CN113842218A - Primary adjustment mechanical arm braking system of surgical robot - Google Patents
Primary adjustment mechanical arm braking system of surgical robot Download PDFInfo
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- CN113842218A CN113842218A CN202111192786.8A CN202111192786A CN113842218A CN 113842218 A CN113842218 A CN 113842218A CN 202111192786 A CN202111192786 A CN 202111192786A CN 113842218 A CN113842218 A CN 113842218A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention provides a brake system of a primary adjustment mechanical arm of a surgical robot, which comprises a circulating brake steel wire connected with a rocker arm rotating shaft, wherein the circulating brake steel wire is led out from two sides of the rocker arm rotating shaft and then is connected with a main steel wire guide wheel, the main steel wire guide wheel is rotatably connected with a rocker arm, a steel wire brake assembly is arranged between the rocker arm rotating shaft and the main steel wire guide wheel, the circulating brake steel wire penetrates through the steel wire brake assembly, the steel wire brake assembly locks or unlocks a brake steel wire, and the steel wire brake assembly is connected with a vertical arm. According to the invention, through the circulating brake steel wire and the steel wire brake assembly arranged in the rocker arm, the rotational freedom degree and the translational freedom degree of the mechanical arm can be locked and braked after the initial adjustment is completed, so that the loosening in the operation is avoided, and the mechanical arm can be unlocked by one key when the adjustment is needed, so that the braking is reliable and the unlocking is flexible.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a braking system for a primary adjustment mechanical arm of a surgical robot.
Background
Minimally invasive surgery, also commonly referred to as invasive surgery, is performed by making small incisions in the body surface (or relying on the natural body lumen), and by using image guidance from a visual display system to extend surgical instruments through the body surface incisions into the body for treatment or diagnosis. The minimally invasive surgery technology distinguishes most surgical operations from open surgical modes, the application of the robot technology to medical surgical operations has become more and more popular, the robot has significant advantages in operation stability, rapidity and accuracy, and the integration of the robot technology into the surgical operations can improve the operation environment of doctors and shorten the recovery time of patients.
The robot for minimally invasive surgery has mechanical arms for realizing actions with different degrees of freedom, and the tail ends of the mechanical arms are connected with other multi-degree-of-freedom execution mechanisms and instruments. An initial adjustment mechanical arm of a surgical robot is shown in fig. 1 and comprises a fixed mechanical arm support frame, a rocker arm rotatably connected with the mechanical arm support frame through a rocker arm rotating shaft, and a vertical arm connected with the rocker arm in a sliding mode. The rotational freedom degree and the translational freedom degree are mainly used for initial adjustment before a robot hand operates, the mechanical arm is adjusted to a proper position and angle according to the treatment position of a patient, then the adjusted position and angle need to be locked, so that each initially adjusted freedom degree is fixed in the operation process, the fixation of a virtual fixed point is ensured, and the situation that the tail end of an executing instrument pulls the abdominal wall to cause extra injury to the patient is prevented, so that a corresponding braking system is needed.
It should be noted that the above background description is only for the convenience of clear and complete description of the technical solutions of the present application and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the present application.
Disclosure of Invention
The invention aims to provide a braking system suitable for a primary adjustment mechanical arm of a surgical robot, so that the primary adjustment mechanical arm is reliable in locking and braking, simple and smooth in unlocking and capable of meeting the primary adjustment requirement of the surgical robot.
In order to achieve the purpose, the invention provides a brake system of a primary adjustment mechanical arm of a surgical robot, which comprises a circulating brake steel wire connected with a rocker arm rotating shaft, wherein the circulating brake steel wire is led out from two sides of the rocker arm rotating shaft and then is connected with a main steel wire guide wheel, the main steel wire guide wheel is rotatably connected with a rocker arm, a steel wire brake assembly is arranged between the rocker arm rotating shaft and the main steel wire guide wheel, the circulating brake steel wire penetrates through the steel wire brake assembly and is locked or unlocked by the steel wire brake assembly, and the steel wire brake assembly is connected with a vertical arm.
Further, the steel wire brake assembly comprises a brake support, a plurality of steel wire brakes are connected to the brake support, the circular brake steel wires penetrate through the corresponding steel wire brakes, an unlocking pressing plate is movably connected to the brake support, and the unlocking pressing plate switches the locking or unlocking states of the steel wire brakes.
Furthermore, the brake bracket is provided with an unlocking steel wire, the first end of the unlocking steel wire is fixedly connected with the unlocking pressing plate, the second end of the unlocking steel wire is connected with the unlocking control assembly, and the unlocking control assembly controls the unlocking steel wire to stretch.
Furthermore, the steel wire brake comprises a brake shell fixed with the brake bracket and an unlocking push rod fixed with the unlocking press plate, wherein a first through hole and a second through hole through which the circulating brake steel wire passes are respectively formed on the brake shell and the unlocking push rod, the first end of the unlocking push rod is movably arranged in the first through hole, meanwhile, the first end of the unlocking push rod is connected with the brake shell through a locking spring, the locking spring is kept in a compressed state, a through lock hole is formed in the side wall of the unlocking push rod, a ball is movably arranged in the lock hole, the outer part of the ball is in rolling contact with the hole wall of the first through hole, the inner part of the ball is in contact with the circulating brake steel wire in the second through hole, and the first through hole comprises a cylindrical surface with an unchanged aperture and a conical surface with a gradually reduced aperture, and the circular braking steel wire is locked by driving the ball through the conical surface.
Furthermore, two ends of the unlocking pressing plate are respectively and fixedly connected with an unlocking push rod of the steel wire brake, and the middle of the unlocking pressing plate is connected with the first end of the unlocking steel wire.
Furthermore, two sides of the braking support are respectively connected with one unlocking pressing plate, the two unlocking pressing plates correspond to the four steel wire brakes on the two sides of the braking support, and two steel wire brakes are sleeved on each section of the circulating unlocking steel wire penetrating through the braking support.
Further, unblock control subassembly is including setting up the inside unblock support of rocking arm, it has unblock rocking arm and fixedly connected with unblock cylinder to articulate on the unblock support, the free end of unblock rocking arm with the telescopic link of unblock cylinder is connected, and is whole the second end of unblock steel wire all with the free end of unblock rocking arm is connected, the unblock cylinder passes through trachea and unblock switch intercommunication, simultaneously unblock switch passes through trachea and external air feeder intercommunication, unblock switch's control button extends to the outside of rocking arm.
Furthermore, a spring tube is connected between the braking support and the unlocking support, and an unlocking steel wire between the braking support and the unlocking support is positioned in the spring tube.
Furthermore, a pre-tightening adjusting plate capable of adjusting the installation position is connected in the rocker arm, and the main steel wire guide wheel is rotatably connected with the pre-tightening adjusting plate.
Furthermore, an auxiliary steel wire guide wheel set is connected in the rocker arm, and two sections of circulating brake steel wires led out from the rocker arm rotating shaft bypass the auxiliary steel wire guide wheel set and then are connected with the main steel wire guide wheel.
The scheme of the invention has the following beneficial effects:
according to the operation robot primary adjustment mechanical arm braking system, the circulating braking steel wire and the steel wire braking assembly are arranged in the rocker arm, so that the rotational freedom degree and the translational freedom degree of the mechanical arm can be locked and braked after primary adjustment is completed, looseness in an operation is avoided, one-key unlocking can be realized when adjustment is needed, braking is reliable, and unlocking is flexible;
according to the invention, the steel wire brake assembly locks the circulating brake steel wire through the steel wire brake, the unlocking control assembly stretches the unlocking steel wire and the unlocking pressing plate to unlock, and the steel wire brake completes locking braking or unlocking of the circulating brake steel wire through the structural cooperation of the steel ball on the unlocking push rod and the through hole on the brake shell, so that the structural design is reasonable, and the control is reliable;
other advantages of the present invention will be described in detail in the detailed description that follows.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal braking configuration of the rocker arm of the present invention;
FIG. 3 is a schematic view of the braking structure of the rotating shaft of the rocker arm of the present invention;
FIG. 4 is an enlarged view of the construction of the wire brake assembly of the present invention;
FIG. 5 is a cross-sectional view of the construction of the wire brake of the present invention;
fig. 6 is a schematic structural diagram of an unlocking control assembly according to the present invention.
[ description of reference ]
1-mechanical arm support frame; 2-rocker arm rotation axis; 3-a rocker arm; 4-a vertical arm; 5-circulating the brake steel wire; 6-main steel wire guide wheel; 7-a brake bracket; 8-a wire brake; 9-unlocking the pressure plate; 10-unlocking the steel wire; 11-a brake housing; 12-unlocking the push rod; 13-a locking spring; 14-a lock hole; 15-a ball bearing; 16-a cylindrical surface; 17-conical surface; 18-unlocking the holder; 19-unlocking the rocker arm; 20-unlocking the cylinder; 21-trachea; 22-an unlock switch; 23-a spring tube; 24-pre-tightening adjusting plate; 25-auxiliary steel wire guide wheel group.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a locked connection, a releasable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1, an embodiment of the present invention provides a primary adjustment mechanical arm braking system for a surgical robot, and a corresponding mechanical arm is composed of a fixed mechanical arm support frame 1, a rocker arm 3 rotatably connected to the mechanical arm support frame 1 through a rocker rotation shaft 2, and a vertical arm 4 slidably connected to the rocker arm 3. The rotational freedom degree and the translational freedom degree are both pre-operation primary adjustment freedom degrees, and locking and braking are performed after the adjustment is in place, so that the situation that no looseness occurs in the operation process is ensured.
Meanwhile, as shown in fig. 2 and 3, the braking system comprises a circulating brake wire 5 connected with the rocker arm rotating shaft 2, the circulating brake wire 5 is connected with the rocker arm rotating shaft 2 in a winding and end fixing mode, the circulating brake wire 5 is led out from two sides of the rocker arm rotating shaft 2 and then connected with a main wire guide wheel 6, the main wire guide wheel 6 is rotatably connected with the other end of the rocker arm 3, when the rocker arm 3 rotates relative to the rocker arm rotating shaft 2, one section of the circulating brake wire 5 is gradually extended relative to the rocker arm rotating shaft 2, the other section of the circulating brake wire 5 is gradually shortened and retracted relative to the rocker arm rotating shaft 2, and the main wire guide wheel 6 is opposite, so that the total length of the two sections of the circulating brake wires 5 is not changed. A steel wire brake assembly is arranged between the rocker arm rotating shaft 2 and the main steel wire guide wheel 6, the circulating brake steel wire 5 penetrates through the steel wire brake assembly, the circulating brake steel wire 5 is locked or unlocked by the steel wire brake assembly, and the circulating brake steel wire 5 cannot stretch relative to the rocker arm rotating shaft 2 and the main steel wire guide wheel 6 during locking, so that the rocker arm 3 can be locked and braked relative to the rotating degree of freedom of the rocker arm rotating shaft 2. Meanwhile, the steel wire brake assembly is connected with the vertical arm 4, and after the brake steel wire assembly locks the circulating brake steel wire 5, the brake steel wire assembly cannot slide relative to the circulating brake steel wire 5, so that the vertical arm 4 also completes locking and braking relative to the moving freedom degree of the rocker arm 3, and the locking and unlocking of the two freedom degrees are integrated into a whole through the steel wire brake assembly, so that the locking/unlocking operation of the mechanical arm is facilitated.
Meanwhile, as shown in fig. 4, the wire brake assembly includes a brake bracket 7, a plurality of wire brakes 8 are connected to the brake bracket 7, and the circulating brake wires 5 pass through the corresponding wire brakes 8. Meanwhile, the brake bracket 7 is movably connected with an unlocking pressing plate 9, and the unlocking pressing plate 9 switches the locking or unlocking state of the steel wire brake 8 to lock or unlock the passing circulating brake steel wire 5. The brake support 7 is provided with an unlocking steel wire 10, a first end of the unlocking steel wire 10 is fixedly connected with an unlocking pressing plate 9, a second end of the unlocking steel wire 10 is connected with an unlocking control assembly, the unlocking control assembly is used for controlling the unlocking steel wire 10 in a stretching mode, and therefore the unlocking pressing plate 9 is pulled through the unlocking steel wire 10, and the state of the steel wire brake 8 is switched through the unlocking pressing plate 9.
Meanwhile, as shown in fig. 5, the wire brake 8 includes a brake housing 11 fixed to the brake bracket 7, and an unlocking push rod 12 having a second end fixed to the unlocking pressing plate 9, the brake housing 11 and the unlocking push rod 12 are respectively formed with a first through hole and a second through hole through which the circulating brake wire 5 passes, a first end of the unlocking push rod 12 is movably disposed in the first through hole, and a first end of the unlocking push rod 12 is connected to the brake housing 11 through a locking spring 13. A through lock hole 14 is formed in the side wall of the unlocking push rod 12, a ball 15 capable of rolling freely is arranged in the lock hole 14, the outer portion of the ball 15 is in rolling contact with the hole wall of the first through hole, and the inner portion of the ball 15 is in contact with the circulating brake steel wire 5 in the second through hole. Correspondingly, the first through hole comprises a cylindrical surface 16 with a constant aperture and a conical surface 17 with a decreasing aperture.
The locking spring 13 is kept in a compressed state, when the unlocking push rod 12 is not pushed inwards by the unlocking pressing plate 9, the unlocking push rod is close to the second end of the first through hole under the action of elastic force of the locking spring 13, the outer portion of the ball 15 is in rolling contact with the conical surface 17, the ball 15 is extruded inwards under the condition that the aperture of the conical surface 17 is reduced, the circulating brake steel wire 5 in the second through hole is pressed, and the circulating brake steel wire 5 cannot freely slide along the second through hole or the first through hole, so that a locking state is formed. When the degree of freedom of the mechanical arm needs to be adjusted initially before the operation, the unlocking control assembly stretches the unlocking steel wire 10, so that the unlocking pressing plate 9 pushes the unlocking push rod 12 to move towards the first end of the first through hole, the elastic force of the locking spring 13 is overcome to do work, and the locking hole 14 and the ball 15 are gradually located on the cylindrical surface 16 of the first through hole. Because the inner diameter of the cylindrical surface 16 is larger, the ball 15 is not stressed by extrusion force any more, the inside of the ball 15 is still in rolling contact with the circulating brake steel wire 5 but is not locked any more, and the unlocking of the circulating brake steel wire 5 is completed. Of course, the inner diameter of the cylindrical surface 16 does not exceed the range, resulting in complete removal of the ball 15 from the locking hole 14. After the position of the mechanical arm is unlocked and adjusted initially, the unlocking control assembly state is switched and the unlocking steel wire 10 is not stretched any more, so that the unlocking pressing plate 9 is not pulled by the unlocking steel wire 10 any more, the unlocking push rod 12 moves towards the second end of the first through hole again under the action of the locking spring 13 and drives the unlocking pressing plate 9 to be far away from the braking support 7, and the circulating braking steel wire 5 is locked by the ball 15 to complete the locking braking of the rotational degree of freedom of the mechanical arm.
The two ends of the unlocking pressing plate 9 are respectively and fixedly connected with an unlocking push rod 12 of a steel wire brake 8, and the middle part of the unlocking pressing plate 9 is connected with the first end of a corresponding unlocking steel wire 10. Simultaneously, the both sides of braking support 7 are connected with an unblock clamp plate 9 respectively, and two unblock clamp plates 9 correspond four steel wire brake 8 of braking support 7 both sides, and every section circulation unblock steel wire 5 that passes braking support 7 all overlaps and is equipped with two steel wire brake 8. After the braking bracket 7 completes the locking of the circulating braking steel wire 5, because the transmission directions of the two sections of circulating braking steel wires 5 are opposite, the braking bracket 7 is also locked and cannot move along any direction, so that the vertical arm 4 fixedly connected with the braking bracket 7 cannot slide towards any end of the rocker arm 3, and the translation degree of freedom of the mechanical arm is also locked and braked.
In order to improve the convenience of the preoperative initial adjustment operation, the unlocking control assembly in the embodiment adopts a one-key unlocking mode. As shown in fig. 6 in particular, the unlocking control assembly includes an unlocking support 18 disposed inside the rocker arm 3, the unlocking support 18 is hinged with an unlocking rocker arm 19 and an unlocking cylinder 20, a free end of the unlocking rocker arm 19 is connected with a telescopic rod of the unlocking cylinder 20, and the unlocking cylinder 20 drives the unlocking rocker arm 19 to rotate around a hinge point. The second end of each unlocking steel wire 10 is connected with the free end of the unlocking rocker arm 19, and the unlocking steel wires 10 are stretched when the unlocking rocker arms 19 rotate, so that the first ends of the unlocking steel wires 10 are stretched to drive the unlocking pressing plates 9 to be close to the braking support 7, and the unlocking action is completed. The unlocking cylinder 20 is communicated with an unlocking switch 22 through an air pipe 21, meanwhile, the unlocking switch 22 is communicated with an external air supply device through the air pipe 21, and the air inlet and exhaust processes of the unlocking cylinder 20 are controlled by the unlocking switch 22. Preferably, the control button of the unlocking switch 22 extends to the outside of the rocker arm 3, so that the operator can conveniently operate the control button by one key to unlock the two degrees of freedom.
As a further improvement, a spring tube 23 is connected between the braking bracket 7 and the unlocking bracket 18, and the unlocking steel wire 10 between the braking bracket 7 and the unlocking bracket 18 is positioned in the spring tube 23. Through the arrangement of the spring tube 23, the stroke of the unlocking steel wire 10 between the brake support 7 and the unlocking support 18 is determined, the change of stretching, bending deformation and the like of the unlocking steel wire 10 is avoided, and the length of the unlocking steel wire 10 in the spring tube 23 in the unlocking sliding process is ensured not to be changed. When the unlocking rocker arm 19 drives the second end of the unlocking steel wire 10 to move for a certain distance to stretch, the first end of the unlocking steel wire 10 also moves for the same distance, and the accuracy of unlocking control is ensured.
As a further improvement, a pre-tightening adjusting plate 24 capable of adjusting the installation position is further connected in the rocker arm 3, the main steel wire guide wheel 6 is rotatably connected with the pre-tightening adjusting plate 24, the installation distance of the main steel wire guide wheel 6 relative to the rocker arm rotating shaft 2 is adjusted through the change of the installation position of the pre-tightening adjusting plate 24, so that the pre-tension of the circulating brake steel wire 5 is adjusted, and the locking brake is guaranteed to be effective.
As a further improvement, an auxiliary steel wire guide wheel set 25 is connected in the rocker arm 3, two sections of circulating brake steel wires 5 led out from the rocker arm rotating shaft 2 are connected with the main steel wire guide wheel 6 after bypassing the auxiliary steel wire guide wheel set 25, so that the circulating brake steel wires 5 are led out from the rocker arm rotating shaft 2 to form certain bending, and the main parts of the circulating brake steel wires 5 are ensured to be mutually parallel, so that the steel wire brake assembly cannot be influenced when sliding along the circulating brake steel wires 5.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides a surgical robot primary adjusting arm braking system, its characterized in that includes the circulation braking steel wire with rocking arm rotation axis is connected, the circulation braking steel wire is followed after drawing forth the both sides of rocking arm rotation axis is connected with the owner's steel wire guide pulley, owner's steel wire guide pulley with the rocking arm rotates to be connected, rocking arm rotation axis with steel wire brake subassembly has been arranged between the owner's steel wire guide pulley, the circulation braking steel wire passes steel wire brake subassembly, by steel wire brake subassembly locking or unblock circulation braking steel wire, steel wire brake subassembly is connected with perpendicular arm.
2. The surgical robot primary adjustment mechanical arm braking system according to claim 1, wherein the steel wire braking assembly comprises a braking support, a plurality of steel wire brakes are connected to the braking support, the circulating braking steel wires pass through the corresponding steel wire brakes, an unlocking pressing plate is movably connected to the braking support, and the unlocking pressing plate switches the locking or unlocking states of the steel wire brakes.
3. The surgical robot primary adjustment mechanical arm braking system according to claim 2, wherein the braking bracket is provided with an unlocking steel wire, a first end of the unlocking steel wire is fixedly connected with the unlocking pressing plate, a second end of the unlocking steel wire is connected with an unlocking control assembly, and the unlocking control assembly controls the unlocking steel wire to stretch.
4. The surgical robot primary adjustment mechanical arm braking system according to claim 3, wherein the wire brake comprises a brake housing fixed to the brake bracket and an unlocking push rod fixed to the unlocking press plate, the brake housing and the unlocking push rod are respectively formed with a first through hole and a second through hole through which the circulating brake wire passes, a first end of the unlocking push rod is movably disposed in the first through hole, and meanwhile, the first end of the unlocking push rod is connected to the brake housing through a locking spring, the locking spring maintains a compressed state, a through locking hole is formed in a side wall of the unlocking push rod, a ball is movably disposed in the locking hole, the outer portion of the ball is in rolling contact with a hole wall of the first through hole, the inner portion of the ball is in contact with the circulating brake wire in the second through hole, the first through hole comprises a cylindrical surface with a constant aperture and a conical surface with a gradually reduced aperture, and the ball is driven by the conical surface to lock the circulating brake steel wire.
5. The surgical robot primary adjustment mechanical arm braking system according to claim 4, wherein two ends of the unlocking pressing plate are respectively and fixedly connected with an unlocking push rod of the steel wire brake, and the middle of the unlocking pressing plate is connected with a first end of the unlocking steel wire.
6. The surgical robot primary adjustment mechanical arm braking system according to claim 5, wherein two sides of the braking bracket are respectively connected with one unlocking pressing plate, the two unlocking pressing plates correspond to four steel wire brakes on two sides of the braking bracket, and each section of the circular unlocking steel wire passing through the braking bracket is sleeved with two steel wire brakes.
7. The surgical robot primary adjustment arm braking system of claim 4, characterized in that, the unlocking control subassembly is including setting up the inside unblock support of rocking arm, it has unblock rocking arm and fixedly connected with unblock cylinder to articulate on the unblock support, the free end of unblock rocking arm with the telescopic link of unblock cylinder is connected, and is whole the second end of unblock steel wire all with the free end of unblock rocking arm is connected, the unblock cylinder passes through trachea and unblock switch intercommunication, simultaneously the unblock switch passes through trachea and external air feeder intercommunication, the control button of unblock switch extends to the outside of rocking arm.
8. The surgical robot primary adjustment mechanical arm braking system according to claim 7, wherein a spring tube is further connected between the braking support and the unlocking support, and an unlocking steel wire between the braking support and the unlocking support is located in the spring tube.
9. The surgical robot primary adjustment mechanical arm braking system as claimed in claim 1, wherein a pre-tightening adjusting plate capable of adjusting the installation position is further connected in the rocker arm, and the main steel wire guide wheel is rotatably connected with the pre-tightening adjusting plate.
10. The surgical robot primary adjustment mechanical arm brake system as claimed in claim 8, wherein an auxiliary wire guide wheel set is further connected in the rocker arm, and two sections of circulating brake wires led out from the rocker arm rotating shaft bypass the auxiliary wire guide wheel set and then are connected with the main wire guide wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111192786.8A CN113842218B (en) | 2021-10-13 | 2021-10-13 | Operation robot initial adjusting mechanical arm braking system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111192786.8A CN113842218B (en) | 2021-10-13 | 2021-10-13 | Operation robot initial adjusting mechanical arm braking system |
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| CN113842218A true CN113842218A (en) | 2021-12-28 |
| CN113842218B CN113842218B (en) | 2023-06-27 |
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| CN107374732A (en) * | 2017-07-31 | 2017-11-24 | 成都中科博恩思医学机器人有限公司 | Brakes and operating robot for mechanical arm |
| CN108067860A (en) * | 2017-12-14 | 2018-05-25 | 博众精工科技股份有限公司 | Turnover type wire circlip transfer device |
| US20200000670A1 (en) * | 2018-06-29 | 2020-01-02 | Huazhong University Of Science And Technology | Gravity balancing device for rehabilitation robot arm |
| CN209499892U (en) * | 2018-12-29 | 2019-10-18 | 浙江量子医疗器械有限公司 | A kind of adjustable three-dimensional curved mechanical arm of control of initial angle |
| CN211433287U (en) * | 2019-11-20 | 2020-09-08 | 山东威高手术机器人有限公司 | Translation arm |
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| CN113842218B (en) | 2023-06-27 |
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