Manual clutch device, integrated joint with same and surgical robot

Abstract

The invention relates to a manual clutch device, which comprises a shell, an upper shell and a lower shell are fixedly connected to form the shell, a cavity is formed when the upper shell and the lower shell are connected, an adjusting plate, a lower clutch plate and an upper clutch plate are sequentially arranged in the cavity from bottom to top, and the lower clutch plate and the upper clutch plate are in transmission connection with an input end and an output end respectively. At least two locking cylinders are arranged between the lower clutch plate and the upper clutch plate, at least two through holes allowing the locking cylinders to penetrate through are formed in the lower clutch plate, at least two grooves allowing the locking cylinders to be embedded in are formed in the upper clutch plate, the lower clutch plate and the upper clutch plate are in transmission connection through the locking cylinders, the adjusting plate is a magnetic plate, and the locking column body is made of a magnetic material and can be adsorbed on the adjusting plate. The device is simple and reliable in structure, the input end and the output end can be disengaged rapidly under the power failure or emergency condition, and the safety of the surgical robot during use is improved.

Description

Technical field [0001] The present invention relates to a clutch device for a surgical robot. Background technique [0002] Since the connection between the integrated joint and the output shaft has the advantages of simple structure, high transmission efficiency, fast response, high weight, high strength, anti-fatigue, and impact resistance, while in the power transmission device of the robot Small installation space, enabling the integrated joint with the secondary structure to maintain good power transmission and faster speed response, so its extensive application of multi-freedom surgical robot joints. [0003] The control device and the driving device of the existing integrated joint joint are integrated inside a mechanical space, and since the clutch apparatus in the usual mechanical system is mounted near the actuator, the integrated joint is lacking the clutch operation function. At the same time, the harmonic speed of the existing integrated joint uses or a large deceler...

AI Technical Summary

Problems solved by technology

[0003] However, the control device and driving device of the existing integrated joint are integrated in a mechanical space, and because the clutch device in the mechanical system is usually installed near the actuator, the integrated joint lacks the clutch operation function

At the same time, the harmonic reducer or large reduction ratio transmission used by the existing integrated joints, the brake will lock the rotation of the output shaft when the power is off, so it is not convenient for flexible and rapid reverse drive control. When there is a situation or when there is no current on and off, the problem of non-rotatable joints will occur, which will prolong the response time of the emergency reverse drive of the joints of the surgical robot, the emergency measures and the operation response time will be longer, and the process of controlling and restoring the state variables of the surgical robot will be cumbersome, which will affect the operation. Robotic manipulation effects, which pose motion control safety concerns in robot-assisted surgery

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