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Robot arm turning joint and doctor robot arm

[Application publication number: CN110393587A; applicant: Shandong Weigao Surgical Robot Co., Ltd .; inventor: Wang Bingqiang; Kong Kang; Zhang Huaifeng; Li Jianmin; Jiang Wanli; Sun Mingyun; Sui Pengjin; Sun Zhijian;]
Summary:
The invention relates to a mechanical arm rotating joint and a doctor's mechanical arm, which solve the technical problems of a large volume of the rotating joint of the mechanical arm and a low measurement accuracy of the joint motion detection device in the existing minimally invasive surgical robot. The first boom, the holding brake, the rotating shaft, the encoder, the encoder mounting plate, the first timing pulley, the timing belt and the second timing pulley. The holding brake is fixedly connected to the base, and the first timing belt is fixed to the base. The shaft is connected to the base through the lower bearing. The upper part of the shaft is fixedly connected to the lower part of the first boom. The upper part of the first boom is connected to the base through the upper bearing. The shaft passes through the center hole of the first timing pulley. , The lower part of the rotating shaft is set in the shaft hole of the brake, the encoder is fixedly connected to the first boom, the second timing pulley is fixedly connected to the encoder's rotating shaft, and the timing belt is connected to the second timing pulley and the first synchronization Between wheels. The invention is widely used in the technical field of medical equipment.
Sovereign items:
A rotating joint of a mechanical arm, comprising a base, a first boom, a brake, a rotating shaft, an encoder, a first timing belt pulley, a timing belt, and a second timing belt, wherein the holding brake and The base is fixedly connected, the first synchronous pulley is fixedly connected to the base, the rotating shaft is connected to the base through a lower bearing, and the upper part of the rotating shaft is fixedly connected to the lower part of the first boom. The upper part is connected to the base through an upper bearing, the rotating shaft passes through the center hole of the first synchronous pulley, the brake is provided with a brake block and a shaft hole, and the lower part of the rotating shaft is provided in the shaft hole of the brake The brake block of the brake is connected to the rotating shaft, the encoder is fixedly connected to the first boom, the second timing belt wheel is fixedly connected to the rotating shaft of the encoder, and the timing belt is connected to the second timing belt wheel The first timing belt wheel.
Claim:
Ranch
A rotating joint of a mechanical arm, comprising a base, a first boom, a brake, a rotating shaft, an encoder, a first timing belt pulley, a timing belt, and a second timing belt, wherein the holding brake and The base is fixedly connected, the first synchronous pulley is fixedly connected to the base, the rotating shaft is connected to the base through a lower bearing, and the upper part of the rotating shaft is fixedly connected to the lower part of the first boom. The upper part is connected to the base through an upper bearing, the rotating shaft passes through the center hole of the first synchronous pulley, the brake is provided with a brake block and a shaft hole, and the lower part of the rotating shaft is provided in the shaft hole of the brake The brake block of the holding brake is connected to the rotation shaft, the encoder is fixedly connected to the first boom, the second timing belt wheel is fixedly connected to the rotation shaft of the encoder, and the timing belt is connected to the second timing belt wheel and The first timing belt wheel.
2. The robot arm rotating joint according to claim 1, wherein the robot arm rotating joint further comprises a connecting shaft, the connecting shaft is fixedly connected to the base, and the upper bearing is connected to the connecting shaft. 3.
3. A mechanical arm rotating joint, comprising a base, a rotating shaft, a first boom, a lower bearing, an upper bearing, an encoder, a first timing pulley and a second timing pulley, wherein the rotation shaft and the An arm is fixedly connected, the upper end of the rotating shaft is connected to the base through an upper bearing, the lower end of the rotating shaft is connected to the base through a lower bearing, the first synchronous pulley is fixedly connected to the base, and the rotating shaft passes through The center hole of the first timing belt pulley, the encoder is fixedly connected to the first boom, the second timing belt pulley is fixedly connected to the shaft of the encoder, and the timing belt is connected to the second timing belt pulley and the first Between timing pulleys.
4. A mechanical arm rotating joint, characterized in that it comprises a base, a pulley shaft, a brake and an encoder mounting seat, a brake, a rotating shaft, an encoder, a fixed synchronous pulley, a rotating synchronous pulley, a synchronous belt, and steel. Belt, large steel pulley and small steel pulley, the pulley shaft is fixedly connected to the base, the left end of the brake and the encoder mounting seat is connected to the pulley shaft through a bearing, the brake and the brake and the encoder The mounting seat is fixedly connected, the brake is provided with a shaft hole, the encoder is fixedly connected to the brake and the encoder mounting seat, the fixed synchronous pulley is fixedly connected with the pulley shaft 21, and the rotating synchronous pulley is connected with The rotary shaft in the encoder is fixedly connected. The timing belt is connected between the fixed synchronous pulley and the rotating synchronous pulley. The rotary shaft is rotatably connected with the brake and the right end of the encoder mounting seat through a bearing. The lower part of the rotary shaft is provided at In the shaft hole of the brake, the large steel belt pulley is fixedly connected to the shaft of the pulley. The large steel belt pulley is provided with a plurality of connecting columns on the circumference. The small steel belt pulley is fixedly connected to the rotating shaft. There are several connecting columns on the steel The belt is provided with several round holes, the left end of the steel belt is sleeved on the large steel belt pulley, the connection post on the large steel belt pulley passes through the round hole on the left side of the steel belt, and the right end of the steel belt is sleeved on the small steel belt pulley , The connecting post on the small steel belt wheel passes through the round hole on the right side of the steel belt.
A medical manipulator arm, comprising the robot arm rotation joint according to any one of claims 1-4.
6. A doctor's robotic arm, characterized by comprising a base, a first boom, a second boom, and a rotary connection base, the rear end of the first boom and the base passing any one of claims 1-4 According to one item of the mechanical arm rotating joint connection, the first arm can be rotated on a horizontal plane; the second arm and the rotating connecting seat are connected by the mechanical arm rotating joint according to any one of claims 1-4, The second arm can be rotated on a vertical plane; the front end of the rotary connection base is connected to the front end of the first arm by a mechanical arm rotation joint according to any one of claims 1-4, and the rotation connection base can be rotated on a horizontal plane.
Robot arm turning joint and doctor robot arm
Technical field
The invention relates to the technical field of minimally invasive surgical machines, and in particular, to a robot arm rotating joint and a doctor robot arm.
Background technique
Reference application publication number is CN109091237A, and the Chinese invention patent application is named Minimally Invasive Surgical Instrument Assist System. The minimally invasive surgery represented by laparoscope is hailed as one of the important contributions of 20th century medical science to human civilization. Minimally invasive surgery It means that the doctor uses a slender surgical tool to penetrate into the body through a small incision on the surface of the human body to perform a surgical operation. Compared with the traditional open surgery, it has the advantages of small surgical incision, less bleeding, small postoperative scars, and fast recovery time, which greatly reduces the suffering of patients; therefore, minimally invasive surgery is widely used in clinical surgery.
Reference application publication number is CN109091238A, and the Chinese invention patent application is named as a split minimally invasive surgical instrument auxiliary system. The minimally invasive surgical robot system includes a doctor's operating table, and the surgeon precisely controls the instruments on the patient's operating table by operating the doctor's mechanical arm. One or more surgical instruments on the robotic arm perform various surgical actions.
Surgical instruments are essential tools for surgical operations, which can perform different functions, including clamping, resection, cutting, suture, anastomosis, etc. Surgical instruments have different configurations, including an execution tip, a wrist, an instrument rod, an instrument box, etc. The surgical instruments are inserted through an opening to perform a remote surgical operation.
However, while minimally invasive surgical robots bring many benefits, there are also a series of technical defects, such as: 1) The surgical equipment has a complicated structure and a large volume, which takes up space in the operating room. The volume of the rotating joints of the robotic arms in minimally invasive surgical robots Larger; 2) Surgical equipment is expensive, the cost of surgery is high, and it is difficult to popularize in domestic hospitals; 3) The measurement accuracy of the joint motion detection device of the robot arm is low. Therefore, it is necessary to continuously optimize the structure of the minimally invasive surgical robot, reduce the cost, and reduce the volume in order to overcome the above disadvantages.
Summary of the invention
The present invention is to solve the technical problems of the large volume of the rotating joint of the mechanical arm and the low measurement accuracy of the joint motion detection device in the existing minimally invasive surgical robot, and provides a small-sized and more accurate mechanical arm rotation measurement of the joint motion parameter. Joints and doctor robotic arm.
The invention provides a mechanical arm rotating joint, including a base, a first boom, a brake, a rotating shaft, an encoder, a first timing belt pulley, a timing belt, and a second timing belt. The brake is fixedly connected to the base. The first synchronous pulley is fixedly connected to the base. The rotating shaft is connected to the base through a lower bearing. The upper part of the rotating shaft is fixedly connected to the lower part of the first boom. The upper part of the first boom is connected to the base through the upper bearing. The brake is provided with a brake block and a shaft hole through the center hole of the first synchronous pulley. The lower part of the rotating shaft is set in the shaft hole of the brake. The brake block of the brake is connected to the shaft, and the encoder is connected to the first arm. The rod is fixedly connected, and the second timing belt pulley is fixedly connected to the rotation shaft of the encoder. The timing belt is connected between the second timing belt pulley and the first timing belt pulley.
Preferably, the mechanical arm rotation joint further includes a connection shaft, the connection shaft is fixedly connected to the base, and the upper bearing is connected to the connection shaft.
The invention also provides a mechanical arm rotating joint, which includes a base, a rotating shaft, a first boom, a lower bearing, an upper bearing, an encoder, a first timing pulley and a second timing pulley. The rotation shaft is fixed to the first boom. Connection, the upper end of the shaft is connected to the base through the upper bearing, the lower end of the shaft is connected to the base through the lower bearing, the first timing pulley is fixedly connected to the base, and the shaft passes through the center hole of the first timing pulley, the code The device is fixedly connected to the first boom, the second timing belt wheel is fixedly connected to the shaft of the encoder, and the timing belt is connected between the second timing belt wheel and the first timing belt wheel.
The invention also provides a mechanical arm rotating joint, including a base, a pulley shaft, a brake and an encoder mounting seat, a brake, a rotating shaft, an encoder, a fixed synchronous pulley, a rotating synchronous pulley, a synchronous belt, a steel belt, Large steel pulley and small steel pulley, the pulley shaft is fixedly connected to the base, the left end of the brake and the encoder mount is connected to the pulley shaft through a bearing, the brake is fixedly connected to the brake and the encoder mount, and the brake is set There are shaft holes, the encoder is fixedly connected to the brake and the encoder mounting seat, the fixed synchronous pulley is fixedly connected to the pulley shaft 21, the rotating synchronous pulley is fixedly connected to the shaft in the encoder, and the synchronous belt is connected to the fixed synchronous pulley The rotating shaft is connected to the right end of the brake and the encoder mounting seat through a bearing through the bearing. The lower part of the shaft is set in the shaft hole of the brake. The large steel belt pulley is fixedly connected to the pulley shaft. The circumference of the wheel is provided with a plurality of connecting columns. The small steel belt wheel is fixedly connected to the rotating shaft. The circumference of the small steel belt wheel is provided with several connection columns. The steel belt is provided with a plurality of round holes. The left end of the steel belt is sleeved on Big steel belt wheel, big Connecting post passes through the pulley on the left side of the circular strip, the steel strip is set in the right end of a small strip on the wheel, coupling studs on the wheel through the small circular hole on the right side of the strip steel.
The invention also provides a doctor's mechanical arm, which comprises the aforementioned mechanical arm rotating joint.
The invention also provides a doctor's mechanical arm, which comprises a base, a first arm, a second arm, and a rotary connection base. The rear end of the first arm is connected to the base through the aforementioned mechanical arm rotation joint, and the first arm The lever can be rotated on a horizontal plane; the second arm is connected with the rotation connection base through the aforementioned mechanical arm rotation joint, and the second arm can be rotated on the vertical plane; the front end of the rotation connection base and the first arm is passed through the aforementioned mechanical arm The rotary joint is connected, and the rotary connection base can rotate on a horizontal plane.
The invention has the advantages of light weight, easy operation, high accuracy, small size, and low cost. It can feedback the movement parameters of the robot arm joints in real time and accurately, and has the function of locking the joints. The invention is particularly suitable for low-speed, light-load use conditions, such as a doctor's robotic arm turning joint of a minimally invasive surgical robot operated in a master-slave follow form.
Further features of the present invention will be clearly described in the following description of specific embodiments.
BRIEF DESCRIPTION OF THE DRAWINGS
Robot arm turning joint and doctor robot arm
Figure 1 is a schematic structural diagram of a doctor's mechanical arm;
Robot arm turning joint and doctor robot arm
2 is a schematic diagram of a joint structure between a first arm and a base;
Robot arm turning joint and doctor robot arm
3 is a schematic diagram of a proportional relationship between the swing and the rotation angle of the first timing pulley and the second timing pulley;
Robot arm turning joint and doctor robot arm
4 is a schematic diagram of a joint structure without a holding brake;
Robot arm turning joint and doctor robot arm
5 is a schematic diagram of a joint structure that increases joint locking torque;
Robot arm turning joint and doctor robot arm
Figure 6 is a schematic diagram of the connection of steel strips.
Symbol description in the picture:
1. Base, 2. First boom, 3. Second boom, 4. Wrist, 5. Brake, 5-2. Brake block, 6. Connecting shaft, 7. First timing pulley, 8 . Second timing belt pulley, 9. Timing belt, 10. Encoder mounting plate, 11. Encoder, 12. Upper bearing, 13. Rotating connection seat, 14. Rotation axis of the first joint, 15. Rotation axis, 16. Rotation axis of the third joint; 17. Rotating shaft, 18. Upper bearing, 19. Lower bearing; 20. Base, 21. Wheeled shaft, 22. Brake and encoder mounting base, 23. Brake , 24. Encoder, 25. Bearing, 26. Fixed timing belt pulley, 27. Rotating timing belt pulley, 28. Timing belt, 29. Steel belt, 29-1. Round hole, 30. Large steel belt pulley, 31. Small steel belt wheel, 32. axis one, 33. axis two; 34. shaft, 35. lower bearing; 36. shaft, 37. bearing.
detailed description
Hereinafter, the present invention will be further described in detail with specific embodiments with reference to the accompanying drawings.
As shown in FIG. 1, the doctor's robot arm, the rear end of the first arm 2 is connected to the base 1 through a joint, the first arm 2 can rotate on a horizontal plane, and the second arm 3 is connected to the rotary connection base 13 through a joint The second arm rod 3 can be rotated on a vertical plane, the rotation connecting base 13 is connected to the front end of the first arm rod 2 through a joint, and the rotation connecting base 13 can be rotated on a horizontal plane.
As shown in the joint structure between the first arm 2 and the base 1 shown in FIG. 2, the brake 5 is fixedly installed on the base 1 by screws, and the first timing belt wheel 7 is fixedly connected to the base 1 to connect the shaft. 6 is fixedly connected to the base 1 by screws, and the upper part of the rear end of the first boom 2 is rotationally connected to the connecting shaft 6 through the upper bearing 12. The upper part of the rotating shaft 34 is fixedly connected with the lower part of the rear end of the first arm rod 2 by screws, and the rotating shaft 34 is rotatably connected with the base 1 through the lower bearing 35. The rotating shaft 34 passes through the center hole of the first timing pulley 7. The holding brake 5 adopts a known structure of the prior art, and is provided with a holding brake block 5-2 and a shaft hole. The lower part of the rotating shaft 34 is provided in the shaft hole of the holding brake 5. The holding brake block 5-2 is connected to the rotating shaft by a flat key 34 connection, in the power-off state, the brake block 5-2 is tightened, and the rotating shaft 34 is further locked and cannot be rotated; in the power-on state, the brake block 5-2 is released, and the rotating shaft 34 can further be supported by the lower bearing 35 Turn down. The encoder mounting plate 10 is fixedly connected to the first boom 2; the encoder 11 is fixedly connected to the encoder mounting plate 10; the second timing pulley 8 is fixedly connected to the shaft of the encoder 11 (the rotation of the second timing pulley 8 can drive The rotation shaft of the encoder 11 is rotated), and the timing belt 9 is connected between the second timing pulley 8 and the first timing pulley 7.
The position feedback function of the joint is realized by an encoder. The process of making the encoder 11 generate a signal is: the base 1 is stationary, the first arm 2 is rotated, and the timing belt 9 is wound on the first timing belt wheel 7. The second timing belt 8 rotates around the axis of the first timing belt 7 while the second timing belt 8 revolves around the axis of the first timing belt 7. The wheel 8 itself rotates (the direction of rotation is opposite to the direction of revolution). Let the angular speed of the second synchronous pulley 8 revolution be ω1, the angle is θ1, the angular speed of the second synchronous pulley 8 rotation is ω2, the angle is θ2, the radius of the first synchronous pulley 7 is R1, and the second synchronous pulley 8 is The radius of R2 is ω1 * R1 = ω2 * R2, that is, θ1 / θ2 = ω1 / ω2 = R2 / R1. It can be seen that variable speed and variable angle transmission can be realized.
It should be noted that if the first arm 2 is stationary and the base 1 is rotated, the first timing pulley 7 is rotated to drive the second timing pulley 8 to rotate, and the encoder 11 also generates a signal. In short, as long as the first boom 2 and the base 1 are relatively moved, the encoder 11 will detect the movement data.
The connecting shaft 6 may be mounted on a certain bracket of the surgical robot system.
For the brake 5 used as a brake, its main function is to lock the first arm 2 when it is not required to rotate. Then, the joint structure without the holding brake is shown in FIG. 4. The rotating shaft 17 is fixedly connected to the rear end of the first boom 2. The upper end of the rotating shaft 17 is connected to the base 1 through the upper bearing 18, and the lower end of the rotating shaft 17 is connected to the lower bearing. 19 is connected to the base 1, the first timing belt pulley 7 is fixedly connected to the base 1, and the rotating shaft 17 passes through the center hole of the first timing belt pulley 7. The encoder mounting plate 10 is fixedly connected to the first boom 2; the encoder 11 is fixedly connected to the encoder mounting plate 10; the second timing pulley 8 is fixedly connected to the shaft of the encoder 11 (the rotation of the second timing pulley 8 can drive The rotation shaft of the encoder 11 is rotated), and the timing belt 9 is connected between the second timing pulley 8 and the first timing pulley 7. The detection working process of the encoder 11 is the same as that of the encoder in FIG. 3.
As for the joint structure between the second arm 3 and the rotary connection base 13, the structure shown in FIG. 2 or FIG. 4 may also be adopted. As for the joint structure between the rotary connection base 13 and the first arm 2, the structure shown in FIG. 2 or FIG. 4 may also be adopted.
As shown in FIG. 5, the joint structure increases the joint locking torque. The pulley shaft 21 is fixedly connected to the base 20. The left end of the brake and encoder mount 22 is rotatably connected to the pulley shaft 21 through a bearing 25. The right end of the brake and encoder mounting base 22 is fixedly connected, the brake 23 is provided with a brake block and a shaft hole, the encoder 24 is fixedly mounted on the brake and the encoder mounting base 22, and the timing belt pulley 26 and the pulley shaft 21 are fixed. The lower end is fixedly connected. The rotating timing pulley 27 is fixedly connected to the rotating shaft in the encoder 24. The timing belt 28 is connected between the fixed timing pulley 26 and the rotating timing pulley 27. The rotating shaft 36 is installed through the bearing 37 and the brake and the encoder. The right end of the seat 22 is rotatably connected. The lower part of the rotating shaft 36 is set in the shaft hole of the holding brake 23. The holding block of the holding brake 23 is connected to the rotating shaft 36 by a flat key. Referring to FIG. 6, the large steel pulley 30 and the pulley shaft 21 The upper part of the large steel belt pulley 30 is fixedly connected with a plurality of connecting posts 30-1 on the circumference, the small steel belt pulley 31 is fixedly connected with the upper part of the rotating shaft 36, and the small steel belt pulley 31 is provided with several connections on the circumference. Column 31-1, several round holes 29-1 are provided on the steel strip 29, and the left end of the steel strip 29 is sleeved on The steel belt pulley 30 (the connecting column 30-1 passes through the circular hole 29-1 on the left side of the steel belt 29), and the right end of the steel belt 29 is sleeved on the small steel belt pulley 31 (the connecting column 31-1 passes through the steel belt 29 The right circular hole 29-1) realizes the transmission. The locking of the rotary joint is realized by the locking function of the steel belt transmission and the holding brake. When the holding brake 23 is energized, the holding brake and encoder mounting seat 22 rotates around the pulley shaft 21 as the center. 32 is the center rotation and rotation at the same time (the encoder 24 generates a signal), and the rotating shaft 36 will also rotate at the same time as the axis 32 as the center rotation. In the power-off state, the brake block of the brake 23 is locked, and the rotating shaft 36 is further locked and cannot rotate. Under the action of the steel belt 29, the brake and the encoder mounting seat 22 cannot rotate around the axis 32. Furthermore, the brake and the brake installation of the encoder mounting seat 22 and the pulley shaft 21 are realized. The theoretical maximum locking torque of the holding brake 23 is M1 nm, and the theoretical maximum locking torque of the joint is M2 nm. The radius where the rotating shaft 36 meshes with the steel belt 29 is R1, and the radius where the pulley shaft 21 meshes with the steel belt 29 is R2. Then there is M1 / R1 = M2 / R2, that is, M2 = M1R2 / R1. If R2> R1, the joint locking torque will increase. The steel belt transmission structure has a small amount of elastic deformation, does not slip, and has high tensile strength.
When the joint structure shown in FIG. 5 is applied, the arm of the mechanical arm is fixedly connected to the brake and the encoder mounting seat 22.
The present invention and its implementation manners have been schematically described above, and the description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by it, without departing from the purpose of the invention, other forms of component configurations, driving devices, and connection methods are not creatively designed in a structural manner similar to this technical solution and The embodiments should all belong to the protection scope of the present invention.
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