Series-parallel reset robot

Abstract

The invention discloses a series-parallel reset robot, and relates to the technical field of auxiliary operation instruments for medical surgical operations. The problems that an existing fracture reduction surgical robot is large in size, small in working space, low in integration level, weak in load capacity, low in resolving speed, long in surgical time and low in positioning precision are solved. Three vertically-arranged lifting rods are arranged on the outer side of a parallel mechanism base, the three lifting rods are evenly distributed in the circumferential direction with the axis of the parallel mechanism base as the center, lifting driving mechanisms are arranged between the lifting rods and the parallel mechanism base, and each lifting rod can achieve lifting movement under driving of the corresponding lifting driving mechanism. One ends of the UU mechanisms are rotationally connected with the upper ends of the lifting rods, the other ends of the three UU mechanisms are rotationally connected with the tail end traction movable platform, and the movable joints are installed on the upper portion of the tail end traction movable platform or the lower portion of the robot base. The method is used for improving the integration level and the load capacity of the robot, shortening the operation time and improving the positioning precision of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of auxiliary operation instruments for medical surgical operations, and particularly relates to a hybrid serial-parallel reduction robot. Background Art

[0002] As one of the most common major diseases in clinical orthopedics, fractures pose a great threat to the physical health of susceptible populations. Among them, pelvic fractures, which account for 1% - 3% of all body fractures, have a disability rate as high as 50% - 60% and a fatality rate of more than 13%. Fracture reduction is the most important part of fracture surgery. A low-trauma, high-precision, and highly reliable reduction process is very important for the success of the surgery and the postoperative rehabilitation of patients. Currently, the traditional treatment methods for fracture reduction in clinical practice are mainly divided into two types. One is manual reduction and external fixation with splints, and the other is open reduction and internal fixation with plates. The advantage of manual reduction is that it does not require incising the fracture site, reducing the probability of infection. However, since it is impossible to directly obtain fracture information, this method requires a high level of skill from the physician and also requires a relatively large number of reduction attempts, which is likely to cause secondary fractures. Open reduction allows the physician to directly obtain fracture information by visual inspection or touch, etc., thereby reducing the number of reduction attempts and improving the reduction accuracy. However, it also greatly increases the possibility of infection during the operation. Using a fracture reduction robot system for fracture surgery, by selecting high-precision mechanical components and servo control components, and combining with planning and navigation technology based on medical images, the robot can independently complete the reduction operation of fracture surgery. While reducing the risk of infection, it greatly improves the accuracy and reliability of the reduction process, saves the physical strength of the physician, and reduces the time the physician is exposed to radiation, which is conducive to the popularization of high-difficulty fracture surgeries.

[0003] The configurations of fracture reduction surgical robots mainly include three forms: serial, parallel, and serial-parallel hybrid. Traditional parallel robot systems have the advantages of stable structure, high stiffness, and high precision. However, their working space is usually small, the control is complex, and the kinematic calculation is relatively complicated. Serial robots have a larger working space and higher flexibility, but they also occupy a large surgical space, thus restricting the operating space of medical staff. Moreover, the cumulative error of the serial mechanism will reduce the positioning accuracy of the robot's end effector. The hybrid robot system can, to a certain extent, integrate the advantages of serial and parallel configurations. In terms of the driving method, existing fracture reduction robots mainly adopt the form of motor drive. Motor drive has high precision and fast response speed. The robot drive joints composed of servo motors and lead screw slides improve the output force of motor drive and at the same time ensure the stiffness of the system. Summary of the Invention

[0004] The object of the present invention is to solve the problems of large volume, small working space, low integration, weak load capacity, slow calculation speed, long operation time and low positioning accuracy existing in the existing fracture reduction surgical robot, and further provide a hybrid serial-parallel reduction robot.

[0005] The technical solution of the present invention is as follows:

[0006] A hybrid serial-parallel reduction robot, which comprises a first and second joint swing arm 1, a three-branch 2R1T parallel mechanism 2, a terminal traction moving platform 3, a moving joint and a robot base 4; above the robot base 4 is provided with a first and second joint swing arm 1, and the first and second joint swing arm 1 includes a rotating joint driving member I 101, a swing arm connecting rod 102 and a rotating joint driving member II 103. The swing arm connecting rod 102 is horizontally arranged above the head end of the robot base 4. The head and tail ends of the swing arm connecting rod 102 are respectively provided with a rotating joint driving member I 101 and a rotating joint driving member II 103. The rotating shaft of the rotating joint driving member I 101 is connected to the upper end of the robot base 4. Above the tail end of the swing arm connecting rod 102 is provided with a vertically arranged three-branch 2R1T parallel mechanism 2. The rotating shaft of the rotating joint driving member II 103 is connected to the lower end of the three-branch 2R1T parallel mechanism 2; the three-branch 2R1T parallel mechanism 2 includes a parallel mechanism base 201, three lifting rods 202, three lifting driving mechanisms 203 and three UU mechanisms 204. The parallel mechanism base 201 is vertically arranged above the tail end of the swing arm connecting rod 102. The lower end of the parallel mechanism base 201 is connected to the rotating shaft of the rotating joint driving member II 103. Outside the parallel mechanism base 201 are provided with three vertically arranged lifting rods 202. The three lifting rods 202 are evenly distributed along the circumferential direction with the axis of the parallel mechanism base 201 as the center. A lifting driving mechanism 203 is provided between each lifting rod 202 and the parallel mechanism base 201. Each lifting rod 202 can realize lifting movement under the drive of the corresponding lifting driving mechanism 203. One ends of the three UU mechanisms 204 are respectively rotatably connected to the upper ends of the three lifting rods 202, and the other ends of the three UU mechanisms 204 are rotatably connected to the terminal traction moving platform 3; the moving joint is installed on the upper part of the terminal traction moving platform 3 or the lower part of the robot base 4.

[0007] Further, the lifting drive mechanism 203 includes a first lifting drive member, a first synchronous belt mechanism, a first slide rail 2031, a first slider 2032, and a first lead screw-nut transmission mechanism. A vertically arranged first slide rail 2031 is provided between each lifting rod 202 and the parallel mechanism base 201. The first slide rail 2031 is installed on the inner side of the lifting rod 202. One end of the first slide rail 2031 is slidably connected to the first slide rail 2031 through a chute, and the other end of the first slide rail 2031 is connected to the parallel mechanism base 201. A first lead screw-nut transmission mechanism is provided on the side of each lifting rod 202. The output end of the first lead screw-nut transmission mechanism is connected to the lower side of the lifting rod 202. The first lifting drive member is installed at the upper end of the lifting rod 202. The rotating shaft of the first lifting drive member is connected to the input end of the first lead screw-nut transmission mechanism through the first synchronous belt mechanism.

[0008] Further, the first lead screw-nut transmission mechanism includes a first lead screw 2033, a first nut 2034, a first slide table connection block 2035, two first bearings 2036, and two first bearing seats 2037. The first lead screw 2033 is vertically arranged on the side of the parallel mechanism base 201. The upper and lower shaft sections of the first lead screw 2033 are respectively rotatably connected to the two first bearing seats 2037 through the two first bearings 2036. The two first bearing seats 2037 are respectively installed at the upper and lower ends of the side of the parallel mechanism base 201. A first nut 2034 is installed on the middle threaded section of the first lead screw 2033. A first slide table connection hole is provided on the first slide table connection block 2035. The first nut 2034 is inserted into the first slide table connection hole. The first slide table connection block 2035 is installed on the lower side of the lifting rod 202.

[0009] Further, the first synchronous belt mechanism includes a first driving pulley 2038, a first transmission belt 2039, and a first driven pulley 2030. The first driving pulley 2038 is installed on the rotating shaft of the first lifting drive member. The first driven pulley 2030 is installed on the upper shaft end of the first lead screw 2033. The first driven pulley 2030 is connected to the first driving pulley 2038 through the first transmission belt 2039.

[0010] Further, the UU mechanism 204 includes a first connecting frame 2041, a first connecting pin 2042, a connecting rod 2043, a second connecting pin 2044, and a second connecting frame 2045. Both the first connecting frame 2041 and the second connecting frame 2045 are U-shaped structures. The U-shaped structure includes a U-shaped frame and a connecting shaft that is vertically arranged and integrally formed with the middle of the web of the U-shaped frame. Two coaxially arranged pin holes are respectively provided on the two side wings of the U-shaped frame. Two connecting rod pin holes are respectively provided at both ends of the connecting rod 2043. Both ends of the connecting rod 2043 are respectively rotatably connected to the U-shaped frames of the first connecting frame 2041 and the second connecting frame 2045 through the first connecting pin 2042 and the second connecting pin 2044. The connecting shaft of the second connecting frame 2045 is connected to the end traction slide table 3.

[0011] Further, three shaft holes I are respectively machined on the upper end surfaces of the three lifting rods 202. The connecting shafts of the connecting frames I 2041 of the three UU mechanisms 204 are respectively inserted into the three shaft holes I. The connecting shafts of the connecting frames I 2041 are rotatably connected to the lifting rods 202. Three evenly arranged shaft holes II are circumferentially formed on the side of the end traction moving platform 3. The connecting shafts of the connecting frames II 2045 of the three UU mechanisms 204 are respectively inserted into the three shaft holes II. The connecting shafts of the connecting frames II 2045 are rotatably connected to the end traction moving platform 3.

[0012] Further, when the moving joint is installed on the upper part of the end traction moving platform 3, the moving joint includes a moving rod I 301 and a moving driving mechanism I 302. The moving rod I 301 is arranged above the end traction moving platform 3. A moving driving mechanism I 302 is provided between the moving rod I 301 and the end traction moving platform 3. The moving rod I 301 can longitudinally move along the traction direction under the drive of the moving driving mechanism I 302.

[0013] Further, the moving driving mechanism I 302 includes a lifting driving member II 3021, a synchronous belt mechanism II, a slide rail II 3022, a slider II and a lead screw nut transmission mechanism II. A horizontally arranged slide rail II 3022 is provided between the moving rod I 301 and the end traction moving platform 3. The slide rail II 3022 is installed on the inner side surface of the moving rod I 301. One end of the slider II is slidably connected to the slide rail II 3022 through a chute. The other end of the slider II is connected to the inner side surface of the end traction moving platform 3. A lead screw nut transmission mechanism II is provided on the side of the moving rod I 301. The output end of the lead screw nut transmission mechanism II is connected to the moving rod I 301. The lifting driving member II 3021 is installed at the end of the moving rod I 301. The rotating shaft of the lifting driving member II 3021 is connected to the input end of the lead screw nut transmission mechanism II through the synchronous belt mechanism II;

[0014] The lead screw nut transmission mechanism II includes a lead screw II 3023, a nut II, a slide table connection block II, two bearings II 3024 and two bearing seats II 3025. The lead screw II 3023 is horizontally arranged on the side of the moving rod I 301. The upper and lower end shafts of the lead screw II 3023 are respectively rotatably connected to the two bearing seats II 3025 through the two bearings II 3024. The two bearing seats II 3025 are respectively installed at the left and right ends of the side of the moving rod I 301. A nut II is installed on the middle threaded section of the lead screw II 3023. A slide table connection hole II is formed on the slide table connection block II. The nut II is inserted into the slide table connection hole II. The slide table connection block II is installed on the inner side surface of the end traction moving platform 3;

[0015] The synchronous belt mechanism II includes a driving pulley II 3026, a transmission belt II 3027, and a driven pulley II 3028. The driving pulley II 3026 is installed on the rotating shaft of the lifting driving member II 3021, and the driven pulley II 3028 is installed on the upper shaft end of the lead screw II 3023. The driven pulley II 3028 is connected to the driving pulley II 3026 through the transmission belt II 3027.

[0016] Further, when the moving joint is installed at the lower part of the robot base 4, the moving joint includes a moving rod II 303 and a moving driving mechanism II 304. The moving rod II 303 is arranged below the robot base 4, and a moving driving mechanism II 304 is provided between the moving rod II 303 and the robot base 4. The moving rod II 303 can longitudinally move along the traction direction under the drive of the moving driving mechanism II 304.

[0017] Further, the moving driving mechanism II 304 includes a lifting driving member III, a lead screw-nut transmission mechanism III, two slide rails III 3041, and two sliders III. Two horizontally arranged and side-by-side slide rails III 3041 are provided between the moving rod II 303 and the robot base 4. The two slide rails III 3041 are installed on the upper surface of the moving rod II 303. The lower ends of the two sliders III are respectively slidably connected to the two slide rails III 3041 through chutes, and the upper ends of the two sliders III are connected to the lower surface of the robot base 4. A lead screw-nut transmission mechanism III arranged in parallel is provided between the two slide rails III 3041. The output end of the lead screw-nut transmission mechanism III is connected to the robot base 4. The lifting driving member III is installed at the end of the moving rod II 303, and the rotating shaft of the lifting driving member III is connected to the input end of the lead screw-nut transmission mechanism III through a coupling;

[0018] The lead screw-nut transmission mechanism III includes a lead screw III 3042, a nut III, a base connecting block, two bearings III 3043, and two bearing seats III 3044. The lead screw III 3042 is horizontally arranged above the moving rod II 303. The two end shaft sections of the moving rod II 303 are respectively rotatably connected to the two bearing seats III 3044 through the two bearings III 3043. The two bearing seats III 3044 are respectively installed at the left and right ends of the upper surface of the moving rod II 303. A nut III is installed on the middle threaded section of the lead screw III 3042. A base connection hole is formed in the base connecting block, and the nut III is inserted into the base connection hole. The base connecting block is installed on the lower surface of the robot base 4.

[0019] The present invention has the following effects compared with the prior art:

[0020] 1. To overcome the problems of a compact, narrow, and space - constrained fracture reduction surgery environment, compared with existing fracture reduction robot solutions, the hybrid - serial reduction robot of the present invention optimizes the working space of the reduction robot by adjusting the configuration relationship of each component of the hybrid - serial robot while ensuring a sufficiently large working space. At the same time, it improves the system integration, makes the robot structure more compact, and reduces the space it occupies in the operating room.

[0021] 2. Due to the use of human muscle traction in fracture reduction surgery, a large reduction force needs to be overcome. The present invention uses all linear joints as the driving joints of the robot, which improves the load - bearing capacity of the robot and enables it to meet the large reduction operation force during fracture reduction surgery.

[0022] 3. The hybrid - serial reduction robot described in the present invention is composed of different serial parts and parallel parts combined, making its translational motion and rotational motion independent of each other. Therefore, it has a simpler kinematic model, and the kinematic model is decoupled with a fast calculation speed, which is convenient for medical staff to perform surgical operations in different ways.

[0023] 4. The hybrid - serial reduction robot described in the present invention uses a relatively mature servo - drive scheme, with simple control and high positioning accuracy, and can achieve high - precision surgery compared with traditional manual reduction surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is an axonometric view of the hybrid - serial reduction robot of the present invention when the moving joint is installed above the end - traction moving platform 3;

[0025] Figure 2 is a schematic structural view of the 2R1T parallel mechanism 2 of the three - branch chains in the hybrid - serial reduction robot of the present invention;

[0026] Figure 3 is a schematic structural view of the assembled end - traction moving platform 3 and the moving joint installed thereon in the hybrid - serial reduction robot of the present invention;

[0027] Figure 4 is a schematic view of the installation and layout of the UU mechanism 204 in the hybrid - serial reduction robot of the present invention;

[0028] Figure 5 is a schematic structural view of the assembled first and second joint swing arms 1 and the robot base 4 in the hybrid - serial reduction robot of the present invention;

[0029] Figure 6 is an axonometric view of the hybrid - serial reduction robot of the present invention when the moving joint is installed below the robot base 4.

[0030] In the figure: 1 is the swing arm of the first and second joints; 101 is the rotary joint drive part I; 102 is the swing arm connecting rod; 103 is the rotary joint drive part II; 2 is the 2R1T parallel mechanism of three branch chains; 201 is the parallel mechanism base; 202 is the lifting rod; 203 is the lifting drive mechanism; 2031 is the slide rail I; 2032 is the slider I; 2033 is the lead screw I; 2034 is the nut I; 2035 is the slide table connecting block I; 2036 is the bearing I; 2037 is the bearing seat I; 2038 is the driving pulley I; 2039 is the transmission belt I; 2030 is the driven pulley I; 204 is the UU mechanism; 2041 is the connecting frame I; 2042 is the connecting pin I; 2043 is the connecting rod; 2044 is the connecting pin II; 2045 is the connecting frame II; 3 is the end traction moving platform; 301 is the moving rod I; 302 is the moving drive mechanism I; 3021 is the lifting drive part II; 3022 is the slide rail II; 3023 is the lead screw II; 3024 is the bearing II; 3025 is the bearing seat II; 3026 is the driving pulley II; 3027 is the transmission belt II; 3028 is the driven pulley II; 303 is the moving rod II; 304 is the moving drive mechanism II; 3041 is the slide rail III; 3042 is the lead screw III; 3043 is the bearing III; 3044 is the bearing seat III; 4 is the robot base. Detailed implementation mode

[0031] Detailed implementation mode 1: Combine Figures 1 to 5Description of this embodiment: A hybrid serial-parallel reset robot of this embodiment includes a first and second joint swing arm 1, a three-branch 2R1T parallel mechanism 2, an end traction moving platform 3, a moving joint, and a robot base 4; above the robot base 4 is provided a first and second joint swing arm 1, and the first and second joint swing arm 1 includes a rotating joint drive member I 101, a swing arm link 102, and a rotating joint drive member II 103. The swing arm link 102 is horizontally arranged above the head end of the robot base 4. The head and tail ends of the swing arm link 102 are respectively installed with a rotating joint drive member I 101 and a rotating joint drive member II 103. The rotating shaft of the rotating joint drive member I 101 is connected to the upper end of the robot base 4. Above the end of the swing arm link 102 is provided a vertically arranged three-branch 2R1T parallel mechanism 2. The rotating shaft of the rotating joint drive member II 103 is connected to the lower end of the three-branch 2R1T parallel mechanism 2; the three-branch 2R1T parallel mechanism 2 includes a parallel mechanism base 201, three lifting rods 202, three lifting drive mechanisms 203, and three UU mechanisms 204. The parallel mechanism base 201 is vertically arranged above the end of the swing arm link 102. The lower end of the parallel mechanism base 201 is connected to the rotating shaft of the rotating joint drive member II 103. Outside the parallel mechanism base 201 are provided three vertically arranged lifting rods 202. The three lifting rods 202 are evenly distributed along the circumferential direction with the axis of the parallel mechanism base 201 as the center. A lifting drive mechanism 203 is provided between each lifting rod 202 and the parallel mechanism base 201. Each lifting rod 202 can realize lifting movement under the drive of the corresponding lifting drive mechanism 203. One ends of the three UU mechanisms 204 are respectively rotatably connected to the upper ends of the three lifting rods 202, and the other ends of the three UU mechanisms 204 are rotatably connected to the end traction moving platform 3; the moving joint is installed on the upper part of the end traction moving platform 3 or the lower part of the robot base 4.

[0032] In this embodiment, both the rotating joint drive member I 101 and the rotating joint drive member II 103 adopt an electric drive mode (such as a motor) or a hydraulic drive mode (such as a hydraulic motor), etc.

[0033] Specific embodiment two: In combination with Figures 1 to 5To describe this embodiment, the lifting drive mechanism 203 of this embodiment includes a first lifting drive member, a first synchronous belt mechanism, a first slide rail 2031, a first slider 2032, and a first lead screw-nut transmission mechanism. A vertically arranged first slide rail 2031 is provided between each lifting rod 202 and the parallel mechanism base 201. The first slide rail 2031 is installed on the inner side of the lifting rod 202. One end of the first slide rail 2031 is slidably connected to the first slide rail 2031 through a chute, and the other end of the first slide rail 2031 is connected to the parallel mechanism base 201. A first lead screw-nut transmission mechanism is provided on the side of each lifting rod 202. The output end of the first lead screw-nut transmission mechanism is connected to the lower side of the lifting rod 202. The first lifting drive member is installed at the upper end of the lifting rod 202. The rotating shaft of the first lifting drive member is connected to the input end of the first lead screw-nut transmission mechanism through the first synchronous belt mechanism. With such a setting, the lifting drive mechanism 203 is used to drive the lifting rod 202 to achieve lifting. By adopting the method of driving a linear slide rail with a lead screw, the positioning accuracy can be improved, and thus high-precision surgery can be realized. The other components and connection relationships are the same as those in the first specific embodiment.

[0034] In this embodiment, the first lifting drive member adopts an electric drive method (such as a servo motor) or a hydraulic drive method (such as a hydraulic motor), etc.

[0035] Specific Embodiment Three: In combination with Figures 1 to 5 To describe this embodiment, the first lead screw-nut transmission mechanism of this embodiment includes a first lead screw 2033, a first nut 2034, a first slide table connection block 2035, two first bearings 2036, and two first bearing seats 2037. The first lead screw 2033 is vertically arranged on the side of the parallel mechanism base 201. The upper and lower shaft sections of the first lead screw 2033 are respectively rotatably connected to the two first bearing seats 2037 through the two first bearings 2036. The two first bearing seats 2037 are respectively installed at the upper and lower ends of the side of the parallel mechanism base 201. A first nut 2034 is installed on the middle threaded section of the first lead screw 2033. A first slide table connection hole is formed on the first slide table connection block 2035. The first nut 2034 is inserted into the first slide table connection hole. The first slide table connection block 2035 is installed on the lower side of the lifting rod 202. With such a setting,... The other components and connection relationships are the same as those in the first or second specific embodiment.

[0036] Specific Embodiment Four: In combination with Figures 1 to 5To describe this embodiment, the synchronous belt mechanism I of this embodiment includes a driving pulley I 2038, a transmission belt I 2039, and a driven pulley I 2030. The driving pulley I 2038 is installed on the rotating shaft of the lifting driving member I, and the driven pulley I 2030 is installed at the upper shaft end of the lead screw I 2033. The driven pulley I 2030 is connected to the driving pulley I 2038 through the transmission belt I 2039. With such a setting, the synchronous belt mechanism I serves as the power source for driving the lifting rod 202 to move up and down. The lifting driving member I drives the driving pulley I 2038 to rotate, and the driving pulley I 2038 drives the driven pulley I 2030 to rotate through the transmission belt I 2039, thereby driving the lead screw I 2033 to rotate, enabling the nut I 2034, the slide table connecting block I 2035, and the connected lifting rod 202 to move up and down along the slide rail I 2031. Other compositions and connection relationships are the same as those in the first, second, or third specific embodiments.

[0037] In this embodiment, the lifting driving member I adopts an electric driving method (such as a servo motor) or a hydraulic driving method (such as a hydraulic motor), etc.

[0038] Specific embodiment five: In combination with Figures 1 to 5 To describe this embodiment, the UU mechanism 204 of this embodiment includes a connecting frame I 2041, a connecting pin I 2042, a connecting rod 2043, a connecting pin II 2044, and a connecting frame II 2045. Both the connecting frame I 2041 and the connecting frame II 2045 are U-shaped structures. The U-shaped structure includes a U-shaped frame and a connecting shaft that is vertically arranged and integrally formed in the middle of the web of the U-shaped frame. Two coaxially arranged pin holes are respectively opened on the two side wings of the U-shaped frame. Two connecting rod pin holes are respectively opened at both ends of the connecting rod 2043. Both ends of the connecting rod 2043 are rotatably connected to the U-shaped frames of the connecting frame I 2041 and the connecting frame II 2045 through the connecting pin I 2042 and the connecting pin II 2044 respectively. The connecting shaft of the connecting frame II 2045 is rotatably connected to the end traction slide table 3. With such a setting, the UU mechanism 204 is used to connect the end traction moving platform 3 with the three lifting rods 202. When the three lifting rods 202 move up and down under the control of the three lifting driving mechanisms 203, in cooperation with the three UU mechanisms 204, rotational movements (spin and pitch) around the longitudinal axis and the transverse axis can be achieved. Other compositions and connection relationships are the same as those in the first, second, third, or fourth specific embodiments.

[0039] Specific embodiment six: In combination with Figures 1 to 5To describe this embodiment, on the upper end faces of the three lifting rods 202 of this embodiment, three shaft holes I are respectively machined. The connecting shafts of the connecting frames I 2041 of the three UU mechanisms 204 are respectively inserted into the three shaft holes I. The connecting shafts of the connecting frames I 2041 are rotatably connected to the lifting rods 202. Along the circumferential direction on the side part of the end traction moving platform 3, three evenly arranged shaft holes II are opened. The connecting shafts of the connecting frames II 2045 of the three UU mechanisms 204 are respectively inserted into the three shaft holes II. The connecting shafts of the connecting frames II 2045 are rotatably connected to the end traction moving platform 3. With such a setting, the three UU mechanisms 204 are rotatably connected to both the end traction moving platform 3 and the three lifting rods 202, ensuring that the mechanism can smoothly achieve rotational movements (spin and pitch) around the two axes of the longitudinal axis and the transverse axis. The other components and connection relationships are the same as those in the first, second, third, fourth, or fifth specific embodiments.

[0040] Specific embodiment seven: In combination with Figures 1 to 5 To describe this embodiment, when the moving joint is installed on the upper part of the end traction moving platform 3 in this embodiment, the moving joint includes a moving rod I 301 and a moving drive mechanism I 302. The moving rod I 301 is arranged above the end traction moving platform 3. A moving drive mechanism I 302 is provided between the moving rod I 301 and the end traction moving platform 3. The moving rod I 301 can achieve longitudinal movement along the traction direction under the drive of the moving drive mechanism I 302. With such a setting, the moving joint can achieve a certain longitudinal movement of the end traction moving platform 3 along the traction direction. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, or sixth specific embodiments.

[0041] Specific embodiment eight: In combination with Figures 1 to 6 To describe this embodiment, the moving drive mechanism I 302 of this embodiment includes a lifting drive member II 3021, a synchronous belt mechanism II, a slide rail II 3022, a slider II, and a lead screw nut transmission mechanism II. A horizontally arranged slide rail II 3022 is provided between the moving rod I 301 and the end traction moving platform 3. The slide rail II 3022 is installed on the inner side surface of the moving rod I 301. One end of the slider II is slidably connected to the slide rail II 3022 through a chute, and the other end of the slider II is connected to the inner side surface of the end traction moving platform 3. A lead screw nut transmission mechanism II is provided on the side part of the moving rod I 301. The output end of the lead screw nut transmission mechanism II is connected to the moving rod I 301. The lifting drive member II 3021 is installed at the end of the moving rod I 301. The rotating shaft of the lifting drive member II 3021 is connected to the input end of the lead screw nut transmission mechanism II through the synchronous belt mechanism II;

[0042] The lead screw nut transmission mechanism II includes a lead screw II 3023, a nut II, a slide table connection block II, two bearings II 3024, and two bearing blocks II 3025. The lead screw II 3023 is horizontally arranged on the side of the moving rod I 301. The upper and lower shaft sections of the lead screw II 3023 are respectively rotatably connected to the two bearing blocks II 3025 through the two bearings II 3024. The two bearing blocks II 3025 are respectively installed at the left and right ends of the side of the moving rod I 301. A nut II is installed on the middle threaded section of the lead screw II. A slide table connection hole II is provided on the slide table connection block II, and the nut II is inserted into the slide table connection hole II. The slide table connection block II is installed on the inner side of the end traction moving platform 3;

[0043] The synchronous belt mechanism II includes a driving pulley II 3026, a transmission belt II 3027, and a driven pulley II 3028. The driving pulley II 3026 is installed on the rotating shaft of the lifting driving member II 3021, and the driven pulley II 3028 is installed on the upper shaft end of the lead screw II 3023. The driven pulley II 3028 is connected to the driven pulley II 3028 through the transmission belt II 3027. Other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, or seventh specific embodiments.

[0044] In this embodiment, the lifting driving member II 3021 adopts an electric driving method (such as a servo motor) or a hydraulic driving method (such as a hydraulic motor), etc.

[0045] Specific embodiment nine: Combining Figure 2 、 Figure 4 and Figure 6 to illustrate this embodiment. In this embodiment, when the moving joint is installed at the lower part of the robot base 4, the moving joint includes a moving rod II 303 and a moving driving mechanism II 304. The moving rod II 303 is arranged below the robot base 4. A moving driving mechanism II 304 is provided between the moving rod II 303 and the robot base 4. The moving rod II 303 can realize longitudinal movement along the traction direction under the drive of the moving driving mechanism II 304. With such a setting, the moving joint can realize a certain longitudinal movement of the robot along the traction direction. Other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh, or eighth specific embodiments.

[0046] Specific embodiment ten: Combining Figure 2 、 Figure 4 and Figure 6To describe this embodiment, the mobile drive mechanism II 304 of this embodiment includes a lifting drive member III, a lead screw-nut transmission mechanism III, two slide rails III 3041 and two sliders III. Between the moving rod II 303 and the robot base 4, there are two horizontally arranged slide rails III 3041 side by side. The two slide rails III 3041 are installed on the upper surface of the moving rod II 303. The lower ends of the two sliders III are respectively slidably connected to the two slide rails III 3041 through chutes. The upper ends of the two sliders III are connected to the lower surface of the robot base 4. Between the two slide rails III 3041, there is a lead screw-nut transmission mechanism III arranged in parallel. The output end of the lead screw-nut transmission mechanism III is connected to the robot base 4. The lifting drive member III is installed at the end of the moving rod II 303. The rotating shaft of the lifting drive member III is connected to the input end of the lead screw-nut transmission mechanism III through a coupling;

[0047] The lead screw-nut transmission mechanism III includes a lead screw III 3042, a nut III, a base connection block, two bearings III 3043 and two bearing seats III 3044. The lead screw III 3042 is horizontally arranged above the moving rod II 303. The two end shafts of the moving rod II 303 are respectively rotatably connected to the two bearing seats III 3044 through the two bearings III 3043. The two bearing seats III 3044 are respectively installed at the left and right ends of the upper surface of the moving rod II 303. A nut III is installed on the middle threaded section of the lead screw III 3042. A base connection hole is provided on the base connection block. The nut III is inserted into the base connection hole. The base connection block is installed on the lower surface of the robot base 4. Other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh, eighth, or ninth specific embodiments.

[0048] In this embodiment, the lifting drive member III adopts an electric drive mode (such as a servo motor) or a hydraulic drive mode (such as a hydraulic motor), etc.

[0049] Working principle

[0050] Taking the installation of a revolute joint on the upper part of the end towing moving platform 3 as an example, combined with Figures 1 to 5Describe the working principle of the hybrid serial-parallel reset robot of the present invention: The hybrid serial-parallel reset robot of the present invention includes two serial parts and one parallel part. The serial part of the robot includes the first and second joint swing arms 1, the end traction moving platform 3 and the moving joint installed thereon; the parallel part of the robot is a three-link 2R1T parallel mechanism 2. The first and second joint swing arms 1, the three-link 2R1T parallel mechanism 2, the end traction moving platform 3 and the moving joint installed thereon are connected in sequence from bottom to top to form a hybrid serial-parallel reset robot. The moving rod I 301 in the moving joint is used as a static platform to connect the broken end of the fractured limb of the human body and traction the broken end of the fracture to complete the reset operation. Connecting parts such as straps can be used to fix the broken end of the fracture and the moving rod I 301. From the perspective of the movement of the robot mechanism: the first and second joint swing arms 1 can enable the end of the robot to form a certain lateral movement, the end traction moving platform 3 and the moving joint can achieve a certain longitudinal movement along the traction direction, and the three-link 2R1T parallel mechanism 2 can achieve the adjustment movement in the height direction. The cooperation of the three parts can achieve the movement of the mechanism in three-dimensional space. The rotating joint driving part II 103 of the first and second joint swing arms 1 can enable the mechanism to achieve the rotational movement (yaw) around the height axis, and the three-link 2R1T parallel mechanism 2 can achieve the rotational movement (spin, pitch) around the longitudinal axis and the transverse axis. The three parts of the robot can be combined to perform six-degree-of-freedom movement. It can traction the broken end of the fracture in a certain posture to complete the reset operation, meeting the requirements of the reset surgery.

[0051] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hybrid series-parallel reset robot, characterized in that: It includes a one- and two-joint swing arm (1), a three-branch 2R1T parallel mechanism (2), an end traction moving platform (3), a moving joint, and a robot base (4); above the robot base (4) is provided with a one- and two-joint swing arm (1), and the one- and two-joint swing arm (1) includes a rotary joint drive part I (101), a swing arm connecting rod (102), and a rotary joint drive part II (103). The swing arm connecting rod (102) is horizontally arranged above the head end of the robot base (4). The head and end of the swing arm connecting rod (102) are respectively equipped with a rotary joint drive part I (101) and a rotary joint drive part II (103). The rotating shaft of the rotary joint drive part I (101) is connected to the upper end of the robot base (4). Above the end of the swing arm connecting rod (102) is provided with a vertically arranged three-branch 2R1T parallel mechanism (2). The rotating shaft of the rotary joint drive part II (103) is connected to the lower end of the three-branch 2R1T parallel mechanism (2); the three-branch 2R1T parallel mechanism (2) includes a parallel mechanism base (201), three lifting rods (202), three lifting drive mechanisms (203), and three UU mechanisms (204). The parallel mechanism base (201) is vertically arranged above the end of the swing arm connecting rod (102). The lower end of the parallel mechanism base (201) is connected to the rotating shaft of the rotary joint drive part II (103). Outside the parallel mechanism base (201) are provided with three vertically arranged lifting rods (202). The three lifting rods (202) are evenly distributed along the circumferential direction with the axis of the parallel mechanism base (201) as the center. A lifting drive mechanism (203) is provided between each lifting rod (202) and the parallel mechanism base (201). Each lifting rod (202) can achieve lifting movement under the drive of the corresponding lifting drive mechanism (203). One end of the three UU mechanisms (204) is respectively rotatably connected to the upper ends of the three lifting rods (202), and the other ends of the three UU mechanisms (204) are rotatably connected to the end traction moving platform (3); the moving joint is installed on the upper part of the end traction moving platform (3) or the lower part of the robot base (4).

2. The hybrid series-parallel reset robot according to claim 1, characterized in that: The lifting drive mechanism (203) includes a lifting drive part I, a synchronous belt mechanism I, a slide rail I (2031), a slider I (2032), and a lead screw-nut transmission mechanism I. A vertically arranged slide rail I (2031) is provided between each lifting rod (202) and the parallel mechanism base (201). The slide rail I (2031) is installed on the inner side of the lifting rod (202). One end of the slide rail I (2031) is slidably connected to the slide rail I (2031) through a chute, and the other end of the slide rail I (2031) is connected to the parallel mechanism base (201). A lead screw-nut transmission mechanism I is provided on the side of each lifting rod (202). The output end of the lead screw-nut transmission mechanism I is connected to the lower side of the lifting rod (202). The lifting drive part I is installed at the upper end of the lifting rod (202). The rotating shaft of the lifting drive part I is connected to the input end of the lead screw-nut transmission mechanism I through the synchronous belt mechanism I.

3. The hybrid series-parallel reset robot according to claim 2, characterized in that: The lead screw nut transmission mechanism I includes a lead screw I (2033), a nut I (2034), a slide connection block I (2035), two bearings I (2036) and two bearing blocks I (2037). The lead screw I (2033) is vertically arranged on the side of the parallel mechanism base (201). The upper and lower shaft sections of the lead screw I (2033) are respectively rotatably connected to the two bearing blocks I (2037) through the two bearings I (2036). The two bearing blocks I (2037) are respectively installed at the upper and lower ends on the side of the parallel mechanism base (201). A nut I (2034) is installed on the middle threaded section of the lead screw I (2033). A slide connection hole I is provided on the slide connection block I (2035), and the nut I (2034) is inserted into the slide connection hole I. The slide connection block I (2035) is installed on the lower end side of the lifting rod (202).

4. The hybrid series-parallel reset robot according to claim 3, wherein: The synchronous belt mechanism I includes a driving pulley I (2038), a transmission belt I (2039) and a driven pulley I (2030). The driving pulley I (2038) is installed on the rotating shaft of the lifting driving part I, and the driven pulley I (2030) is installed on the upper shaft end of the lead screw I (2033). The driven pulley I (2030) is connected to the driving pulley I (2038) through the transmission belt I (2039).

5. A hybrid series-parallel reset robot according to claim 1 or 4, characterized in that: The UU mechanism (204) includes a connecting frame I (2041), a connecting pin I (2042), a connecting rod (2043), a connecting pin II (2044) and a connecting frame II (2045). Both the connecting frame I (2041) and the connecting frame II (2045) are U-shaped structures. The U-shaped structure includes a U-shaped frame and a connecting shaft that is vertically arranged and integrally formed with the middle of the web of the U-shaped frame. Two coaxially arranged pin holes are respectively provided on the two side wings of the U-shaped frame. Two connecting rod pin holes are respectively provided at both ends of the connecting rod (2043). The two ends of the connecting rod (2043) are respectively rotatably connected to the U-shaped frames of the connecting frame I (2041) and the connecting frame II (2045) through the connecting pin I (2042) and the connecting pin II (2044). The connecting shaft of the connecting frame II (2045) is rotatably connected to the end traction slide 3.

6. The hybrid series-parallel reset robot according to claim 5, characterized in that: Three shaft holes I are respectively machined on the upper end surfaces of the three lifting rods (202). The connecting shafts of the connecting frames I (2041) of the three UU mechanisms (204) are respectively inserted into the three shaft holes I. The connecting shaft of the connecting frame I (2041) is rotatably connected to the lifting rod (202). Three shaft holes II are evenly arranged along the circumferential direction on the side of the end traction moving platform (3). The connecting shafts of the connecting frames II (2045) of the three UU mechanisms (204) are respectively inserted into the three shaft holes II. The connecting shaft of the connecting frame II (2045) is rotatably connected to the end traction moving platform (3).

7. The hybrid series-parallel reset robot according to claim 6, wherein: When the moving joint is installed above the end traction moving platform (3), the moving joint includes a moving rod I (301) and a moving driving mechanism I (302). The moving rod I (301) is arranged above the end traction moving platform (3), and a moving driving mechanism I (302) is provided between the moving rod I (301) and the end traction moving platform (3). The moving rod I (301) can achieve longitudinal movement along the traction direction under the drive of the moving driving mechanism I (302).

8. The hybrid series-parallel reset robot according to claim 7, wherein: The moving driving mechanism I (302) includes a lifting driving member II (3021), a synchronous belt mechanism II, a slide rail II (3022), a slider II, and a lead screw nut transmission mechanism II. A horizontally arranged slide rail II (3022) is provided between the moving rod I (301) and the end traction moving platform (3). The slide rail II (3022) is installed on the inner side surface of the moving rod I (301). One end of the slider II is slidably connected to the slide rail II (3022) through a chute, and the other end of the slider II is connected to the inner side surface of the end traction moving platform (3). A lead screw nut transmission mechanism II is provided on the side of the moving rod I (301). The output end of the lead screw nut transmission mechanism II is connected to the moving rod I (301). The lifting driving member II (3021) is installed at the end of the moving rod I (301), and the rotating shaft of the lifting driving member II (3021) is connected to the input end of the lead screw nut transmission mechanism II through the synchronous belt mechanism II; The lead screw nut transmission mechanism II includes a lead screw II (3023), a nut II, a slide table connecting block II, two bearings II (3024), and two bearing seats II (3025). The lead screw II (3023) is horizontally arranged on the side of the moving rod I (301). The upper and lower shaft sections of the lead screw II (3023) are respectively rotatably connected to the two bearing seats II (3025) through the two bearings II (3024). The two bearing seats II (3025) are respectively installed at the left and right ends of the side of the moving rod I (301). A nut II is installed on the middle threaded section of the lead screw II (3023). A slide table connection hole II is provided on the slide table connecting block II, and the nut II is inserted into the slide table connection hole II. The slide table connecting block II is installed on the inner side surface of the end traction moving platform (3); The synchronous belt mechanism II includes a driving pulley II (3026), a transmission belt II (3027), and a driven pulley II (3028). The driving pulley II (3026) is installed on the rotating shaft of the lifting driving member II (3021), and the driven pulley II (3028) is installed on the upper shaft end of the lead screw II (3023). The driven pulley II (3028) is connected to the driven pulley II (3028) through the transmission belt II (3027).

9. The hybrid series-parallel reset robot according to claim 6, wherein: When the moving joint is installed below the robot base (4), the moving joint includes a moving rod II (303) and a moving driving mechanism II (304). The moving rod II (303) is arranged below the robot base (4), and a moving driving mechanism II (304) is provided between the moving rod II (303) and the robot base (4). The moving rod II (303) can achieve longitudinal movement along the traction direction under the drive of the moving driving mechanism II (304).

10. A hybrid serial-parallel reset robot according to claim 9, characterized in that: The mobile drive mechanism II (304) includes a lifting drive member III, a lead screw-nut transmission mechanism III, two slide rails III (3041) and two sliders III. Between the mobile rod II (303) and the robot base (4), there are two horizontally arranged slide rails III (3041) arranged side by side. The two slide rails III (3041) are installed on the upper surface of the mobile rod II (303). The lower ends of the two sliders III are respectively slidably connected to the two slide rails III (3041) through chutes. The upper ends of the two sliders III are connected to the lower surface of the robot base (4). Between the two slide rails III (3041), there is a lead screw-nut transmission mechanism III arranged in parallel. The output end of the lead screw-nut transmission mechanism III is connected to the robot base (4). The lifting drive member III is installed at the end of the mobile rod II (303). The rotating shaft of the lifting drive member III is connected to the input end of the lead screw-nut transmission mechanism III through a coupling; The lead screw-nut transmission mechanism III includes a lead screw III (3042), a nut III, a base connection block, two bearings III (3043) and two bearing seats III (3044). The lead screw III (3042) is horizontally arranged above the mobile rod II (303). The shaft sections at both ends of the mobile rod II (303) are respectively rotatably connected to the two bearing seats III (3044) through the two bearings III (3043). The two bearing seats III (3044) are respectively installed at the left and right ends of the upper surface of the mobile rod II (303). A nut III is installed on the middle threaded section of the lead screw III (3042). A base connection hole is formed in the base connection block. The nut III is inserted into the base connection hole. The base connection block is installed on the lower surface of the robot base (4).

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