TWM646145U - Rotating frame structure and its mechanical device - Google Patents

Abstract

A rotating frame structure is disclosed, which includes an acting component, a first joint, at least one linkage joint, at least one frame and a driving device. The acting component has a fulcrum, and the fulcrum is located at the free end of the acting component. The at least one linkage joint is directly or indirectly coupled between the acting component and the first joint and geared with the first joint, so that a virtual polygon is formed between the fulcrum, the first joint and the at least one linkage joint. Each frame is respectively located between the first joint and the at least one linkage joint, or between two linkage joints. The driving device is coupled to the first joint to drive the first joint to rotate, so that the first joint respectively drives the at least one frame and the at least one linkage joint to drive the acting component to move, and the positions of the first joint and the fulcrum remain unchanged.

Description

Rotating bracket structure and its mechanical device

This invention relates to a rotating bracket structure. Specifically, this invention relates to a rotating bracket structure with a fixed rotation center.

Generally speaking, traditional robotic surgical systems, such as the Da Vinci machine, have multiple robotic arms to perform surgery. In order to cooperate with the surgical site and other machines for surgery, these robotic arms are mostly controlled by pulleys and cables to adjust to the appropriate position and angle. However, this method of operation only relies on the friction of the cable to constrain the device, which results in insufficient stability. Also, when the cable is under tension, its length stretches, causing the device to vibrate.

In order to solve the above technical problems, embodiments of the present invention provide a rotating support structure, which includes an actuating component, a first joint, at least one linking joint, at least one bracket and a driving device. The actuating part has a fulcrum, and the fulcrum is located at the free end of the actuating part. At least one interlocking joint is directly or indirectly connected between the actuating component and the first joint and interlocks with the first joint, so that a virtual polygon is formed between the fulcrum, the first joint and the at least one interlocking joint. Each bracket is located at the first joint and the Between one less connecting joint, or between two connecting joints. The driving device is coupled to the first joint to drive the first joint to rotate, so that the first joint drives the at least one bracket and the at least one linking joint to move, so as to drive the actuating component to move, and the positions of the first joint and the fulcrum remain unchanged.

Embodiments of the present invention also provide a mechanical device that includes a plurality of the above-mentioned rotating bracket structures, and each rotating bracket structure operates independently.

According to the rotating bracket structure and mechanical device provided by the embodiment of the present invention, there is no need to use pulleys and cables to control the Da Vinci machine, and the stability is better. Moreover, through the arrangement of this invention, only one driving device can be used to drive each joint and the bracket, which has a better effect on miniaturization of the device.

10: Rotating bracket structure

20:Mechanical device

100:Actuating parts

110: Fulcrum

200:First joint

210: Drive bevel gear set

211:First bevel gear

212:Second bevel gear

300: first bracket

400: Second bracket

310, 410, 420: first drive shaft

301, 302: Bracket body

303: Support base

304: Shaft hole

320:Second drive shaft

500, 501: first linkage joint

600: Second linkage joint

510: First linkage bevel gear set

610: Second linkage bevel gear set

411, 511, 611: Third bevel gear

412, 512, 612: Fourth bevel gear

513:Fifth bevel gear

514:Sixth bevel gear

700:Driving device

800: Elastic parts

L1: first side length

L2: Second side length

L3: length of third side

L4: length of the fourth side

L5: fifth side length

A1, A1’: the first included angle

A2, A2’: the second included angle

A3, A3’: the third included angle

A4, A4’: the fourth included angle

A5, A5’: the fifth included angle

In order to make the above and other purposes, features, advantages and embodiments of the present invention more obvious and understandable, the attached drawings are described as follows.

Figure 1 is a schematic exploded view of a rotating bracket structure according to an embodiment of the present invention.

FIG. 2A is a schematic assembly diagram of a rotating bracket structure according to an embodiment of the present invention.

FIG. 2B is a schematic side view of a rotating bracket structure according to an embodiment of the present invention.

Figure 3 is an enlarged schematic structural diagram of the first joint of the rotating bracket structure according to an embodiment of the present invention.

Figure 4 is an enlarged schematic structural diagram of the first linkage joint of the rotating bracket structure according to an embodiment of the present invention.

Figure 5 is a schematic structural diagram of the second linkage joint of the rotating bracket structure according to an embodiment of the present invention.

6A to 6C are schematic side views of the rotating state of a rotating bracket structure with even side lengths according to an embodiment of the present invention.

6D to 6E are schematic side views of the rotating state of the rotating bracket structure with odd side lengths according to the embodiment of the present invention.

Figure 7 is an enlarged schematic diagram of the elastic component and the transmission shaft of the rotating bracket structure according to an embodiment of the present invention.

Figure 8 is a schematic diagram of a mechanical device including a rotating bracket structure according to an embodiment of the present invention.

Various embodiments will be described in this specification, and those with ordinary knowledge in the art should be able to easily understand the spirit and principles of the invention by referring to the description and drawings. Here, elements or portions illustrated in the drawings may be exaggerated or changed for the sake of clarity. Therefore, it should be understood by those of ordinary skill in the art that the dimensions and relative proportions of various elements or portions illustrated in the drawings are not the true dimensions and relative proportions of the actual elements or portions. In addition, although some specific embodiments are described in detail herein, these embodiments are illustrative only and are not to be considered restrictive or exhaustive in any respect. Therefore, various changes and modifications to this invention should be obvious and easily achievable to those with ordinary knowledge in the technical field without departing from the spirit and principles of this invention.

It will be understood that, although the terms "first", "second", "third" etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, and/or sections or parts thereof shall not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a 'first element', 'component', 'region', 'layer' or 'section' discussed below could be termed a second element, component, region, layer or section without departing from the teachings herein.

Referring to FIG. 1 , which is a schematic exploded view of a rotating bracket structure according to an embodiment of the present invention. As shown in the figure, the rotating bracket structure 10 provided by the embodiment of the present invention includes an actuating component 100, a first joint 200, a first bracket 300, a first linking joint 500, a second bracket 400, a second linking joint 600 and a drive Device 700. The actuating component 100 has a fulcrum 110 , and the fulcrum 110 is located at the free end of the actuating component 100 .

Referring to FIGS. 2A and 2B , FIG. 2A is a schematic assembly diagram of a rotating bracket structure according to an embodiment of the present invention, and FIG. 2B is a schematic side view of a rotating bracket structure according to an embodiment of the present invention. As shown in Figure 2A, the two ends of the first bracket 300 are connected to the first joint 200 and the first linking joint 500, and the two ends of the second bracket 400 are connected to the first linking joint 500 and the second linking joint 600, and the second linking joint 500 is connected to both ends of the first bracket 300. The joint 600 may be provided on the actuating component 100 .

In Figure 2B, the fulcrum 110, the first joint 200, the first linkage joint 500, and the second linkage joint 600 are sequentially connected to form a virtual polygon, and its corresponding effective side lengths are L1, L2, L3, and L4 in order. . The driving device 700 is coupled to the first joint 200 to drive the first joint to rotate 200, so that the first joint 200 drives the first bracket 300, the first linkage joint 500, the second bracket 400, the second linkage joint 600 and the actuating component 100 to move. And the positions of the first joint 200 and the fulcrum 110 remain unchanged. The implementation of the driving device 700 may be a motor, or a device driven by other power, or even a human-driven device.

It should be noted that the number of interlocking joints is not limited to the number in this embodiment, and can be adjusted accordingly according to various applications of the rotating bracket structure 10 . Furthermore, the lengths of the first bracket 300 , the second bracket 400 and the actuating component 100 are not necessarily equal to the lengths of the sides L1 to L3 of the virtual polygon. In other words, the length and shape of the first bracket 300 , the second bracket 400 and the actuating component 100 can be adjusted according to the usage space of the rotating bracket structure 10 . Below, the detailed structures of the first joint 200 and each linked joint will be described in detail.

Refer to Figure 3, which is an enlarged schematic structural diagram of the first joint of the rotating bracket structure according to an embodiment of the present invention. As shown in the figure, a driving bevel gear set 210 is provided at the first joint 200. The driving bevel gear set 210 includes a first bevel gear 211 and a second bevel gear 212 that are vertically coupled, such as a first bevel gear 211 and a second bevel gear 212. The gear 211 is arranged parallel to the Y-Z plane in FIG. 3 , and the second bevel gear 212 is arranged parallel to the X-Z plane in FIG. 3 . The driving device 700 can drive the first bracket 300 to rotate clockwise along the +X-axis direction, and the fixed first bevel gear 211 links the second bevel gear 212 to rotate counterclockwise along the +Y-axis direction (that is, along the -The direction of the Y-axis rotates clockwise).

Refer to Figure 4, which is an enlarged schematic structural diagram of the first linkage joint of the rotating bracket structure according to an embodiment of the present invention. As shown in the figure, a first linking bevel gear set 510 is provided at the first linking joint 500. The first linking bevel gear set 510 includes a vertically coupled third bevel gear 511 and a fourth bevel gear 512, for example The third bevel gear 511 is arranged parallel to the X-Z plane in FIG. 4 , and the fourth bevel gear 512 is arranged parallel to the Y-Z plane in FIG. 4 . The third bevel gear 511 is connected to the second bevel gear 212 of the first joint 200 through the first transmission shaft 310. In other words, the third bevel gear 511 and the second bevel gear 212 are disposed on an axis extending along the Y direction. Both ends of the first transmission shaft 310 . The second bevel gear 212 links the third bevel gear 511 to rotate clockwise along the +Y axis through the first transmission shaft 310 , and the third bevel gear 511 links the fourth bevel gear 512 to rotate along the +X axis. direction clockwise.

Specifically, the above-mentioned first transmission shaft 310 connecting the third bevel gear 511 and the second bevel gear 212 can be disposed on two pieces of the first bracket 300 as shown in FIG. 3 . Between the bracket body 301 and the bracket body 302 arranged in parallel. The extension direction of the bracket body 301 and the bracket body 302 is parallel to the direction of the first transmission shaft 310 , such as parallel to the direction of the Y-axis in FIG. 3 . Furthermore, a support seat 303 including a shaft hole 304 is provided between the bracket body 301 and the bracket body 302 so that the first transmission shaft 310 passes through the shaft hole 304 and is disposed between the bracket body 301 and the bracket body 302 .

It should be noted that the arrangement of the above-mentioned bracket body 301, bracket body 302, support seat 303, shaft hole 304 and first transmission shaft 310 is not limited to the above-mentioned embodiment. When the driving device 700 drives the first joint 200, the first bevel gear 211 of the bevel gear set 210 is first rotated, and then the second bevel gear 212 is linked, and then the power is transmitted to the second bevel gear 212 through the first transmission shaft 310. A third bevel gear 511 of the linked bevel gear set 510 .

Further, the first linked bevel gear set 510 also includes a vertically coupled fifth bevel gear 513 and a sixth bevel gear 514. For example, the fifth bevel gear 513 is arranged parallel to the Y-Z plane in Figure 4, and the fifth bevel gear 513 is arranged parallel to the Y-Z plane in Figure 4. The six bevel gears 514 are arranged parallel to the X-Y plane in FIG. 4 , that is, any two of the third bevel gear 511 , the fifth bevel gear 513 and the sixth bevel gear 514 are arranged vertically. The fifth bevel gear 513 is connected to the fourth bevel gear 512 through the second transmission shaft 320. In other words, the fifth bevel gear 513 and the fourth bevel gear 512 are arranged on the second transmission shaft 320 extending along the X direction. both ends. The third bevel gear 511 rotates counterclockwise along the +Y-axis direction with the first transmission shaft 310, causing the fourth bevel gear 512 to rotate counterclockwise along the +X-axis direction. The fixed fifth bevel gear 513 is disposed on the first bracket 300 so that the sixth bevel gear 514 rotates clockwise along the +Z-axis direction.

The implementation of the configuration of the above-mentioned second transmission shaft 320 can be understood with reference to FIGS. 3 and 4 . The second transmission shaft 320 is disposed between the bracket body 301 and the bracket body 302 , and the second transmission shaft 320 passes through the third The bevel gear 511 and the fourth bevel gear 512 are indirectly connected to the first transmission shaft 310 .

It can be seen from the above description that by using appropriate bevel gear configurations at the first joint 200 and the first linkage joint 500, pulleys and cables can be used to drive each bracket to rotate, thus achieving better stability. However, the position of the bevel gear configuration can also be set in other positions. According to the size of the operating space required by the Da Vinci machine, the transmission shaft and the bevel gear set are connected at the sixth bevel gear 514 of the first linkage joint 500 to link the second linkage joint 600 provided on the actuating component 100, so that The actuating component 100 is indirectly linked by the first joint 200, as described below.

Refer to FIG. 5 , which is a schematic structural diagram of the second linkage joint of the rotating bracket structure according to an embodiment of the present invention. As shown in the figure, the second linkage joint 600 provided on the actuating component 100 includes a second linkage bevel gear set 610. The second linkage bevel gear set 610 includes a vertically coupled third bevel gear 611 and a fourth bevel gear. gear 612. When the driving device 700 drives the first joint 200, it can sequentially link the first bracket 300, the first linkage joint 500, the second bracket 400, the second linkage joint 600 and the actuating component 100. Similarly, when the driving device 700 controls the first joint 200 to remain stationary, it can also control other joints and the bracket not to move at the same time. Therefore, only one driving device is needed to operate the Da Vinci machine, which is more conducive to the miniaturization of the device.

In addition, as shown in FIG. 5 , the second bracket 400 is formed as a curved arm, whereby the end of the second bracket 400 can be connected to the second linking joint 600 at different angles, thereby changing the direction of force transmission. In order to cooperate with the crank arm design of the second bracket 400, the second bracket 400 is equipped with two transmission shafts, namely the first transmission shaft 410 and the first transmission shaft 420 parallel to the extension direction of the second bracket 400. The two transmission shafts are respectively along the Different sections extend along the second bracket 400 and form an angle with each other. In addition, this setter The ends of the moving shafts are connected to each other correspondingly, and meshing bevel gears, a third bevel gear 411 and a fourth bevel gear 412 are respectively provided at the opposite ends, so that the two transmission shafts rotate in the same direction. To rotate to transmit power and change direction. Through this arrangement, the second bracket 400 can achieve power transmission even when it is formed into a curved arm.

6A to 6C are schematic side views of the rotating state of a rotating bracket structure with even side lengths according to an embodiment of the present invention. As shown in FIG. 6A , the first joint 200 , the first linkage joint 500 , the second linkage joint 600 and the fulcrum 110 of the rotating bracket structure 10 can be regarded as the vertices of a quadrilateral, and the length of the first bracket 300 can be regarded as the vertex of the quadrilateral. The first side length L1, the line connecting the first interlocking joint 500 and the second interlocking joint 600 serves as the second side length L2 of the quadrilateral, the line connecting the second interlocking joint 600 and the fulcrum 110 serves as the third side length L3 of the quadrilateral, and Let the line connecting the fulcrum 110 and the first joint 200 be the fourth side length L4 of the quadrilateral. Before operating the rotating support structure 10, the angle between the fourth side length L4 and the first side length L1 is the first included angle A1, the included angle between the first side length L1 and the second side length L2 is the second included angle A2, and the second included angle A2. The angle between L2 and the third side length L3 is the third included angle A3, and the angle between the third side length L3 and the fourth side length L4 is the fourth included angle A4.

As shown in Figure 6B, when the driving device 700 drives the first joint 200, it sequentially links the first bracket 300, the first linking joint 500, the second bracket 400, the second linking joint 600 and the actuating component 100, and the first joint The positions of 200 and fulcrum 110 remain unchanged, and only the first to fourth included angles A1 to A4 will change.

As shown in Figure 6C, when the operation of the rotating bracket structure 10 is completed, each included angle of the quadrilateral changes from A1' to A4'. From the characteristic that the sum of the interior angles of a quadrilateral is a constant value, we can know that (A1'-A1)+(A2'-A2)+(A3'-A3)+(A4'-A4)=△A1+△A2+△A3+△ A4=0. Therefore, the number of teeth of each bevel gear can be appropriately configured according to the angle change of each included angle before and after the operation of the rotating bracket structure 10 Proportion. For example, the number of teeth of the first bevel gear 211 , the second bevel gear 212 , the third bevel gear 511 and the fourth bevel gear 512 are in sequence T1 to T4 (not labeled in the figure), then the relational expression is used △A2=△A1×((T1×T3)/(T2×T4)) can know the corresponding tooth ratio. For example, the ratio of (T1×T3)/(T2×T4) is between 0.6 and 0.7. In the same way, the appropriate tooth number configuration for other bevel gears can also be obtained from the corresponding relational expressions. Moreover, when the rotating support structure 10 has different numbers of interlocking joints, it means that the polygon formed by the first joint 200, the fulcrum 110 and the interlocking joints is not a non-quadrangle, and the tooth number ratio of each bevel gear can also be configured in the above manner. The configuration of this embodiment is the limitation.

Refer to FIG. 6D and FIG. 6E , which are schematic side views of the rotating state of the rotating bracket structure with odd side lengths according to the embodiment of the present invention. In FIG. 6D , the rotating support structure 10 is configured to include two first linkage joints, namely the first linkage joint 500 and the first linkage joint 501 . The first joint 200, the first linkage joint 500, the first linkage joint 501, the second linkage joint 600 and the fulcrum 110 of the rotating support structure 10 can be regarded as the vertices of a pentagon.

Similarly, the length of the first bracket 300 is taken as the first side length L1 of the pentagon, the line connecting the first linkage joint 500 and the first linkage joint 501 is taken as the second side length L2 of the pentagon, and the first linkage joint The line connecting 501 and the second interlocking joint 600 is taken as the third side length L3 of the pentagon, the line connecting the second interlocking joint 600 and the fulcrum 110 is taken as the fourth side length L4 of the pentagon, and the fulcrum 110 and the first The line connecting the joints 200 serves as the fifth side length L5 of the pentagon. Before operating the rotating support structure 10 , the included angle between the fifth side length L5 and the first side length L1 is the first included angle A1 , the included angle between the first side length L1 and the second side length L2 is the second included angle A2 , and the second included angle A2 . The angle between L2 and the third side length L3 is the third angle A3, the angle between the third side length L3 and the fourth side length L4 is the fourth angle A4, and the angle between the fourth side length L4 and the fifth side length L5 is L5. .

As shown in Figure 6E, when the operation of the rotating bracket structure 10 is completed, each included angle of the pentagon changes from A1' to A5'. From the characteristic that the sum of the interior angles of a pentagon is a constant value, we can know that (A1’-A1)+(A2’- A2)+(A3’-A3)+(A4’-A4)+(A5’-A5)=△A1+△A2+△A3+△A4+△A5=0. Therefore, according to the angle change of each included angle before and after the operation of the rotating bracket structure 10, the tooth number ratio of each bevel gear can be appropriately configured.

Refer to FIG. 7 , which is an enlarged schematic diagram of the elastic component and the transmission shaft of the rotating bracket structure according to an embodiment of the present invention. As shown in the figure, an elastic component 800, such as a spring, etc., can be disposed on the transmission shaft (for example, the first transmission shaft 310) to eliminate the transmission gap between the bevel gears with the preload of the spring, as shown by the arrow in the figure. shown.

Referring to FIG. 8 , which is a schematic diagram of a mechanical device including a rotating bracket structure according to an embodiment of the present invention. As shown in the figure, the above-mentioned rotating bracket structure 10 can be applied to the mechanical device 20 of the medical Da Vinci robot. A plurality of the above-mentioned rotating bracket structures 10 are configured in the mechanical device 20. Each rotating bracket structure 10 can operate independently according to different use space sizes. This kind of mechanical device 20 does not need to use pulleys and cables to drive each bracket to rotate, and has Better stability.

What is described above are only some preferred embodiments of this invention. It should be noted that various changes and modifications may be made to this creation without departing from the spirit and principles of this creation. It should be clear to those with ordinary knowledge in the technical field that this invention is defined by the scope of the attached patent application, and that all possible substitutions, combinations, modifications, and diversions and other changes that are consistent with the meaning of this invention do not exceed the scope of this invention. The scope is defined by the scope of the attached patent application.

300: first bracket

301, 302: Bracket body

400: Second bracket

310:First drive shaft

320:Second drive shaft

500: First linkage joint

510: First linkage bevel gear set

511:Third bevel gear

512:Fourth bevel gear

513:Fifth bevel gear

514:Sixth bevel gear

Claims (11)

A rotating support structure, including: an actuating part with a fulcrum, and the fulcrum is located at the free end of the actuating part; a first joint; at least one linking joint, directly or indirectly connected to the actuating part and the first joint and linked with the first joint, so that a virtual polygon is formed between the fulcrum, the first joint and the at least one linking joint; at least one bracket, each of the brackets is located respectively at the first joint and the at least one linking joint. between the joints or between the two linking joints; and a driving device coupled to the first joint to drive the first joint to rotate, so that the first joint drives the at least one bracket and the at least one linking joint to move respectively. , to drive the actuating component to move, and the positions of the first joint and the fulcrum remain unchanged. The rotating support structure of claim 1, wherein the first joint includes a driving bevel gear set, and each of the linking joints includes a linking bevel gear set. The rotating support structure as claimed in claim 2, further comprising: at least one first transmission shaft, interlockingly connected between the driving bevel gear set and the interlocking bevel gear set, or interlockingly connected between two The linked bevel gear set is used for power transmission; and at least one elastic component is respectively provided on the at least one first transmission shaft, and respectively compresses the transmission gap of the driving bevel gear set or the linked bevel gear. The transmission clearance of the group. The rotating support structure according to claim 2, wherein one of the at least one linkage joint is provided on the actuating component. The rotating support structure of claim 2, wherein the driving bevel gear set includes a first bevel gear and a second bevel gear, and the first bevel gear and the second bevel gear are arranged vertically coupling. The rotating support structure of claim 5, wherein each of the linked bevel gear sets includes a third bevel gear and a fourth bevel gear, and the third bevel gear and the fourth bevel gear are configured as vertical coupling. The rotating support structure according to claim 6, further comprising a first transmission shaft, wherein the second bevel gear and the third bevel gear are disposed at both ends of the first transmission shaft. The rotating support structure of claim 6, wherein each of the linked bevel gear sets further includes: a second transmission shaft; a fifth bevel gear, and the fourth bevel gear are respectively arranged on the second transmission shaft Both ends rotate in conjunction with the fourth bevel gear; and a sixth bevel gear, wherein the fifth bevel gear and the sixth bevel gear are configured to be vertically coupled, and wherein the fifth bevel gear , any two of the sixth bevel gear and the third bevel gear are arranged vertically. The rotating bracket structure of claim 6, wherein the number of teeth of the first bevel gear to the fourth bevel gear is T1 to T4 respectively; wherein the rotation angle of the bracket connecting the linking joint to the first joint is △ A1, and the rotation angle of the other bracket connected to the linkage joint is △A2; the relationship between T1 to T4 and △A1 and △A2 is △A2=△A1×((T1×T3)/(T2×T4 )). The rotating support structure as claimed in claim 6, wherein the number of teeth of the first bevel gear to the fourth bevel gear is T1 to T4 respectively, and the value of (T1×T3)/(T2×T4) is between 0.6 and 0.7. A mechanical device includes a plurality of rotating support structures as described in claim 1, and each rotating support structure operates independently.

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