rods 3, so that the overall stress stability of the swing arm lifting mechanism can be enhanced to a certain extent, and under the same condition, the weight balance devices 4 with smaller specifications can be selected and arranged between the two connecting rods 3 relative to the gravity balance devices 4, so that the interference of the gravity balance devices 4 on the swinging range of the connecting rods 3 can be avoided or the size requirements of the fixed seat 1 and the lifting seat 2 in the vertical direction are reduced; the lifting seat 2 can obtain a larger lifting range and has high reliability and stability.

As shown in fig. 2, the gravity balance device 4 is a gas spring, the gas spring is disposed on two sides of the connecting rod 3, the gas spring is hinged to the uppermost connecting rod 3, and the hinged position of the gas spring to the fixing base 1 is lower than the hinged position of the uppermost connecting rod 3 to the fixing base 1 and higher than the hinged position of the lowermost connecting rod 3 to the fixing base 1.

For example, as shown in fig. 2, one of the two connecting rods 3 located above is taken as an upper connecting rod, the other connecting rod 3 is taken as a lower connecting rod, and the height of the hinge position of the gas spring and the fixed seat 1 is lower than the height of the hinge position of the upper connecting rod and the fixed seat 1 and higher than the height of the hinge position of the lower connecting rod and the fixed seat 1. But it does not limit the positions of the three hinge positions in the X-axis direction and the Y-axis direction.

The advantage of setting up like this lies in, is convenient for purchase and change relevant ripe product (promptly the air spring), and the air spring that sets up relatively forms the stable support to the top connecting rod below the top connecting rod, and the lift stability of seat 2 is guaranteed to make full use of support and the buffering characteristic of air spring.

As shown in fig. 2, in an embodiment of the present invention, the fixing base 1 includes a fixing base body, a first connecting shaft 11 and a second connecting shaft 12, the fixing base body includes a first bottom plate 13 and two first side plates 14 oppositely disposed on the first bottom plate 13, the two first side plates 14 are both located on one side of the first bottom plate 13 facing the lifting base 2, the connecting rod 3 is connected to the two first side plates 14 through the first connecting shaft 11, and the gravity balance device 4 is connected to the first side plates 14 through the second connecting shaft 12.

Specifically, as shown in fig. 2, the two first side plates 14 are disposed oppositely along the left-right direction (i.e., the X-axis direction), and the two first side plates 14 are both located on one side of the first bottom plate 13 facing the lifting seat 2 (i.e., on the front side, i.e., on the side in the positive direction of the Y-axis), at this time, the first bottom plate 13 and the two first side plates 14 enclose a groove structure, and the first connecting shaft 11 and the second connecting shaft 12 are located in the groove structure.

Taking a specific mode that the connecting rod 3 is hinged with the fixed seat 1 as an example, the connecting rod 3 is fixedly connected with the first connecting shaft 11, and the first connecting shaft 11 is rotatably connected with the first side plate 14, so that the connecting rod 3 can rotate relative to the fixed seat 1; alternatively, as shown in fig. 1, the first connecting shaft 11 and the first side plate 14 are fixedly connected, and the connecting rod 3 is rotatably connected to the first connecting shaft 11. The situation in which the gravity balancing means 4 is hinged to the holder 1 is similar and will not be described in detail here.

The arrangement has the advantages that the connecting rod 3 and the gravity balance device 4 can be conveniently installed, the first bottom plate 13 and the two first side plates 14 can form a groove structure, one ends of the connecting rod 3 and the gravity balance device 4 are accommodated in the groove structure, the connecting rod 3 and the gravity balance device 4 can be protected to a certain extent, and safety is high; moreover, the two gas springs are both connected with the second connecting shaft 12, the gas springs are higher in rotating coaxiality relative to the fixed seat 1, and the stability is high; in addition, a corresponding mounting structure for mounting other components connected to the fixed base 1, for example, the standing arm body 7 of the lifting standing arm described later, may be provided on the first bottom plate 13.

Alternatively, the second connecting shafts 12 are equidistant from the uppermost and lowermost first connecting shafts 11.

As shown in fig. 2, the two first connecting shafts 11 are spaced apart from each other in the upper direction, and the second connecting shafts 12 are disposed between the two first connecting shafts 11 and have the same distance to the two first connecting shafts 11.

This has the advantage that the distances of the second connecting shaft 12 to the two first connecting shafts 11 are equal, so that a larger swing range of the gravity balance means 4 can be achieved; in addition, the lifting seat 2 can stably support the connecting rod 3 positioned above in a large lifting stroke in the lifting process.

As shown in fig. 2, in the embodiment of the present invention, the lifting seat 2 includes a lifting seat body and a third connecting shaft 21, the lifting seat body includes a second bottom plate 23 and two second side plates 22 oppositely disposed on the second bottom plate 23, the two second side plates 22 are both located on one side of the second bottom plate 23 facing the fixing base 1, and the connecting rod 3 is connected to the two second side plates 22 through the third connecting shaft 21.

Specifically, as shown in fig. 2, two second side plates 22 and a second bottom plate 23 enclose a groove structure, a third connecting shaft 21 is disposed between the two second side plates 22, and the connecting rod 3 is connected with the two second side plates 22 through the third connecting shaft 21 and swings relative to the lifting seat 2 in the groove structure. The third connecting shaft 21 is arranged in a similar manner to the second connecting shaft 12 and will not be described in detail here.

The advantage of this arrangement is that the two second side plates 22 can provide some protection to the connecting rod 3, and the safety is high; in addition, corresponding connection structures may be provided on the second base plate 23 at this time for connecting other components, for example, with a front end joint assembly described later.

As shown in fig. 1 and 2, in the embodiment of the present invention, the swing arm lifting mechanism further includes an encoder 5 and a brake 6, and the encoder 5 and the brake 6 are respectively connected to the fixing base 1 and the connecting rod 3.

Specifically, as shown in fig. 1 and fig. 2, taking the first connecting shaft 11 fixedly connected to the first side plate 14 and the connecting rod 3 rotatably connected to one of the first connecting shafts 11 as an example, the encoder 5 may be fixedly mounted on the first connecting shaft 11 and detect a rotation angle of the connecting rod 3 relative to the fixing base 1, and of course, the encoder 5 may also be mounted on the first side plate 14, but when it is mounted on the first connecting shaft 11, the mounting operation is facilitated to some extent. The arrangement of the brake 6 is similar and will not be described in detail here.

The advantage of this arrangement is that the encoder 5 performs feedback detection on the position of the connecting rod 3 in the lifting process, the brake 6 locks the working position of the connecting rod 3, and the controllability of the lifting seat 2 is high; the encoder 5 and the brake 6 are connected with the fixed seat 1 instead of the lifting seat 2, so that the increase of the weight of the lifting seat 2 can be avoided, and the flexibility and the stability of the lifting seat 2 can be improved; in addition, the oversize and the oversize occupation space of the lifting seat 2 can be avoided to a certain extent.

As shown in fig. 2 and 3, in the embodiment of the present invention, the encoder 5 and the brake 6 are respectively provided at different links 3.

As shown in fig. 2 and 3, the encoder 5 is connected to the upper link, and the stopper 6 is connected to the lower link; alternatively, the encoder 5 is connected to the lower link and the brake 6 is connected to the upper link, wherein the encoder 5 and the brake 6 may be located on the same side of the link 3.

The advantage that sets up like this is through setting up encoder 5 and stopper 6 respectively different connecting rod 3 departments, rather than being connected with same connecting rod 3, and its position is arranged rationally, the installation of encoder 5 and stopper 6 of being convenient for, under some circumstances, can also make the compact structure of fixing base 1 department.

Another embodiment of the present invention provides a robot arm, including any one of the above swing arm lifting mechanisms.

Optionally, the mechanical arm further comprises a passive lifting vertical arm and a front end joint assembly, the passive lifting vertical arm comprises a vertical arm body 7, the fixing seat 1 of the swing arm lifting mechanism is connected with the vertical arm body 7, and the lifting seat 2 of the swing arm lifting mechanism is connected with the front end joint assembly.

The mechanical arm can also comprise a base and a small cross beam, the small cross beam is connected with the base in a rotating mode, a rotating shaft of the small cross beam is vertically arranged, the passive lifting vertical arm is connected with the small cross beam and can lift passively relative to the small cross beam, a vertical arm body 7 of the passive lifting vertical arm is connected with a fixing seat 1 of a swing arm lifting mechanism (for example, connected with a first bottom plate 13), a front end joint assembly is connected with a lifting seat 2 of the swing arm lifting mechanism (for example, connected with a second bottom plate 23), and a surgical instrument or other end effectors can be installed on the front end joint assembly. Thus, the lifting stroke requirement of the passive lifting vertical arm can be reduced.

Of course, in other embodiments, the passive lifting arm may not be provided, and the fixing base 1 may be directly connected to the small beam.

Yet another embodiment of the present invention provides a master-slave surgical robot, comprising any one of the above swing arm lifting mechanisms, or any one of the above robotic arms.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and such changes and modifications will fall within the scope of the present invention.

Claims

1. A swing arm lifting mechanism is characterized by comprising a fixed seat (1), a lifting seat (2), a connecting rod (3) and a gravity balance device (4), wherein the connecting rod (3) is distributed in parallel along the vertical direction, and the connecting rod (3) is hinged with the fixed seat (1) and the lifting seat (2) respectively;

the gravity balance device (4) is arranged on two sides of the connecting rod (3) respectively, one end of the gravity balance device (4) is hinged to the fixing seat (1), and the other end of the gravity balance device is hinged to the connecting rod (3).

2. The swing arm lifting mechanism according to claim 1, wherein the gravity balance device (4) is a gas spring, the gas spring is oppositely disposed on two sides of the connecting rod (3), the gas spring is hinged to the connecting rod (3) at the uppermost position, and the hinged position of the gas spring to the fixed seat (1) is lower than the hinged position of the connecting rod (3) at the uppermost position to the fixed seat (1) and higher than the hinged position of the connecting rod (3) at the lowermost position to the fixed seat (1) along the up-down direction.

3. The swing arm lifting mechanism according to claim 1 or 2, wherein the fixing seat (1) comprises a fixing seat body, a first connecting shaft (11) and a second connecting shaft (12), the fixing seat body comprises a first bottom plate (13) and first side plates (14) oppositely arranged on the first bottom plate (13), the first side plates (14) are both arranged on one side, facing the lifting seat (2), of the first bottom plate (13), the connecting rod (3) is connected with the two first side plates (14) through the first connecting shaft (11), and the gravity balance device (4) is connected with the first side plates (14) through the second connecting shaft (12).

4. The swing arm lift mechanism according to claim 3, wherein the second connecting shaft (12) is equidistant from the uppermost and lowermost first connecting shafts (11).

5. The swing arm lifting mechanism according to claim 1, wherein the lifting seat (2) comprises a lifting seat body and a third connecting shaft (21), the lifting seat body comprises a second bottom plate (23) and a second side plate (22) oppositely arranged on the second bottom plate (23), the second side plate (22) is arranged on one side of the second bottom plate (23) facing the fixed seat (1), and the connecting rod (3) is connected with the second side plate (22) through the third connecting shaft (21).

6. The swing arm lifting mechanism according to claim 1, further comprising an encoder (5) and a brake (6), wherein the encoder (5) and the brake (6) are connected to the fixed base (1) and the connecting rod (3), respectively.

7. The swing arm lift mechanism according to claim 6, wherein the encoder (5) and the brake (6) are respectively provided at different connecting rods (3).

8. A robot arm comprising the swing arm lift mechanism of any one of claims 1 to 7.

9. The mechanical arm according to claim 8, further comprising a passive lifting vertical arm and a front end joint assembly, wherein the passive lifting vertical arm comprises a vertical arm body (7), the fixed seat (1) of the swing arm lifting mechanism is connected with the vertical arm body (7), and the lifting seat (2) of the swing arm lifting mechanism is connected with the front end joint assembly.

10. A master-slave surgical robot comprising a swing arm lift mechanism according to any one of claims 1 to 7 or a robotic arm according to claim 8 or 9.