JP6895261B2 - Joint drive mechanism of articulated robot arm, articulated robot arm and robot operating table - Google Patents

Description

The present invention relates to a joint drive mechanism of an articulated robot arm, an articulated robot arm and a robot operating table.

Conventionally, a patient positioning assembly has been known in which a table on which a patient is placed is moved by a robot arm and the position of the patient is positioned with respect to a radiation source for treatment (see, for example, Patent Document 1).

Further, conventionally, there has been a demand for an operating table in which a table on which a patient is placed can be easily moved in an operating room while suppressing interference with peripheral devices. Therefore, it is conceivable to apply the patient positioning assembly of Patent Document 1 to an operating table in an operating room to move a table on which a patient is placed by using a robot arm. This makes it possible to easily move the table on which the patient is placed while suppressing interference with peripheral devices, unlike the case where the operating table is moved using casters.

Japanese Unexamined Patent Publication No. 2009-131718

However, since the patient positioning assembly as in Patent Document 1 is intended to irradiate radiation for treatment, a plurality of workers may work for a long time around the table on which the patient is placed. There is no need to consider it, and a large robot arm is generally used. Therefore, when the robot arm of Patent Document 1 is applied to the operating table, the space around the operating table becomes narrow, which hinders the medical staff when performing the operation. When the robot arm including a plurality of joints is miniaturized so as not to interfere with the operation, the size of the joints is also reduced, so that the resistance of the joints to the load tends to decrease. In particular, when the robot arm is in the most extended posture with a patient having a large weight placed on it, a large load may be applied to the joints. Therefore, it is necessary to ensure the resistance of the bearing that supports the driving portion of the joint in preparation for a large load.

INDUSTRIAL APPLICABILITY According to the present invention, an articulated robot arm joint drive mechanism capable of ensuring resistance of a bearing that supports a driving portion of an articulated robot arm joint while reducing the size of the articulated robot arm joint. It provides a joint robot arm and a robot operating table.

The joint drive mechanism of the articulated robot arm according to the first aspect of the present invention is connected to a motor, a speed reducer whose output shaft coincides with the rotation axis of the joint, and an output connected to the output shaft of the speed reducer. It is provided with a member, a first bearing that rotatably supports an output member, an outer ring portion, an inner ring portion, and a needle bearing including a plurality of needles provided on the outer ring portion, and one of the outer ring portion and the inner ring portion. Is connected to the output member, and the inner ring portion and each of the plurality of needles provided on the outer ring portion are arranged at a predetermined interval, and the inner ring portion is caused by the load applied to the joint. When in contact with the needle, the needle bearing is configured to function as a second bearing that rotatably supports the output member .

In the joint drive mechanism of the articulated robot arm according to the first aspect of the present invention, as described above, the first bearing that rotatably supports the output member and a plurality of bearings provided on the outer ring portion, the inner ring portion, and the outer ring portion. A needle bearing including a needle is provided, and the needles provided on the inner ring portion and the outer ring portion are arranged at a predetermined distance from each other. As a result, in a normal case, that is, when the load applied to the joint is a load that can be supported by the first bearing, the output member is supported by the first bearing and the load applied to the joint can be supported by the first bearing. When it becomes larger than, the output member can be supported by the first bearing and the needle bearing. As a result, it is possible to secure the resistance (load bearing capacity) of the bearing that supports the driving portion of the articulated robot arm while reducing the size of the joints of the articulated robot arm. As a result, the joints can be miniaturized, so that the articulated robot arm can be miniaturized. Further, when the load applied to the joint becomes large, the output member can be supported by the needle bearing as the second bearing, so that the output member can be stably supported even when the load is large.

In the joint drive mechanism of the articulated robot arm according to the first aspect, the needle bearing is preferably arranged on the output member side with respect to the first bearing in the direction in which the rotation axis extends.

In the joint drive mechanism of the articulated robot arm according to the first aspect, preferably, the inner ring portion of the needle bearing is fixedly arranged, and the outer ring portion is integrated with the output member. With this configuration, the outer ring portion of the needle bearing can be rotated with respect to the inner ring portion together with the output member to drive the joint.

In this case, preferably, the outer ring of the first bearing is fixedly arranged, and the inner ring is integrated with the output member. With this configuration, the portion fixedly arranged by the first bearing and the second bearing can be sandwiched . Since it usually supports more output member to the first bearings, unlike the case for supporting the output member by both the first bearing and the second bearing, is always extra stress that according to the first bearing and the second bearing Ru can be suppressed.

In the joint drive mechanism of the articulated robot arm according to the first aspect, the first bearing is preferably a cross roller bearing. With this configuration, the cross-roller bearing can reduce the size of the first bearing and effectively enhance the resistance (load bearing capacity) of the first bearing in the rotation axis direction and the radial direction.

In the joint drive mechanism of the articulated robot arm according to the first aspect, the reducer is preferably a strain wave gear reducer or an eccentric swing type planetary gear reducer. With this configuration, it is possible to effectively decelerate while reducing the size of the speed reducer by using the strain wave gearing speed reducer or the eccentric swing type planetary gear speed reducer.

The articulated robot arm according to the second aspect of the present invention includes a plurality of joints, and the drive mechanism for driving at least one of the plurality of joints is the joint drive mechanism for the articulated robot arm according to the first aspect. Is.

In the articulated robot arm according to the second aspect of the present invention, as described above, by using the joint drive mechanism according to the first aspect, the articulated robot arm can be miniaturized while reducing the size of the joints of the articulated robot arm. The resistance of the bearing that supports the driving part of the joint can be ensured.

The robot operating table according to the third aspect of the present invention includes a table for patient placement and an articulated robot arm having one end supported by a base and the other end supporting the table. , A plurality of joints and a plurality of joint drive mechanisms for driving the plurality of joints, respectively, and at least one of the plurality of joint drive mechanisms is connected to the motor and the output shaft of the joint. The first reduction gear that coincides with the rotation axis, the output member connected to the output shaft of the first reduction gear, the first bearing that rotatably supports the output member, the outer ring portion, the inner ring portion, and the outer ring portion. A needle bearing including a plurality of provided needles is included, and one of the outer ring portion and the inner ring portion is connected to an output member, and the inner ring portion and each of the plurality of needles provided on the outer ring portion are The needle bearings are arranged apart from each other at predetermined intervals so that the needle bearing functions as a second bearing that rotatably supports the output member when the inner ring portion comes into contact with the needle due to the load applied to the joint. It is configured .

In the robot operating table according to the third aspect of the present invention, as described above, the articulated robot arm that supports the table, the first bearing that rotatably supports the output member, and the outer ring portion, the inner ring portion, and the outer ring portion. A needle bearing including a plurality of provided needles is provided, and the needles provided on the inner ring portion and the outer ring portion are arranged at a predetermined interval. As a result, when the load applied to the joint is a load that can be supported by the first bearing, the output member is supported by the first bearing, and the load applied to the joint becomes larger than the load that can be supported by the first bearing. In this case, the output member can be supported by the first bearing and the needle bearing. As a result, it is possible to secure the resistance of the bearing that supports the driving portion of the articulated robot arm while reducing the size of the joint of the articulated robot arm. As a result, the joints can be miniaturized, so that the articulated robot arm can be miniaturized. As a result, it is possible to prevent the articulated robot arm from interfering with the work of the medical staff when performing an operation or the like on the patient placed on the table. Further, when the load applied to the joint becomes large, the output member can be supported by the needle bearing as the second bearing, so that the output member can be stably supported even when the load is large.

In the robot operating table according to the third aspect, the needle bearing is preferably arranged on the output member side with respect to the first bearing in the direction in which the rotation axis extends.

In the robot operating table according to the third aspect, preferably, the inner ring portion of the needle bearing is fixedly arranged, the outer ring portion is integrated with the output member, and the outer ring of the first bearing is fixedly arranged. The inner ring is integrated with the output member. With this configuration, the portion fixedly arranged by the first bearing and the second bearing can be sandwiched . Since it usually supports more output member to the first bearings, unlike the case for supporting the output member by both the first bearing and the second bearing, is always extra stress that according to the first bearing and the second bearing Ru can be suppressed.

In the robot operating table according to the third aspect, preferably, the articulated robot arm is rotatably supported by the base around a base rotation axis substantially perpendicular to the installation surface on which the base is installed. The output shaft of the speed reducer is arranged in a direction substantially orthogonal to the base rotation shaft. With this configuration, resistance to the load of the joint having the rotation axis in the horizontal direction can be ensured, so that the table can be stabilized in the vertical direction even when a patient with a large weight is placed on the table. Can be moved.

In the robot operating table according to the third aspect, preferably, the joint drive mechanism further includes a second reduction gear in which the rotation of the motor is transmitted, the transmitted rotation is decelerated and output to the first reduction gear. With this configuration, the first reduction gear and the second reduction gear can reduce the speed in two stages, so that a large output torque can be obtained. As a result, a large output torque can be obtained without using a large-diameter speed reducer, so that it is possible to prevent an increase in the diameter of the joint. Moreover, since the maximum output of the motor can be reduced, the motor can be reduced. As a result, the joint can be miniaturized.

In the robot operating table according to the third aspect, preferably, the motor incorporates a first electromagnetic brake, and the joint drive mechanism further includes a second electromagnetic brake attached to the output rotation shaft of the motor. With this configuration, the joints can be braked by the two-stage brakes of the first electromagnetic brake and the second electromagnetic brake, so that even if one of the electromagnetic brakes breaks down when the power is stopped, the table will suddenly move. It is possible to surely suppress the descent.

According to the present invention, it is possible to secure the resistance to the load of the joint while reducing the size of the joint of the articulated robot arm.

It is a figure which showed the outline of the hybrid operating room provided with the robot operating table by one Embodiment. It is a top view which showed the robot operating table by one Embodiment. It is a schematic diagram which showed the joint drive mechanism of the articulated robot arm of the robot operating table by one Embodiment. It is a figure for demonstrating the needle bearing of the joint drive mechanism by one Embodiment. It is a partially enlarged view of FIG. It is a side view for demonstrating the maximum imageable range of the robot operating table by one Embodiment. It is a side view for demonstrating the minimum possible imaging range of the robot operating table by one Embodiment. It is a front view for demonstrating the roll rotation of the robot operating table by one Embodiment. It is a side view for demonstrating the pitch rotation of a robot operating table by one Embodiment.

Hereinafter, embodiments will be described with reference to the drawings.

(Structure of robot operating table)
The outline of the robot operating table 100 according to the present embodiment will be described with reference to FIGS. 1 to 9.

As shown in FIG. 1, the robot operating table 100 is provided in the hybrid operating room 200. The hybrid operating room 200 is provided with an X-ray imaging device 300 that captures an X-ray projection image of the patient 10. The robot operating table 100 is used, for example, as an operating table performed in surgery, internal medicine, or the like. The robot operating table 100 moves to a placement position where the patient 10 is placed on the table 1, and with the patient 10 placed on the table 1, the anesthesia position, the operation position, the examination position, the treatment position, and X-ray imaging. It is possible to move the patient 10 to a position or the like. Further, the robot operating table 100 can tilt the patient 10 with the patient 10 placed on the table 1.

The robot operating table 100 includes a table 1 for placing a patient, an articulated robot arm 2, and a control unit 3. The table 1 includes an X-ray transmitting portion 11 and a supporting portion 12 that supports the X-ray transmitting portion 11. The articulated robot arm 2 includes a base 21, a horizontal articulated assembly 22, a vertical articulated assembly 23, and a pitch rotation mechanism 24. The horizontal articulated assembly 22 includes horizontal joints 221, 222 and 223. The vertical articulated assembly 23 includes vertical joints 231, 232 and 233. The X-ray imaging apparatus 300 includes an X-ray irradiation unit 301, an X-ray detection unit 302, and a C-arm 303. The horizontal joints 221 to 223 and the vertical joints 231 to 233 are examples of "joints" within the scope of the claims, respectively.

As shown in FIGS. 1 and 2, the table 1 is formed in a substantially rectangular flat plate shape. Further, the upper surface of the table 1 is formed to be substantially flat. The table 1 has a longitudinal direction in the X direction and a lateral direction in the Y direction. The table 1 can be rotated around the axis in the vertical direction (Z direction), but here, the horizontal direction along the longitudinal direction of the table 1 is the X direction, and the table 1 is horizontal along the lateral direction of the table 1. The direction is the Y direction. That is, the X direction and the Y direction indicate directions with respect to the table 1.

As shown in FIG. 1, the patient 10 is placed on the X-ray transmitting portion 11 of the table 1. The X-ray transmitting portion 11 is arranged in the X1 direction. The X-ray transmitting portion 11 is formed in a substantially rectangular shape. The X-ray transmitting portion 11 is formed of a material that easily transmits X-rays. The X-ray transmitting portion 11 is formed of, for example, a carbon material (graphite). The X-ray transmitting portion 11 is formed of, for example, carbon fiber reinforced plastic (CFRP). As a result, it is possible to take an X-ray image of the patient 10 with the patient 10 placed on the X-ray transmitting portion 11.

The support portion 12 of the table 1 is connected to the articulated robot arm 2. The support portion 12 is arranged in the X2 direction. The support portion 12 is formed in a substantially rectangular shape. The support portion 12 supports the X-ray transmission portion 11. The support portion 12 is made of a material having a smaller X-ray transmittance than the X-ray transmitting portion 11. The support portion 12 is made of, for example, metal. The support portion 12 is formed of, for example, an iron material or an aluminum material.

The table 1 is configured to be moved by an articulated robot arm 2. Specifically, the table 1 is configured to be movable in the X direction in the horizontal direction, the Y direction in the horizontal direction orthogonal to the X direction, and the Z direction which is orthogonal to the X direction and the Y direction and is the vertical direction. There is. Further, the table 1 is configured to be rotatable (roll) around the axis in the X direction. Further, the table 1 is configured to be rotatable (pitch) around the axis in the Y direction. Further, the table 1 is configured to be rotatable (yaw) around the axis in the Z direction.

The articulated robot arm 2 is configured to move the table 1. As shown in FIG. 1, one end of the articulated robot arm 2 is supported by a base 21 fixed to the floor, and the other end movably supports the table 1. Specifically, the articulated robot arm 2 is rotatably supported by the base 21 around a base rotation axis (rotation axis A1) substantially perpendicular to the installation surface on which the base 21 is installed. Further, the articulated robot arm 2 is configured to support the vicinity of one end of the table 1 on the X2 direction side in the longitudinal direction (X direction). In other words, the other end of the articulated robot arm 2 supports the support portion 12 near one end of the table 1.

The articulated robot arm 2 is configured to move the table 1 with seven degrees of freedom. Specifically, the articulated robot arm 2 is rotated around the vertical rotation axis A1, rotation around the vertical rotation axis A2, and rotation in the vertical direction by the horizontal articulated assembly 22. It has 3 degrees of freedom of rotation around the axis A3. Further, the articulated robot arm 2 is rotated around the horizontal rotation axis B1 by the vertical articulated assembly 23, around the horizontal rotation axis B2, and around the horizontal rotation axis B3. It has 3 degrees of freedom of rotation. Further, the articulated robot arm 2 has one degree of freedom in which the table 1 is pitch-rotated (see FIG. 9) around the rotation axis in the lateral direction (Y direction) by the pitch rotation mechanism 24. ..

The base 21 is embedded and fixed in the floor. The base 21 is provided near the center of the moving range of the table 1 in a plan view (viewed in the Z direction).

One end of the horizontal articulated assembly 22 is supported by the base 21. Further, the other end of the horizontal articulated assembly 22 supports one end of the vertical articulated assembly 23. The horizontal joint 221 of the horizontal articulated assembly 22 is configured to rotate about the rotation axis A1 in the Z direction. The horizontal joint 222 of the horizontal articulated assembly 22 is configured to rotate about the rotation axis A2 in the Z direction. The horizontal joint 223 of the horizontal articulated assembly 22 is configured to rotate around the rotation axis A3 in the Z direction.

One end of the vertical articulated assembly 23 is supported by the horizontal articulated assembly 22. Further, the other end of the vertical articulated assembly 23 supports the pitch rotation mechanism 24. The vertical joint 231 of the vertical articulated assembly 23 is configured to rotate about the rotation axis B1 in the X direction. The vertical joint 232 of the vertical articulated assembly 23 is configured to rotate about the rotation axis B2 in the X direction. The vertical joint 233 of the vertical articulated assembly 23 is configured to rotate about the rotation axis B3 in the X direction.

The distance between the adjacent joints has a length smaller than the length in the lateral direction (Y direction) of the table 1, respectively. That is, the distance between the rotation axis A1 and the rotation axis A2, the distance between the rotation axis A2 and the rotation axis A3, the distance between the rotation axis A3 and the rotation axis B1, and the distance between the rotation axis B1 and the rotation axis B2. And the distance between the rotation axis B2 and the rotation axis B3, respectively, have a length smaller than the length in the lateral direction of the table 1.

As shown in FIG. 3, the horizontal joints 221 to 223 and the vertical joints 231 to 233 are each provided with a joint drive mechanism 4. The horizontal joints 221 to 223 and the vertical joints 231 to 233 are configured to be driven by the joint drive mechanism 4 provided therein. The joint drive mechanism 4 includes a motor 41, a speed reducer 42, a speed reducer 43, and an electromagnetic brake 44. The motor 41 is provided with an encoder 41a and a built-in electromagnetic brake 41b. The horizontal joints 221 to 223 and the vertical joints 231 to 233 are rotated around the rotation axis by the drive of the respective motors 41. The joint drive mechanism 4 is an example of the "joint drive mechanism of the articulated robot arm" in the claims. Further, the electromagnetic brake 41b and the electromagnetic brake 44 are examples of the "first electromagnetic brake" and the "second electromagnetic brake" in the claims, respectively. Further, the speed reducer 42 and the speed reducer 43 are examples of the "second speed reducer" and the "first speed reducer" in the claims, respectively.

Here, in the present embodiment, as shown in FIG. 4, the joint drive mechanism 4 is provided with a fixing portion 5, an output member 6, and a needle bearing 7. The fixed portion 5 is fixedly arranged. The output member 6 is configured to rotate about the rotation axis with respect to the fixed portion 5. The joints (horizontal joints 221 to 223, vertical joints 231 to 233) are rotated by the rotation of the output member 6 with respect to the fixing portion 5.

As shown in FIG. 3, the motor 41 includes a servomotor. The motor 41 is configured to be driven by the control of the control unit 3. A speed reducer 42 is attached to the output rotation shaft of the motor 41 via an electromagnetic brake 44. The electromagnetic brake 41b and the electromagnetic brake 44 are configured to brake the joints (horizontal joints 221 to 223, vertical joints 231 to 233). The encoder 41a is configured to detect the driving amount of the motor 41 and transmit the detection result to the control unit 3. The electromagnetic brakes 41b and 44 are configured to brake the drive of the joints (horizontal joints 221 to 223, vertical joints 231 to 233). The electromagnetic brake 44 is attached to the output rotating shaft of the motor 41.

The speed reducers 42 and 43 are composed of wave gear speed reducers. Further, the speed reducer 42 and the speed reducer 43 are connected in series. That is, the rotational output of the motor 41 is decelerated in two stages by the speed reducer 42 and the speed reducer 43. The speed reducer 42 is configured to transmit the rotation of the motor 41, decelerate the transmitted rotation, and output it to the speed reducer 43. The speed reducer 43 is connected to the motor 41 via the speed reducer 42. The speed reducer 43 is arranged so that the output shaft coincides with the rotation axis of the joints (horizontal joints 221 to 223 and vertical joints 231 to 233).

As shown in FIG. 4, the speed reducer 43 (wave gear reducer) can include an annular rigid internal gear 433 and an annular flexible external gear 432 arranged inside the rigid internal gear 433. The flexible external gear 432 is flexed to partially mesh with the rigid internal gear 433 at two points, and the meshing position between the rigid internal gear 433 and the flexible external gear 432 is moved in the circumferential direction. Includes a wave generator 431 to be made to. The wave generator 431 is coaxially attached to the input rotation shaft C1 of the strain wave gearing reducer. The flexible external gear 432 is connected to the fixing portion 5 and is fixedly arranged. The rigid internal gear 433 is connected and fixed to the output rotating shaft C2 of the strain wave gearing reducer.

In the speed reducer 43 (strain wave gearing speed reducer), rotation is input to the wave generator 431, and the reduced rotation is output from the rigid internal gear 433. In other words, the input shaft of the speed reducer 43 is connected to the power side (motor 41 side) via the shaft 431a, and the output shaft of the speed reducer 43 is connected to the output member 6. The output axes of the speed reducers 43 provided in the horizontal joints 221 to 223 are arranged in parallel with the vertical direction (Z direction). The output axes of the speed reducers 43 provided in the vertical joints 231 to 233 are arranged parallel to the horizontal direction (X direction).

The speed reducer 43 is provided with one cross roller bearing 434 and two ball bearings 435. The cross roller bearing 434 functions as a first bearing that rotatably supports the output member 6 (rigid internal gear 433). The outer ring of the cross roller bearing 434 as the first bearing is fixedly arranged, and the inner ring is integrated with the output member 6. Specifically, in the cross roller bearing 434, the outer ring is connected to the fixing portion 5, and the inner ring is connected to the output member 6. The ball bearing 435 rotatably supports the wave generator 431. Further, the fixing portion 5 is connected to the flexible external gear 432, and the output member 6 is connected to the rigid internal gear 433.

The needle bearing 7 includes an outer ring portion 71, an inner ring portion 72, and a plurality of needles 73 provided along the circumferential direction of the outer ring portion 71. The outer ring portion 71 and the inner ring portion 72 are formed in an annular shape. Further, the central axes of the outer ring portion 71 and the inner ring portion 72 are arranged so as to substantially coincide with the rotation axis of the speed reducer 43. The outer ring portion 71 is arranged so as to face the outside of the inner ring portion 72 in the radial direction. The plurality of needles 73 are arranged so as to extend in a direction substantially parallel to the central axis of the outer ring portion 71. Further, the plurality of needles 73 are configured to be rotatable around a rotation axis in a direction substantially parallel to the central axis of the outer ring portion 71.

Here, in the present embodiment, the outer ring portion 71 of the needle bearing 7 is connected to the output member 6. Further, the inner ring portion 72 of the needle bearing 7 is connected to the fixing portion 5. That is, in the needle bearing 7, the inner ring portion 72 is fixedly arranged, and the outer ring portion 71 is integrated with the output member 6. Further, in the present embodiment, the inner ring portion 72 and the needle 73 provided on the outer ring portion 71 are arranged at a predetermined distance from each other.

Specifically, as shown in FIG. 5, when the load applied to the joints (horizontal joints 221 to 223 and vertical joints 231 to 233) is small, the inner ring portion 72 and the needle 73 are separated by the interval G1. The interval G1 is a distance at which the inner ring portion 72 and the needle 73 can come into contact with each other when the load applied to the joints (horizontal joints 221 to 223 and vertical joints 231 to 233) is large. That is, when the inner ring portion 72 comes into contact with the needle 73 due to the load applied to the joints (horizontal joints 221 to 223 and vertical joints 231 to 233), the needle bearing 7 serves as a second bearing that rotatably supports the output member 6. It is configured to work. In this embodiment, the spacing G1 is, for example, about 0.07 mm. The interval G1 can be set within a range of 0.05 mm or more and 0.5 mm or less, and is preferably set within a range of 0.05 mm or more and 0.2 mm or less.

As shown in FIG. 2, the articulated robot arm 2 is arranged so as to be completely hidden below the table 1 in a plan view (viewed in the Z direction). For example, the articulated robot arm 2 is configured to be housed in a space under the table 1 when the table 1 is located at the surgical position. That is, the articulated robot arm 2 is folded when the table 1 is moved to a position where the patient 10 placed on the table 1 is operated or treated, and is folded in a plan view (viewed in the Z direction). ), It is configured to be completely hidden under the table 1. Further, the length of the articulated robot arm 2 in the folded posture in the direction parallel to the longitudinal direction of the table 1 is ½ or less of the length in the longitudinal direction of the table 1.

Further, the articulated robot arm 2 can reduce the height of the table 1 to 500 mm. This makes it possible to handle surgery performed while sitting on a chair. Further, the articulated robot arm 2 can raise the height of the table 1 to 1100 mm.

As shown in FIG. 6, in the present embodiment, when the articulated robot arm 2 is arranged close to the X2 side of the table 1, the X-ray imaging apparatus 300 provides a maximum imaging range of a distance D1 minutes in the X direction. Imaging is possible. That is, when the articulated robot arm 2 is arranged closer to the X2 side of the table 1, a space for a distance D1 is secured below the table 1 in the X direction. The distance D1 is, for example, substantially equal to the length of the X-ray transmitting portion 11 in the X direction. That is, in the robot operating table 100 of the present embodiment, it is possible to image the substantially whole body of the patient 10 with the X-ray imaging apparatus 300.

As shown in FIG. 7, in the present embodiment, when the articulated robot arm 2 is extended to the maximum in the X2 direction in the horizontal direction, the X-ray imaging device 300 increases the minimum imageable range by the distance D2 in the X direction. Imaging is possible. That is, when the articulated robot arm 2 is extended to the maximum in the horizontal X2 direction, a space for a distance D2 is secured below the table 1 in the X direction. The distance D2 is, for example, ½ or more of the length of the X-ray transmitting portion 11 in the X direction. That is, in the robot operating table 100 of the present embodiment, at least half or more of the whole body of the patient 10 can be imaged by the X-ray imaging apparatus 300. In this embodiment, for example, D1 is 1800 mm and D2 is 1540 mm.

Further, the articulated robot arm 2 is configured to yaw rotate the table 1 around the axis in the vertical direction (Z direction) by at least one horizontal joint (at least one of 221, 222 and 223). .. For example, the articulated robot arm 2 is configured to yaw rotate the table 1 by the bottom horizontal joint 221 or the top horizontal joint 223. Alternatively, the articulated robot arm 2 is configured to drive a plurality of horizontal joints in an interlocking manner to rotate the table 1 in a yaw.

Further, as shown in FIG. 8, the articulated robot arm 2 rolls the table 1 around the axis in the longitudinal direction (X direction) by at least one vertical joint (at least one of 231 and 232 and 233). It is configured to move. For example, the articulated robot arm 2 is configured to roll the table 1 by the lowermost vertical joint 231 or the uppermost vertical joint 233. Alternatively, the articulated robot arm 2 is configured to drive a plurality of vertical joints in an interlocking manner to rotate the table 1. The articulated robot arm 2 can roll around the table 1 in a range of an angle θ1 clockwise with respect to the horizontal direction when the table 1 is viewed in the X direction, and can rotate in a range of an angle θ1 counterclockwise with respect to the horizontal direction. The roll can be rotated with. For example, θ1 is 30 degrees.

Further, as shown in FIG. 9, the articulated robot arm 2 is configured so that the table 1 is pitch-rotated around the axis in the lateral direction (Y direction) by the pitch rotation mechanism 24. The pitch rotation mechanism 24 includes a first support member 241 and a second support member 242. The pitch rotation mechanism 24 is supported on the other end of the vertical articulated assembly 23. The pitch rotation mechanism 24 is connected to the table 1 and supports the table 1 so as to be able to rotate the pitch. Specifically, the pitch rotation mechanism 24 supports the table 1 in a pitch-rotatable manner by the first support member 241 and the second support member 242. The first support member 241 and the second support member 242 are arranged at a predetermined distance along a direction (X direction) parallel to the longitudinal direction of the table 1. The first support member 241 is arranged on the X1 direction side. The second support member 242 is arranged on the X2 direction side. Further, the pitch rotation mechanism 24 is arranged near one side of the table 1 in the lateral direction (Y direction). Specifically, the pitch rotation mechanism 24 is arranged near the end of the table 1 in the Y1 direction.

The first support member 241 and the second support member 242 are configured to be movable in the vertical direction (Z direction), respectively. When the first support member 241 is moved to a position lower than the second support member 242, the table 1 is pitch-rotated so that the X1 side is lower. On the other hand, when the first support member 241 is moved to a position higher than the second support member 242, the table 1 is pitch-rotated so that the X1 side is higher. Further, when the first support member 241 and the second support member 242 are moved to the same height position, the table 1 becomes horizontal in the pitch rotation.

As shown in FIG. 9, the articulated robot arm 2 is capable of pitch-rotating clockwise with respect to the horizontal direction within a range of an angle θ2 when the table 1 is viewed in the Y direction, and is counterclockwise with respect to the horizontal direction. The pitch can be rotated clockwise within a range of an angle θ2. For example, θ2 is 15 degrees.

The control unit 3 is installed in the base 21 and is configured to control the movement of the table 1 by the articulated robot arm 2. Specifically, the control unit 3 is configured to control the drive of the articulated robot arm 2 and move the table 1 based on an operation by a medical worker (operator).

The X-ray imaging apparatus 300 is configured to be capable of capturing an X-ray projection image of the patient 10 placed on the table 1. The X-ray irradiation unit 301 and the X-ray detection unit 302 are supported by the C arm 303. The X-ray irradiation unit 301 and the X-ray detection unit 302 are moved along with the movement of the C arm 303, and are arranged so as to sandwich the imaging position of the patient 10 at the time of X-ray imaging. For example, one of the X-ray irradiation unit 301 and the X-ray detection unit 302 is arranged in the space above the table 1, and the other is arranged in the space below the table 1. Further, at the time of X-ray imaging, the C-arm 303 that supports the X-ray irradiation unit 301 and the X-ray detection unit 302 is also arranged in the spaces above and below the table 1.

As shown in FIG. 1, the X-ray irradiation unit 301 is arranged so as to face the X-ray detection unit 302. Further, the X-ray irradiation unit 301 is configured to be able to irradiate X-rays toward the X-ray detection unit 302. The X-ray detection unit 302 is configured to detect the X-rays emitted by the X-ray irradiation unit 301. The X-ray detector 302 includes a flat panel detector (FPD). The X-ray detection unit 302 is configured to capture an X-ray image based on the detected X-rays. Specifically, the X-ray detection unit 302 converts the detected X-rays into an electric signal and transmits the detected X-rays to an image processing unit (not shown).

The C-arm 303 has an X-ray irradiation unit 301 connected to one end and an X-ray detection unit 302 connected to the other end. The C arm 303 has a substantially C shape. This makes it possible to support the X-ray irradiation unit 301 and the X-ray detection unit 302 by wrapping around so as not to interfere with the table 1 and the patient 10 during X-ray imaging. The C-arm 303 is configured to be movable relative to the table 1. Specifically, the C-arm 303 is arranged in the horizontal direction and the vertical direction so that the X-ray irradiation unit 301 and the X-ray detection unit 302 are arranged at desired positions with respect to the patient 10 placed on the table 1. It is movable and is configured to be rotatable around a horizontal rotation axis and a vertical rotation axis. The C-arm 303 is moved by a drive unit (not shown) based on an operation by a medical worker (operator). Further, the C arm 303 is configured to be movable manually by a medical worker (operator).

(Effect of this embodiment)
In this embodiment, the following effects can be obtained.

In the present embodiment, as described above, the needle bearing 7 includes a cross roller bearing 434 that rotatably supports the output member 6, and a plurality of needles 73 provided on the outer ring portion 71, the inner ring portion 72, and the outer ring portion 71. And are provided, and the inner ring portion 72 and the needle 73 provided on the outer ring portion 71 are arranged at a predetermined interval. As a result, when the load applied to the joints (horizontal joints 221 to 223 and vertical joints 231 to 233) is not large, the output member 6 is supported by the small and highly load-bearing cross roller bearing 434, and the load is applied. When the load becomes larger than the load that can be supported by the cross roller bearing 434, the output member 6 can be further supported by the needle bearing 7. As a result, it is possible to secure the resistance of the bearing that supports the driving portion of the articulated robot arm 2 while reducing the size of the joint of the articulated robot arm 2. As a result, the joints can be miniaturized, so that the articulated robot arm 2 can be miniaturized.

Further, in the present embodiment, as described above, when the inner ring portion 72 comes into contact with the needle 73 due to the load applied to the joints (horizontal joints 221 to 223, vertical joints 231 to 233), the needle bearing 7 is the output member 6. Is configured to function as a second bearing that rotatably supports the. As a result, when the load applied to the joints (horizontal joints 221 to 223 and vertical joints 231 to 233) becomes large, the output member 6 can be supported by the needle bearing 7 as the second bearing, so that the load is large. Even in this case, the output member 6 can be stably supported.

Further, in the present embodiment, as described above, the needle bearing 7 is configured such that the inner ring portion 72 is fixedly arranged and the outer ring portion 71 is integrated with the output member 6. As a result, the outer ring portion 71 of the needle bearing 7 can be rotated with respect to the inner ring portion 72 together with the output member 6 to drive the joints (horizontal joints 221 to 223 and vertical joints 231 to 233).

Further, in the present embodiment, as described above, the cross roller bearing 434 as the first bearing is configured so that the outer ring is fixedly arranged and the inner ring is integrated with the output member 6. As a result, the portion fixedly arranged by the cross roller bearing 434 as the first bearing and the needle bearing 7 as the second bearing can be sandwiched . Normally, since the supports more output member 6 to the cross roller bearing 43 4, unlike the case for supporting the output member 6 by both of the cross roller bearing 434 and a needle bearing 7, always superfluous to the cross roller bearing 434 and a needle bearing 7 such stress is Ru can be suppressed such of.

Further, in the present embodiment, as described above, the speed reducers 42 and 43 are configured by the strain wave gearing speed reducer. This makes it possible to effectively reduce the speed while reducing the size of the speed reducers 42 and 43 by using the strain wave gearing speed reducer.

Further, in the present embodiment, as described above, the articulated robot arm 2 is rotatably supported by the base 21 around the base rotation axis substantially perpendicular to the installation surface on which the base 21 is installed, and the speed reducer 42. Is configured so that the output axis of is arranged in a direction substantially orthogonal to the base rotation axis. As a result, the resistance to the load of the vertical joints 231 to 233 having the rotation axis in the horizontal direction can be ensured, so that even when the patient 10 having a large weight is placed on the table 1, the table 1 can be moved up and down. It can be stably moved in the (Z direction).

Further, in the present embodiment, as described above, the joint drive mechanism 4 is provided with a speed reducer 42 in which the rotation of the motor 41 is transmitted, the transmitted rotation is decelerated, and the speed reduction is output to the speed reducer 43. As a result, the speed reducers 42 and 43 can reduce the speed in two stages, so that a large output torque can be obtained. As a result, a large output torque can be obtained without using a large-diameter speed reducer, so that it is possible to suppress an increase in the diameter of the joint. Further, since the maximum output of the motor 41 can be reduced, the motor 41 can be reduced. As a result, the joints (horizontal joints 221 to 223 and vertical joints 231 to 233) can be miniaturized.

Further, in the present embodiment, as described above, the motor 41 is equipped with the electromagnetic brake 41b, and the joint drive mechanism 4 is provided with the electromagnetic brake 44 attached to the output rotation shaft of the motor 41. As a result, the joints can be braked by the two-stage brakes of the electromagnetic brakes 41b and 44, so that even if one of the electromagnetic brakes fails when the power is stopped, the table 1 is surely suppressed from suddenly descending. can do.

(Modification example)
It should be noted that the embodiments disclosed this time are exemplary in all respects and are not considered to be restrictive. The scope of the present invention is shown by the scope of claims rather than the description of the above-described embodiment, and further includes all modifications within the meaning and scope equivalent to the scope of claims.

For example, in the above embodiment, an example of a configuration in which an X-ray imaging device is provided in a hybrid operating room has been shown, but the present invention is not limited to this. In the present invention, the hybrid operating room may be provided with a magnetic resonance imaging device that captures a magnetic resonance image of a patient. The hybrid operating room may be provided with both an X-ray imaging device and a magnetic resonance imaging device.

Further, in the above embodiment, an example of the configuration in which the robot operating table is provided in the hybrid operating room is shown, but the present invention is not limited to this. In the present invention, the robot operating table may be provided in an operating room other than the hybrid operating room.

Further, in the above embodiment, an example of the configuration in which the joint drive mechanism of the present invention is provided on the articulated robot arm of the robot operating table is shown, but the present invention is not limited to this. The joint drive mechanism of the present invention may be provided on an articulated robot arm other than the robot operating table. For example, the joint drive mechanism of the present invention may be provided on an articulated robot arm of a robot for industrial use, medical use, home use, or the like.

Further, in the above embodiment, an example in which the speed reducer is configured by a strain wave gearing speed reducer is shown, but the present invention is not limited to this. In the present invention, for example, the speed reducer may be configured by an eccentric swing type planetary gear speed reducer. In this case, the eccentric swing type planetary gear reducer includes a first-stage reduction gear and a second-stage reduction gear, and the first-stage reduction gear has an input gear and a larger number of teeth than the input gear. The second-stage reduction gear has an eccentric portion, and has an eccentric portion and is connected to the spur gear. The rotation shaft, the internal gear, and the internal gear engage with the eccentric portion to rotate eccentrically and inscribe in the internal gear. The eccentric swing type planetary gear reducer has an external tooth planetary gear that rotates while moving the meshing position, and the rotation is transmitted to the input gear, and the output rotation shaft rotates with the rotation of the external tooth planetary gear. It may be configured to do so.

Further, in the above embodiment, an example of a configuration in which the inner ring portion of the needle bearing is fixedly arranged and the outer ring portion is integrated with the output member is shown, but the present invention is not limited to this. In the present invention, the outer ring portion of the needle bearing may be fixedly arranged, and the inner ring portion may be integrated with the output member.

Further, in the above embodiment, an example of a configuration in which the outer ring of the cross roller bearing as the first bearing is fixedly arranged and the inner ring is integrated with the output member is shown, but the present invention is not limited to this. .. In the present invention, the inner ring of the first bearing may be fixedly arranged and the outer ring may be integrated with the output member.

Further, in the above embodiment, an example of the configuration in which the horizontal articulated assembly has three horizontal joints is shown, but the present invention is not limited to this. In the present invention, the horizontal articulated assembly may have two horizontal joints or may have four or more horizontal joints.

Further, in the above embodiment, an example of the configuration in which the vertical articulated assembly has three vertical joints is shown, but the present invention is not limited to this. In the present invention, the vertical articulated assembly may have two vertical joints or may have four or more vertical joints.

Further, in the above embodiment, an example of a configuration in which three consecutive horizontal joints and three consecutive vertical joints are provided on the articulated robot arm has been shown, but the present invention is not limited to this. In the present invention, for example, as an articulated robot arm, a vertical articulated robot having a plurality of portions whose rotation axes of adjacent joints are orthogonal to each other may be used.

Further, in the above embodiment, an example of a configuration in which needle bearings are provided at three horizontal joints and three vertical joints has been shown, but the present invention is not limited to this. In the present invention, for example, needle bearings may be provided in at least one of a plurality of joints. For example, needle bearings may be provided only in the vertical joints.

Further, in the above embodiment, an example of the configuration in which the articulated robot arm has 7 degrees of freedom is shown, but the present invention is not limited to this. In the present invention, the articulated robot arm may have 6 or less degrees of freedom, or may have 8 or more degrees of freedom.

Further, in the above embodiment, an example of a configuration in which two speed reducers are provided in one joint is shown, but the present invention is not limited to this. In the present invention, one speed reducer may be provided for one joint, or three or more speed reducers may be provided.

Further, in the above embodiment, an example of a configuration in which two electromagnetic brakes are provided on one joint is shown, but the present invention is not limited to this. In the present invention, one electromagnetic brake may be provided for one joint, or three or more electromagnetic brakes may be provided.

Further, in the above embodiment, an example of the configuration in which the base is embedded and fixed in the floor is shown, but the present invention is not limited to this. In the present invention, the base may be fixed on the floor.

1: Table, 2: Articulated robot arm, 4: Joint drive mechanism (joint drive mechanism of articulated robot arm), 6: Output member, 7: Needle bearing (second bearing), 21: Base, 41: Motor, 41b: Electromagnetic brake (first electromagnetic brake), 42: reducer (second reducer), 43: reducer (first reducer), 44: electromagnetic brake (second electromagnetic brake), 71: outer ring, 72 : Inner ring, 73: Needle, 100: Robot operating table, 221 222, 223: Horizontal joint (joint), 231, 232, 233: Vertical joint (joint), 434: Cross roller bearing (first bearing)

Claims (13)

With the motor
A reducer that is connected to the motor and whose output shaft coincides with the rotation axis of the joint.
An output member connected to the output shaft of the speed reducer and
A first bearing that rotatably supports the output member,
A needle bearing including an outer ring portion, an inner ring portion, and a plurality of needles provided on the outer ring portion is provided.
One of the outer ring portion and the inner ring portion is connected to the output member.
The inner ring portion and each of the plurality of needles provided on the outer ring portion are arranged at a predetermined distance from each other.
When the inner ring portion comes into contact with the needle due to a load applied to the joint, the needle bearing is configured to function as a second bearing that rotatably supports the output member of the articulated robot arm. Joint drive mechanism. The joint drive mechanism for an articulated robot arm according to claim 1, wherein the needle bearing is arranged on the output member side with respect to the first bearing in a direction in which the rotation axis extends. The joint drive mechanism for an articulated robot arm according to claim 1 or 2, wherein the needle bearing has an inner ring portion fixedly arranged and the outer ring portion integrated with the output member. The joint drive mechanism for an articulated robot arm according to claim 3, wherein the first bearing has an outer ring fixedly arranged and an inner ring integrated with the output member. The joint drive mechanism for an articulated robot arm according to any one of claims 1 to 4, wherein the first bearing is a cross roller bearing. The joint drive mechanism for an articulated robot arm according to any one of claims 1 to 5, wherein the reducer is a strain wave gear reducer or an eccentric swing type planetary gear reducer. Equipped with multiple joints
The articulated robot arm, wherein the driving mechanism for driving at least one of the plurality of joints is the joint driving mechanism of the articulated robot arm according to any one of claims 1 to 6. A table for patient placement and
An articulated robot arm, one end supported by a base and the other end supporting the table.
The articulated robot arm includes a plurality of joints and a plurality of joint drive mechanisms for driving the plurality of joints.
At least one of the plurality of joint drive mechanisms is
With the motor
A first reducer connected to the motor and whose output shaft coincides with the rotation axis of the joint.
An output member connected to the output shaft of the first speed reducer and
A first bearing that rotatably supports the output member,
A needle bearing including an outer ring portion, an inner ring portion, and a plurality of needles provided on the outer ring portion.
One of the outer ring portion and the inner ring portion is connected to the output member.
The inner ring portion and each of the plurality of needles provided on the outer ring portion are arranged at a predetermined distance from each other.
A robot operating table configured to function as a second bearing that rotatably supports the output member when the inner ring portion comes into contact with the needle due to a load applied to the joint. The robot operating table according to claim 8, wherein the needle bearing is arranged on the output member side with respect to the first bearing in a direction in which the rotation axis extends. In the needle bearing, the inner ring portion is fixedly arranged, and the outer ring portion is integrated with the output member.
The robot operating table according to claim 8 or 9, wherein the first bearing has an outer ring fixedly arranged and an inner ring integrated with the output member. The articulated robot arm is rotatably supported by the base around a base rotation axis that is substantially perpendicular to the installation surface on which the base is installed.
The robot operating table according to any one of claims 8 to 10, wherein the output shaft of the first speed reducer is arranged in a direction substantially orthogonal to the base rotation shaft. The joint drive mechanism according to any one of claims 8 to 11, further comprising a second reduction gear in which the rotation of the motor is transmitted, the transmitted rotation is decelerated and output to the first reduction gear. Robot operating table. The motor has a built-in first electromagnetic brake.
The robot operating table according to any one of claims 8 to 12, wherein the joint drive mechanism further includes a second electromagnetic brake attached to the output rotation shaft of the motor.

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