CN209713136U - The pitching mechanical arm of medical robot - Google Patents
The pitching mechanical arm of medical robot Download PDFInfo
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- CN209713136U CN209713136U CN201822276859.1U CN201822276859U CN209713136U CN 209713136 U CN209713136 U CN 209713136U CN 201822276859 U CN201822276859 U CN 201822276859U CN 209713136 U CN209713136 U CN 209713136U
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Abstract
The utility model relates to the technical fields of medical robot mechanical arm, more particularly, to a kind of pitching mechanical arm of medical robot, including relatively parallel slave arm and fixed arm and actuating arm, the first, last both ends of actuating arm are hingedly arranged with the dynamic, end of fixed arm and head end respectively, and the position in fixed arm close to its end is equipped with main driving assembly；The first movable device between main driving assembly driving actuating arm end and fixed arm head end, rotates actuating arm along the hinge position of its end；First movable device drives the second movable device between slave arm end and actuating arm head end, and slave arm is made to remain parallel between dynamic, fixed arm to reach along the hinge position rotation of its end；Second movable device drives the secondary driving assembly synchronous working of slave arm head end.The effect of the utility model are as follows: smoothness with higher, while can effectively ensure the safety of medical surgery operation.
Description
Technical field
The utility model relates to the technical fields of medical robot mechanical arm, more particularly, to a kind of bowing for medical robot
Face upward mechanical arm.
Background technique
In the common scene of the surgical operation under operating robot auxiliary, doctor operates machine in the position far from patient
The main hand end of people controls the surgical instruments of patient end robot in operative site with this according to the control model of master-slave operation
Movement.The form at main hand end includes but is not limited to connect isomorphism mechanical arm, series connection isomery mechanical arm, parallel mechanical arm, dermoskeleton
Bone gloves etc. can control surgical instruments in the position and orientation of operative site by these devices.
At present both at home and abroad, the robot arm used when performing the operation to medical surgery then has higher requirement, in instrument
After end carries out precise positioning to a certain position of the body of patient, need to be adjusted the relative position between mechanical arm
When, then need guarantee effect not shift in the end of the instrument at a certain position of patient body, and only need mechanical arm
Corresponding displacement.Therefore how mechanical arm is realized if during being subjected to displacement, will not making for the mechanical arm in medical field
The end for the instrument for acting on a certain position of patient body shifts, at the same also ensure mechanical arm displacement when, keep compared with
High smoothness, it is a problem to be solved that the safety for making medical surgery perform the operation, which is further promoted,.
Utility model content
The purpose of the utility model is to provide a kind of mechanical arms when adjustment position is subjected to displacement, with higher steady
Degree, while can effectively ensure the pitching mechanical arm of the medical robot of the safety of medical surgery operation.
The above-mentioned technical purpose of the utility model has the technical scheme that
A kind of pitching mechanical arm of medical robot drives including relatively parallel slave arm and fixed arm and actuating arm
The first, last both ends of swing arm are hingedly arranged with slave arm, the end of fixed arm and head end respectively, close to the position of its end in fixed arm
Main driving assembly is installed；The first movable device between main driving assembly driving actuating arm end and fixed arm head end, makes to drive
Swing arm is rotated along the hinge position of its end；First movable device drives the second activity between slave arm end and actuating arm head end
Mechanism rotates slave arm along the hinge position of its end and remains parallel between slave arm, fixed arm to reach；Second activity
Mechanism drives the secondary driving assembly synchronous working of slave arm head end.
By using above-mentioned technical proposal, the rotation of the first movable device is driven by the main driving assembly in fixed arm, the
One movable device drives the rotation of the second movable device, and slave arm, fixed arm remain in parallel during this rotation, and
The actuating arm diagonal line of parallelogram that then role is, is formed after the head and end virtual line of fixed arm, base
Make mechanical arm when adjustment position is subjected to displacement in this principle, the track of the head end displacement of slave arm is the arc in the fixed center of circle
Line, meanwhile, secondary actuator rotates synchronously, and instrument can be driven to have and correspondingly rotated, reach and guarantee to cooperate arching trajectory
The end for the instrument for acting on a certain position of patient body does not shift, with higher steady in this operational process
Degree, while can effectively ensure the safety of medical surgery operation.
The utility model is further arranged to: the structure of first movable device are as follows: the head end of fixed arm and towards drive
The side of swing arm is equipped with the first hinge hole, and the end of the actuating arm side opposite with the first hinge hole is equipped with and the first hinge hole phase
Matched first hinged set, fixed arm is interior to be equipped with the master tape being fixedly mounted between the first hinged set at the first hinge hole
Wheel, main pulley drive its rotation by main driving assembly.
By using above-mentioned technical proposal, actuating arm is driven to rotate by main pulley using main driving assembly, effective use
The structure of each regulating arm itself, does not need excessive many and diverse drive line, this kind design can reduce production to a certain extent
The space hold of product.
The utility model is further arranged to: the main driving assembly is to be set in fixed arm and by proximal end by moving
The belt pulley of power device driving, belt pulley and main pulley transmit power by synchronous belt.
By using above-mentioned technical proposal, belt pulley is directly driven in a manner of V belt translation power device and is transmitted
Power can effectively reduce noise when instrument work, while smoothness is also obviously improved.
The utility model is further arranged to: first movable device further includes being set in fixed arm between fixed arm
It is fixedly connected with first flange disk, the middle part of first flange disk is equipped with the first connection extended in actuating arm across the first hinged set
Axis is fixedly installed with the driving wheel of the second movable device of driving in the first connecting shaft in actuating arm.
By using above-mentioned technical proposal, first diagonal rotation point of parallelogram sturcutre is formd, drive is utilized
Swing arm is rotated relative to slave arm, so that driving wheel forms the movement relatively rotated with actuating arm, meanwhile, this kind of design scheme,
The space of product can be effectively utilized, while precision is also obviously improved.
The utility model is further arranged to: the structure of second movable device are as follows: the head end of actuating arm and towards from
The side of swing arm is equipped with the second hinge hole, and the end of the slave arm side opposite with the second hinge hole is equipped with and the second hinge hole phase
Matched second hinged set, actuating arm is interior to be equipped with the first pair being fixedly mounted between the second hinged set at the second hinge hole
Belt wheel, the first secondary pulley is by its rotation of transmission wheel drive.
It by using above-mentioned technical proposal, is rotated simultaneously in actuating arm relative to slave arm, so that driving wheel and the first pair
Rotation relation is formed between belt wheel so that slave arm rotate synchronously, to reach slave arm, fixed arm remain parallel
State drives slave arm to rotate, efficiently uses the structure of each regulating arm itself, be not required to using driving wheel by the first subsidiary wheel
Excessive many and diverse drive line is wanted, not only structure is relatively easy for this kind design, and can reduce product to a certain extent
Space hold.
The utility model is further arranged to: being equipped in the actuating arm and is fixedly connected with second flange between slave arm
Disk, the middle part of second flange disk, which is equipped with, extends to the second connecting shaft in slave arm across the second hinged set, and second in slave arm
The second secondary pulley is fixedly installed in connecting shaft.
By using above-mentioned technical proposal, second diagonal rotation point of parallelogram sturcutre is formd, meanwhile, it should
Kind design scheme can effectively utilize the space of product, while precision is also obviously improved.
The utility model is further arranged to: the pair driving assembly is the rotation axis set on slave arm head end, rotation axis
Upper rotation is equipped with the output wheel for transmitting power by synchronous belt between the second secondary pulley.
It effectively improves and sets using V belt translation between rotation axis and the second secondary pulley by using above-mentioned technical proposal
It is standby when in use, by secondary driving assembly driving effect when the instrument at patient body a certain position, secondary driving assembly can be with the
One, the operating of two movable devices keeps synchronizing, and can guarantee the displacement of the arching trajectory along concentric, makes instrument end not
It shifts, smoothness with higher, while can effectively ensure the safety of medical surgery operation.
In conclusion the utility model has following advantageous effects: being capable of forming using movable device cooperation parallel
Slave arm, fixed arm and the actuating arm of quadrilateral structure realize synchronous working, and the synchronous work of secondary driving assembly is arranged simultaneously
Make, so that mechanical arm, when adjustment position is subjected to displacement, the track of the head end displacement of slave arm is the camber line in the fixed center of circle, guarantees
The end for the instrument for acting on a certain position of patient body does not shift, smoothness with higher, while can be effective
Ensure the safety of medical surgery operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the schematic cross-sectional view in the face A-A in Fig. 1.
Fig. 3 is the schematic cross-sectional view in the face B-B in Fig. 1.
In figure, 1, slave arm；2, fixed arm；3, actuating arm；4, belt pulley；5, the first hinged set；6, main pulley；7, first
Ring flange；8, the first connecting shaft；9, driving wheel；10, the second hinged set；11, the first secondary pulley；12, second flange disk；13,
Two connecting shafts；14, the second secondary pulley；15, rotation axis.
Specific embodiment
The utility model is described in further detail below in conjunction with attached drawing.
Referring to Fig.1, the utility model discloses a kind of pitching mechanical arm of medical robot, including relatively parallel driven
Arm 1 and fixed arm 2 and actuating arm 3, the first, last both ends of actuating arm 3 respectively with slave arm 1, the end of fixed arm 2 and head end
Hinged setting, to mechanical arm in this present embodiment, then needs to guarantee good smoothness and safety in utilization.Therefore, in work
During work, slave arm 1, fixed arm 2 will be remained in parallel, needed to realize the synchronous operation of parallelogram-type, then needed
Actuating arm 3 is wanted to play cornerwise function of parallelogram.
Wherein, the position in fixed arm 2 close to its end is equipped with main driving assembly；Main driving assembly is to be set to fixed arm
The belt pulley 4 driven by power device in 2 and by proximal end.Power device generally can be set to motor, be also possible to by
The structure of Motor drive decelerator, certainly with can be other can drive belt pulley 4 rotate device.
Referring to Fig. 2, it is provided with the first movable device between 2 head end of 3 end of actuating arm and fixed arm, the driving of belt pulley 4 the
One movable device rotates actuating arm 3 along the hinge position of its end；The structure of first movable device are as follows: the head end of fixed arm 2 and
It is equipped with the first hinge hole towards the side of actuating arm 3, the end of actuating arm 3 side opposite with the first hinge hole is equipped with and first
The first hinged set 5 that hinge hole matches, fixed arm 2 is interior to be located at the first hinge hole equipped with fixed between the first hinged set 5
The main pulley 6 of installation, belt pulley 4 and main pulley 6 transmit power by synchronous belt；In addition, in fixed arm 2 between fixed arm 2
It is fixedly connected with first flange disk 7, the middle part of first flange disk 7 is equipped with extended in actuating arm 3 across the first hinged set 5 first
Connecting shaft 8 is fixedly installed with the driving wheel 9 of the second movable device of driving in the first connecting shaft 8 in actuating arm 3.
Referring to Fig. 3, it is provided with the second movable device between 3 head end of 1 end of slave arm and actuating arm, the driving of driving wheel 9 the
Two movable devices make slave arm 1 remain parallel between dynamic, fixed arm to reach along the hinge position rotation of its end；Second is living
The structure of motivation structure are as follows: the head end of actuating arm 3 and towards the side of slave arm 1 be equipped with the second hinge hole, the end of slave arm 1 with
The opposite side of second hinge hole is equipped with the second hinged set 10 to match with the second hinge hole, and the second hinge is located in actuating arm 3
The first secondary pulley 11 for being equipped at hole and being fixedly mounted between the second hinged set 10 is connect, the first secondary pulley 11 is driven by driving wheel 9
It is rotated；It is equipped in actuating arm 3 and is fixedly connected with second flange disk 12 between slave arm 1, the middle part of second flange disk 12 is equipped with
The second connecting shaft 13 in slave arm 1 is extended to across the second hinged set 10, is fixedly mounted in the second connecting shaft 13 in slave arm 1
There is the second secondary pulley 14.
The secondary driving assembly synchronous working of the second secondary pulley 14 driving 1 head end of slave arm among the above, secondary driving assembly are
Rotation, which is equipped with, in the rotation axis 15 of 1 head end of slave arm, rotation axis 15 is transmitted between the second secondary pulley 14 by synchronous belt
The output wheel of power.
In the specific implementation, belt pulley 4 drives main pulley 6 to rotate to the present embodiment by power device, and main pulley 6 rotates band
Dynamic axis of the actuating arm 3 relative to fixed arm 2 around the first hinged set 5 is rotated, during rotation, due to first flange disk
7 are fixedly connected with fixed arm 2, and first flange disk 7, the first connecting shaft 8 between 9 three of driving wheel are relatively-stationary relationships, that
Then formed when actuating arm 3 rotates, between driving wheel 9 and actuating arm 3 one relative rotation relationship, driving wheel 9 with
First secondary pulley 11 is to transmit power by V belt translation, and the first secondary pulley 11 can be that can rotate relative to actuating arm 3, that
During actuating arm 3 rotates, the angle between actuating arm 3 and fixed arm 2 increases with it or reduces, simultaneously,
Driving wheel 9 also changes with the one side being adjacent to of the two therewith respectively with the synchronous belt of the first secondary pulley 11 between the two, i.e.,
When synchronous belt and the contact surface of driving wheel 9 and the first secondary pulley 11 between the two shift, and driving wheel 9 herein is
Fixed, this power shifted can drive the first secondary pulley 11 to correspondingly rotate, and then reach slave arm 1 and realize together
Step rotation, reaches parallel work requirements with fixed arm 2 always.
So, for the working principle of second flange disk 12 and the second secondary pulley 14, then with first flange disk 7 and driving wheel
During 9 working principle is identical, and slave arm 1 and actuating arm 3 rotate, the output wheel of secondary driving assembly also exists
It rotates synchronously, during rotation, the running track of the head end of slave arm 1 is arc, then in order to enable the essence of arching trajectory
Accuracy is higher, and the operability of equipment is more preferable, can use and rotates synchronously output wheel to realize the effect.
This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability
Field technique personnel can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but
As long as all by the protection of Patent Law in the scope of the claims of the utility model.
Claims (7)
1. the pitching mechanical arm of a kind of medical robot, including relatively parallel slave arm (1) and fixed arm (2) and driving
Arm (3), the first, last both ends of actuating arm (3) are hingedly arranged with slave arm (1), the end of fixed arm (2) and head end respectively, special
Sign is: the position in fixed arm (2) close to its end is equipped with main driving assembly；Main driving assembly drives actuating arm (3) end
With the first movable device between fixed arm (2) head end, rotate actuating arm (3) along the hinge position of its end；First moving machine
Structure drives the second movable device between slave arm (1) end and actuating arm (3) head end, makes slave arm (1) along the hinge of its end
Connect position rotation to reach slave arm (1), fixed arm remains parallel between (2)；Second movable device drives slave arm (1) first
The secondary driving assembly at end works asynchronously.
2. the pitching mechanical arm of medical robot according to claim 1, it is characterised in that: first movable device
Structure are as follows: the head end of fixed arm (2) and be equipped with the first hinge hole, the end of actuating arm (3) and the towards the side of actuating arm (3)
The opposite side of one hinge hole is equipped with the first hinged set (5) to match with the first hinge hole, and the first hinge is located in fixed arm (2)
The main pulley (6) for being equipped at hole and being fixedly mounted between the first hinged set (5) is connect, main pulley (6) drives it by main driving assembly
Rotation.
3. the pitching mechanical arm of medical robot according to claim 2, it is characterised in that: the main driving assembly is to set
It is placed in the belt pulley (4) driven by power device in fixed arm (2) and by proximal end, belt pulley (4) passes through with main pulley (6)
Synchronous belt transmits power.
4. the pitching mechanical arm of medical robot according to claim 2, it is characterised in that: first movable device is also
First flange disk (7) are fixedly connected between fixed arm (2) including being set in fixed arm (2), first flange disk is set in the middle part of (7)
There are the first connecting shaft (8) extended in actuating arm (3) across the first hinged set (5), the first connecting shaft (8) in actuating arm (3)
On be fixedly installed with driving the second movable device driving wheel (9).
5. the pitching mechanical arm of medical robot according to claim 4, it is characterised in that: second movable device
Structure are as follows: the head end of actuating arm (3) and be equipped with the second hinge hole, the end of slave arm (1) and the towards the side of slave arm (1)
The opposite side of two hinge holes is equipped with the second hinged set (10) to match with the second hinge hole, is located at second in actuating arm (3)
The first secondary pulley (11) being fixedly mounted between the second hinged set (10) is equipped at hinge hole, the first secondary pulley (11) is by being driven
Wheel (9) drives its rotation.
6. the pitching mechanical arm of medical robot according to claim 5, it is characterised in that: set in the actuating arm (3)
Have and be fixedly connected with second flange disk (12) between slave arm (1), the middle part of second flange disk (12) is equipped with hinged across second
Set (10) extends to the second connecting shaft (13) in slave arm (1), is fixedly installed in the second connecting shaft (13) in slave arm (1)
Second secondary pulley (14).
7. the pitching mechanical arm of medical robot according to claim 6, it is characterised in that: the pair driving assembly is to set
It is synchronous equipped with passing through between the second secondary pulley (14) in rotation in the rotation axis (15) of slave arm (1) head end, rotation axis (15)
Output wheel with transmitting power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822276859.1U CN209713136U (en) | 2018-12-29 | 2018-12-29 | The pitching mechanical arm of medical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822276859.1U CN209713136U (en) | 2018-12-29 | 2018-12-29 | The pitching mechanical arm of medical robot |
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| Publication Number | Publication Date |
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| CN209713136U true CN209713136U (en) | 2019-12-03 |
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ID=68678874
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822276859.1U Active CN209713136U (en) | 2018-12-29 | 2018-12-29 | The pitching mechanical arm of medical robot |
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| CN (1) | CN209713136U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111374770A (en) * | 2018-12-29 | 2020-07-07 | 深圳市达科为智能医学有限公司 | Pitching mechanical arm of medical robot |
-
2018
- 2018-12-29 CN CN201822276859.1U patent/CN209713136U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111374770A (en) * | 2018-12-29 | 2020-07-07 | 深圳市达科为智能医学有限公司 | Pitching mechanical arm of medical robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210629 Address after: 518000 Building 601, Shenzhen Biomedical Innovation Industrial Park, No. 14 Jinhui Road, Kengzi Street, Pingshan New District, Shenzhen City, Guangdong Province Patentee after: DAKEWE (SHENZHEN) MEDICAL EQUIPMENTS Co.,Ltd. Address before: 518118 11th floor, building 10, Shenzhen Biomedical Innovation Industrial Park, 14 Jinhui Road, Kengzi street, Pingshan District, Shenzhen City, Guangdong Province Patentee before: Dakota intelligent Medicine Co.,Ltd. |
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| TR01 | Transfer of patent right |