Gravity balance adjustment device, master robot arm and minimally invasive surgery robot

Abstract

The application discloses a gravity balance adjusting device, a master hand mechanical arm and a minimally invasive surgery robot, wherein the gravity balance adjusting device comprises an adjusting cavity, a spring tensioner and a tension spring; the adjusting cavity is arranged through an installation base body along a tension spring extension and retraction axis direction; the spring tensioner is movable along the tension spring extension and retraction direction and has a plurality of limiting points relative to the adjusting cavity; and the tension spring is arranged in the adjusting cavity and rotatably connected with the spring tensioner at one end. In the application, the above gravity balance adjusting device, master hand mechanical arm and minimally invasive surgery robot are adopted; the relative position of the spring tensioner and the adjusting cavity can be adjusted by rotating the spring tensioner, so that the extension and retraction amount of the tension spring is adjusted, the balance force change of the tension spring is realized, a changeable balance force is provided for the load, the balance force adjustment is realized, and the load gravity moment can be well balanced in different working postures.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to gravity balance adjustment devices, master robotic arms, and minimally invasive surgical robots. Background Technology

[0002] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. However, the limitations imposed by the incision size on minimally invasive instruments significantly increase the difficulty of the procedure, and the fatigue and tremors experienced by the surgeon during prolonged operations are amplified. These factors have become key constraints on the development of minimally invasive surgical techniques. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming these shortcomings while inheriting the advantages.

[0003] A typical minimally invasive surgical robot consists of a surgeon's console, a patient-side trolley, and a display device. The surgeon operates the input device from the surgeon's console and transmits the input to the patient-side trolley, which is connected to remotely operated surgical instruments. The surgeon's console, also known as the master hand, typically has two robotic arms located on the left and right sides to meet the motion freedom requirements of the input device. It also requires a gravity balancing device to balance their gravitational torque. Adjusting the balancing force is crucial for the robotic arms: firstly, during the installation and debugging of the master hand robotic arms, manufacturing and assembly errors necessitate adjustments to the balancing force to precisely balance the required gravitational torque; secondly, during use, the balancing wires and tension springs may undergo irreversible deformation over time, requiring adjustments to restore the balancing force to its original settings; and thirdly, when components such as the wrist assembly or the lateral swing arm are repaired or replaced, the required gravitational torque may change, necessitating readjustment of the balancing force.

[0004] US Patent Application US20210145530A1 discloses a direct-drive robotic arm structure that uses two hollow motors and belt drive to rotate the robotic arm and uses springs and wire ropes to achieve gravity balance.

[0005] However, the above solution can only achieve the adjustment of the balancing force by replacing the spring. Disassembling and assembling the entire device is not only difficult, but also has high maintenance and replacement costs. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a gravity balance adjustment device with a simple structure and convenient adjustable balance force, a master robotic arm, and a minimally invasive surgical robot.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions.

[0008] This application provides a gravity balance adjustment device, comprising:

[0009] An adjustment cavity is disposed within a mounting base, extending along the extension and retraction axis of the tension spring.

[0010] The spring tensioner is movable along the extension and retraction direction of the tension spring and has multiple limiting points relative to the adjustment cavity;

[0011] A tension spring is disposed within the adjustment cavity and is rotatably connected to the spring tensioner on one side;

[0012] A balance steel wire rope, one end of which is connected to the side of the tension spring away from the spring tensioner, and the other end is connected to the load;

[0013] Wherein, the direction of the force exerted by the balancing steel wire rope on the tension spring is the direction of the extension and contraction of the tension spring.

[0014] Further specifying, in the aforementioned gravity balance adjustment device, the spring tensioner is threadedly rotatably disposed within the adjustment cavity.

[0015] Further specifying, in the above-mentioned gravity balance adjustment device, a spring fixing seat is fixedly provided on the mounting base at a position through one side of the adjustment cavity, and a threaded hole is provided through the spring fixing seat;

[0016] The spring tensioner is rotatably mounted in the threaded hole.

[0017] Furthermore, in the aforementioned gravity balance adjustment device, the diameter of the threaded hole is larger than the diameter of the tension spring.

[0018] Further specifying, in the above-mentioned gravity balance adjustment device, the end of the spring tensioner away from the tension spring is provided with an adjustment section, and the adjustment section extends to the outside of the adjustment cavity or threaded hole.

[0019] Further specifying, in the above-mentioned gravity balance adjustment device, the spring tensioner is provided with a locking hole, and a pull rod through hole is provided between the inner wall of the locking hole near the tension spring and the corresponding end face of the spring tensioner.

[0020] A spring rod is connected between the spring tensioner and the tension spring. The spring rod includes a rod body and a rod cap disposed at one end of the rod body. The rod cap is engaged in the locking hole and can rotate axially. The rod body passes through the rod through hole and is connected to the corresponding end of the tension spring.

[0021] Further specifying, in the aforementioned gravity balance adjustment device, the contact between the pull rod cap and the locking hole on the inner wall of the pull rod through hole side is either point contact or annular linear contact centered on the rotation axis of the pull rod cap.

[0022] Further specifying, in the aforementioned gravity balance adjustment device, the inner wall of the card hole corresponding to the position of the pull rod through hole is provided with a conical concave platform, and the end face of the pull rod cap near the pull rod body is provided with a spherical transition portion that cooperates with the conical concave platform.

[0023] Further defining the above-mentioned gravity balance adjustment device, wherein a guide wheel fixing seat is fixedly provided on the mounting base at a position through which the adjustment cavity is located away from the spring tensioner, and a stroke cavity with an opening facing the tension spring is provided inside the guide wheel fixing seat, and a first wire passage hole is provided between the inner wall of the stroke cavity away from the tension spring and the corresponding end face of the guide wheel fixing seat.

[0024] The balancing steel wire rope passes through the first wire guide hole and is connected to the load.

[0025] Furthermore, in the aforementioned gravity balance adjustment device, the diameter of the stroke cavity is larger than the diameter of the tension spring.

[0026] Further specifying, the aforementioned gravity balance adjustment device further includes:

[0027] The guide wheel is disposed on the end face of the guide wheel fixing seat away from the tension spring, and is rotatable relative to the guide wheel fixing seat, and is used to guide the balance steel wire rope.

[0028] Further specifying the above-mentioned gravity balance adjustment device, a wire locking device is provided between the tension spring and the balance steel wire rope. The wire locking device is provided with a second wire passage hole through the tension spring. The balance steel wire rope passes through the wire passage hole and is fixed with a locking sleeve with a diameter larger than the second wire passage hole at one end near the tension spring.

[0029] This application also provides a master robotic arm, including the gravity balance adjustment device described in any of the above claims, and further including a large arm and a connecting rod;

[0030] The boom and connecting rod are rotatably mounted on the mounting base and coupled to the gravity balance adjustment device.

[0031] This application also provides a minimally invasive surgical robot, including a master hand and a slave hand, wherein the master hand includes a base, a display, and the aforementioned master hand robotic arm.

[0032] The present invention has at least the following beneficial effects:

[0033] 1. By rotating the spring tensioner, the relative position of the spring tensioner and the adjustment cavity can be adjusted, thereby adjusting the extension and contraction of the tension spring and realizing the change of the balance force of the tension spring. That is, by balancing the steel wire rope, a changing balance force is provided to the load, thereby realizing the adjustment of the balance force and enabling the load torque to be well balanced under different working postures.

[0034] 2. The contact between the pull rod cap and the locking hole is point contact or annular linear contact centered on the rotation axis of the pull rod cap, which greatly reduces the friction between the two and avoids the adverse effects caused by the spring pull rod, tension spring, and balance steel wire rope rotating with the spring tensioner.

[0035] 3. The diameters of the threaded hole and the stroke cavity are both larger than the diameter of the tension spring, which gives the tension spring a longer stroke space and avoids interference between the tension spring and the spring fixing seat and the guide wheel fixing seat.

[0036] 4. The load torque is balanced by a purely mechanical structure, which is not only simple in structure but also has no electrical control system. Even in the event of a power outage, there will be no balance failure, thus ensuring the safety of the structure. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of the minimally invasive surgical robot according to an embodiment of this application;

[0038] Figure 2 This is a schematic diagram of the specific structure of the "master robotic arm 10" in the embodiment of this application;

[0039] Figure 3 This is a schematic diagram of the specific structure of the "master robotic arm 10" in the embodiment of this application;

[0040] Figure 4 This is a structural diagram of the "main arm robotic arm 10" with the "rotating component 200" hidden on one side of the "large arm 400" in an embodiment of this application;

[0041] Figure 5 This is a structural diagram of the "main hand robotic arm 10" in this embodiment of the application, with the "rotating component 200" hidden, showing one side of the "connecting rod 500".

[0042] Figure 6 This is a structural schematic diagram of the "winding shaft 620" in the "drive assembly 600" of this application embodiment;

[0043] Figure 7 This is an enlarged structural diagram of the "first winding groove 621" portion in the "driving component 600" of this application embodiment;

[0044] Figure 8 This is a schematic diagram of the structure of the "first turntable 650" in the locking device of this application embodiment;

[0045] Figure 9 This is a schematic diagram of the structure of the "first turntable 650" in the locking device of this application embodiment;

[0046] Figure 10 This is a schematic diagram of the structure of the "second turntable 660" in the locking device of this application embodiment;

[0047] Figure 11 This is a schematic diagram of the structure of the "wire fastener 670" in the locking device of this application embodiment;

[0048] Figure 12 This is a schematic diagram showing the arrangement of the pulley feedback unit on one side of the "upper arm 400" in the "balancing component 700" of this application embodiment;

[0049] Figure 13 This is a schematic diagram showing the arrangement of the pulley feedback unit on one side of the "upper arm 400" in the "balancing component 700" of this application embodiment;

[0050] Figure 14 This is a schematic diagram showing the arrangement of the pulley feedback unit on one side of the "upper arm 400" in the "balancing component 700" of this application embodiment;

[0051] Figure 15 This is a schematic diagram showing the arrangement of the pulley feedback unit on one side of the "connecting rod 500" in the "balance assembly 700" of this application embodiment;

[0052] Figure 16 This is an enlarged cross-sectional view of the gravity balance adjustment device portion of the "fixed box 300" in the "balance assembly 700" of this application embodiment;

[0053] Figure 17 This is a schematic diagram of the gravity balance adjustment device in the "Balance Component 700" of this application embodiment;

[0054] Figure 18 This is a structural schematic diagram of the "spring fixing seat 710" in the "balance assembly 700" of this application embodiment;

[0055] Figure 19 This is a schematic diagram of the structure of the "spring tensioner 730" in the "balance assembly 700" of this application embodiment;

[0056] Figure 20 This is a schematic diagram of the structure of the "spring rod 740" in the "balance assembly 700" of this application embodiment;

[0057] Figure 21 This is a structural schematic diagram of the "guide wheel fixing seat 720" in the "balance assembly 700" of this application embodiment;

[0058] Figure 22 This is a schematic diagram of the structure of the "wire locking device 750" in the "balancing assembly 700" of this application embodiment;

[0059] Figure 23 This is a structural schematic diagram of the "fixed box 300" in the "master robotic arm 10" of this application embodiment.

[0060] Figure Labels

[0061] 10-Main arm robotic arm, 100-Mounting frame, 200-Rotating component, 210-Rotating motor, 220-Support base, 230-Rotating gear, 240-Annular gear segment, 300-Fixed housing, 310-Support base mounting slot, 320-Shaft hole, 330-Coupling mounting hole, 340-Fixed component through hole, 350-Shaft mounting hole, 360-Avoidance recess, 370-Limiting groove, 400-Large arm, 500-Connecting rod, 600-Drive component, 610-Main spindle, 611-Drive motor, 612-Coupling, 620-Winding shaft, 621-First winding groove, 622-Shaft connection part, 623-First unit Stepped hole, 630-Drive wire rope, 640-Encoder, 650-First turntable, 651-First annular ring, 652-First wire guide hole, 653-Shaft through hole, 654-Cable tray, 655-Fastening ring, 656-Aluminum tension sleeve, 657-First threaded hole, 660-Second turntable, 661-Second annular ring, 662-Second wire guide hole, 663-Connecting rod mounting base, 664-Bearing mounting base, 670-Wire fastener, 671-Second winding groove, 672-Twisting end, 673-Winding section, 674-First threaded section, 675-Second threaded section, 676-Second stepped hole, 680-Support protrusion, 690 - Reinforcing nut, 700- Balance assembly, 701- Adjusting cavity, 702- Tension spring, 710- Spring retainer, 711- Second threaded hole, 712- First flange, 713- First nested protrusion, 720- Guide wheel retainer, 721- Guide wheel, 722- Fixing lug, 723- Stroke cavity, 724- Third cable hole, 725- Second flange, 726- Second nested protrusion, 727- Guide shaft, 728- Limiting block, 729- Pin, 730- Spring tensioner, 731- Third threaded section, 732- Adjusting nut, 733- Locking hole, 734- Pull rod through hole, 735- Conical recess, 740- Spring tension 741-Pull rod body, 742-Pull rod cap, 743-Spherical transition section, 744-First spring connecting hole, 750-Wire locking device, 751-Second spring connecting hole, 752-Fourth wire hole, 760-Balance steel wire rope, 770-Nesting hole, 781-First pulley fixing bracket, 782-First movable pulley, 783-First stationary pulley, 784-First pulley mounting seat, 791-Second pulley fixing bracket, 792-Second movable pulley, 793-Second stationary pulley, 794-Center pulley, 795-Second pulley mounting seat, 800-Horizontal swing arm, 900-Wrist assembly, 20-Base, 30-Display. Detailed Implementation

[0062] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0063] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0064] The gravity balance adjustment device, master robotic arm, and minimally invasive surgical robot provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0065] like Figure 1 As shown in the illustration, this application provides a minimally invasive surgical robot, including a master hand (also called a doctor's console) and a slave hand (also called a patient-side trolley). The master hand includes a base 20, a master hand robotic arm 10, and a display 30. The master hand is used by the doctor to provide input, while the slave hand is used to connect to the patient and provide output based on the doctor's input. Generally, the doctor operates the master control input device on the master hand robotic arm 10, and the instruments or endoscopes on the slave hand robotic arm provide corresponding actions according to the movement of the master control input device, thereby completing purposes such as positioning, adjusting the viewing angle, and surgical operations. The display 30 is used to provide the doctor with the surgical field of view inside the patient's body, and its image comes from the endoscope on the slave hand robotic arm.

[0066] like Figures 2 to 23As shown, this application embodiment provides a master hand robotic arm 10 for adapting to the multi-degree-of-freedom movement of a doctor's hand. Generally, the master hand robotic arm 10 includes two parts, left and right. Since the two structures are symmetrical, this embodiment only uses one as an example for description. The master hand robotic arm 10 includes a mounting frame 100 for mounting in a predetermined position to fix the master hand robotic arm 10. The mounting frame 100 is provided with a rotating component 200 for realizing the rotation of the master hand robotic arm 10 in the vertical direction. In this embodiment, the vertical direction specifically refers to the direction facing the ground when the master hand robotic arm 10 is mounted. The rotating component 200 can drive the master hand robotic arm 10 to rotate clockwise or counterclockwise as a whole. It can be understood that the rotation can be active or passive, and correspondingly, the master hand robotic arm 10 is an active robotic arm or a passive robotic arm. A fixed housing 300 is fixedly mounted on the rotation output end of the rotating assembly 200. The fixed housing 300, acting as a shell housing various components and serving as a connecting element, can rotate along with the rotating assembly 200, but has no other degrees of freedom of movement. The fixed housing 300 houses a large arm 400, a connecting rod 500, a drive assembly 600 for driving the movement of the large arm 400 and connecting rod 500, and a balance assembly 700 for balancing the weight of the large arm 400 and connecting rod 500. A transverse swing arm 800 is rotatably mounted on the large arm 400. The connecting rod 500 is rotatably connected to the transverse swing arm 800 away from its connection point with the large arm 400. A wrist assembly 900 is mounted on the transverse swing arm 800 for receiving and sensing user movements. It can be understood that both the large arm 400 and the connecting rod 500 can rotate relative to the fixed housing 300 in a vertical plane.

[0067] In a preferred embodiment, such as Figure 2 , Figure 3 As shown, the rotating assembly 200 includes a rotating motor 210 fixedly mounted on the mounting frame 100 and a support seat 220 rotatably mounted on the mounting frame 100 with bearings. A rotating gear 230 is provided on the output shaft of the rotating motor 210, and an annular tooth segment 240 that cooperates with the rotating gear 230 is provided on the support seat 220. The top of the fixed housing 300 is provided with a support seat mounting groove, and the bottom of the support seat 220 protrudes from the mounting frame 100 and is fixedly mounted in the support seat mounting groove.

[0068] It is understood that the annular tooth segment 240 can be integrally mounted on the support base 220, or it can be part of other parts connected to the support base 220. In addition, the form of the rotating component 200 is not limited to gear transmission. Any transmission mechanism that can drive the fixed housing 300 to rotate in the vertical direction can be understood as the rotating component 200 of this application.

[0069] In a preferred embodiment, such as Figures 2 to 5As shown, the drive assembly 600 is used to drive the rotation of the boom 400 and / or the connecting rod 500 relative to the fixed housing 300. It includes a main shaft 610, a winding unit, and a locking device. The main shaft 610 is rotatably disposed between the two end faces of the fixed housing 300 about the boom 400 and the connecting rod 500. The winding unit includes two drive motors 611 that are approximately centrally symmetrical about the vertical center line of the main shaft 610 and are respectively fixedly disposed on the two end faces of the fixed housing 300 near and away from the boom 400. The power output end of the drive motor 611 is connected to the power input end of the coupling 612. The power output end of the coupling 612 is connected to the winding shaft 620. The winding shaft 620 is provided with a first winding groove 621. Two drive steel wire ropes 630 that are connected to the locking device and coupled to the boom 400 or the connecting rod 500 are fixed and wound on the first winding groove 621. It is understandable that in this embodiment, the use of a drive wire rope 630 to indirectly drive the boom 400 and / or the connecting rod 500 can increase the length of the drive lever arm and reduce the torque requirement on the drive motor 611. This allows for the selection of a smaller drive motor 611, which on the one hand meets the requirements of miniaturization, and on the other hand provides sufficient space to install a coupling 612 between the drive motor 611 and the winding shaft 620. This serves to protect the drive motor 611 and also reduces the machining accuracy of components such as the mounting holes on the fixed housing 300 and the winding shaft 620.

[0070] In a preferred embodiment, a rotating shaft hole 320 is provided through the fixed housing 300. The main shaft 610 is rotatably mounted inside the fixed housing 300 through the rotating shaft hole 320 bearing. An encoder 640 for sensing the rotation angle of the drive motor 611 is connected to the drive motor 611. The power output end of the drive motor 611 is located on the side close to the fixed housing 300. Two coupling mounting holes 330 are provided approximately symmetrically about the vertical center line of the main shaft 610 inside the fixed housing 300. The couplings 612 connecting the two drive motors 611 are embedded in the corresponding coupling mounting holes 330. A fixing through hole 340 for mounting the coupling 612 fixing member is provided between the outer end face of the fixed housing 300 and the 0. A shaft mounting hole 350 is provided between the inner wall of the coupling 612 output end side of the corresponding position and the corresponding end face of the fixed housing 300. A shaft connecting part 622 is provided on the winding shaft 620. The shaft connecting part 622 and the first winding groove 621 are respectively located at both ends of the winding shaft 620. The shaft connecting part 622 is installed in the shaft mounting hole 350 and connected to the corresponding position coupling 612. The first winding groove 621 is located on the opposite side of the corresponding position drive motor 611 with respect to the fixed housing 300. In this embodiment, the components of the drive assembly 600 on both sides of the fixed housing 300 are roughly centrally symmetrically distributed. It can be understood that the drive assembly 600 of this embodiment can be used only on one side of the fixed housing 300, while other drive structures can be used on the other side. This application does not limit this. The description of the roughly centrally symmetrical structural layout on both sides of the fixed housing 300 in this embodiment should not be construed as a limitation of this application.

[0071] In a preferred embodiment, such as Figure 6 , Figure 7As shown, the winding shaft 620 has a first stepped hole 623 through the axis of the winding shaft 620 at each of the two ends of the first winding groove 621. The first stepped hole 623 has a large diameter end and a small diameter end. A locking sleeve with a diameter larger than the small diameter end of the first stepped hole 623 is locked in the large diameter end of the first stepped hole 623. One end of the driving wire rope 630 is fixed on the locking sleeve, and the other end passes through the small diameter end of the first stepped hole 623 at the corresponding position and is wound around the first winding groove 621. After the two driving wire ropes 630 are led out from the first stepped hole 623 at the corresponding position, they are wound towards the middle of the winding groove in opposite directions. The reference angle for the winding direction here is one end of the winding shaft 620. The two driving wire ropes 630 are led out from the winding groove and fixed on the locking device in a non-crossing state. Since the two drive wire ropes 630 on the winding shaft 620 are wound from both sides to the middle, their axial lead-out positions are relatively close. On the one hand, this makes the corresponding lead-in positions of the drive wire ropes 630 on the boom 400 or connecting rod 500 relatively close in the axial direction, so as not to generate a large torque (the ideal situation is that the lead-in positions coincide in the axial direction, so no torque is generated, but this is not possible in practice). On the other hand, it also makes the locking device structure of the corresponding fixed drive wire ropes 630 on the boom 400 or connecting rod 500 similar, reducing the difficulty of processing and manufacturing.

[0072] like Figures 2 to 11 As shown, this application embodiment also provides a locking device, including a first turntable 650 fixedly disposed on the side of the main shaft 610 about the upper arm 400 and connected to the upper arm 400, and a second turntable 660 rotatably disposed on the side of the main shaft 610 about the connecting rod 500 and connected to the connecting rod 500. This application embodiment connects the main shaft 610 to the upper arm 400 or the connecting rod 500 via the turntables. The turntables provide installation space for the components of the locking device and further increase the length of the corresponding driving arm of the driving wire rope 630, thereby further reducing the performance requirements of the drive motor 611 and enhancing the advantages and technical effects described above.

[0073] like Figure 8 , Figure 9As shown, a first annular ring 651 coaxial with the main shaft 610 is fixed on the end face of the first turntable 650 away from the fixed housing 300. Two wire holders 670 are provided on the first turntable 650. The wire holders are provided with second winding grooves 671. A first wire passage hole 652 is provided between the outer and inner annular surfaces of the first annular ring 651 at the corresponding positions of the two second winding grooves 671. The axis of the first wire passage hole 652 passes through the axis of the main shaft 610 and is tangent to the second winding groove 671 on the corresponding wire holder 670. Two drive steel wire ropes 630 at the corresponding positions pass through the two first wire passage holes 652 along the outer annular surface of the first annular ring 651 and are fixedly connected to the corresponding wire holders 670 inside the first annular ring 651.

[0074] When the drive motor 611 drives the winding shaft 620 on the corresponding side of the boom 400 to rotate, the lengths of the two drive steel wire ropes 630 at the corresponding positions increase or decrease. Since the winding directions of the two drive steel wire ropes 630 on the winding shaft 620 are opposite (the opposite winding directions here refer to the opposite starting positions, one winding from the outside to the inside and the other winding from the inside to the outside, but the rotation direction of the winding groove is the same), when one drive steel wire rope 630 increases in length, the other must decrease in length, thereby driving the first turntable 650 to rotate. Since the boom 400 is connected to the first turntable 650, the boom 400 also rotates. It can be understood that the boom 400 can be fixedly connected to the first turntable 650, or fixedly connected to the first annular ring 651, or fixedly connected to the corresponding end of the main shaft 610, as long as the coupling relationship between the first turntable 650 and the boom 400 can be achieved. Of course, for ease of processing, manufacturing and assembly, preferably in this embodiment, the first turntable 620 and the first annular ring 651 are integrally formed stainless steel parts, and the upper arm 400 is fixedly connected to the first turntable 650 by bolts.

[0075] It is understandable that the two cable fasteners 670 in this solution are designed to accommodate the scenario where the first turntable 650 is rotatably mounted on the main shaft 610 and driven by two drive wire ropes 630 to rotate in two directions. In other scenarios, such as when the first turntable 650 only needs to be driven by one drive wire rope 630 to rotate in one direction, the corresponding structure can be simplified to one. If the first turntable 650 is controlled by multiple drive wire ropes 630 coupled together, the corresponding structure can also be added. In this case, the position of the cable fasteners 670 can be adjusted according to the actual situation.

[0076] In this embodiment, the aforementioned locking device is used to drive the wire rope 630 to enter the first annular ring 651 through the first wire hole 652 and be fixed to the wire fastener 670, thus eliminating unnecessary parts on the outer surface of the first annular ring 651, resulting in an aesthetically pleasing structure that is less prone to dust accumulation and reducing the difficulty of cleaning the equipment. Since the axis of the first wire hole 652 passes through the center of the first turntable 650 and is tangent to the second winding groove 671 on the corresponding wire fastener 670, large angles are avoided in the drive wire rope 630, ensuring its service life.

[0077] In a preferred embodiment, the first turntable 650 has a through-hole 653 for a rotating shaft and a cable tray 654 for wires to pass through. A fastening ring 655, coaxial with the rotating shaft through-hole 653, is fixedly mounted on the end face of the first turntable 650 away from the fixed housing 300 at a position corresponding to the rotating shaft through-hole 653. The corresponding end of the main shaft 610 passes through the rotating shaft through-hole 653 and is fixedly connected to the first turntable 650 via an aluminum tensioning sleeve 656 disposed within the fastening ring 655. In this embodiment, the first turntable 650 is fixedly connected to the main shaft 610; therefore, when the first turntable 650 is driven to rotate by the wire rope 630, the main shaft 610 will also rotate. To ensure that the movements of the boom 400 and the connecting rod 500 are not coupled, it is understood that the second turntable 660 on the side of the connecting rod 500 needs to be rotatably connected to the main shaft 610, for example, by connecting the two via a bearing, so that their respective rotations do not affect each other.

[0078] It is understandable that the connection method between the first turntable 650 and the spindle 610 is not limited to the above scheme. For example, the first turntable 650 can be fixed by using a nut to cooperate with the spindle 610, or the first turntable 650 can be directly welded to the spindle 610, as long as the fixed connection relationship between the first turntable 650 and the spindle 610 is achieved.

[0079] In a preferred embodiment, the two wire holders 670 on the first turntable 650 are symmetrical about the line connecting the main shaft 610 and the corresponding side winding shaft 620, and the two corresponding first wire holes 652 are also symmetrical about the line connecting the main shaft 610 and the corresponding side winding shaft 620.

[0080] It is understandable that the two wire fasteners 670 and the first wire guide hole 652 on the first turntable 650 do not need to be symmetrical about the line connecting the main shaft 610 and the corresponding side winding shaft 620. As long as the tension and slack adjustment of the two drive wire ropes 630 can drive the first turntable 650 to rotate, the symmetrical arrangement is adopted to facilitate the processing of the first turntable 650 and the first annular ring 651, improve the driving accuracy of the drive wire rope 630, and maximize the driving lever arm (when the two first wire guide holes 652 are symmetrical about the center 650 of the first turntable, the driving lever arm of the drive wire rope 630 is the largest).

[0081] In a preferred embodiment, two support protrusions 680 are fixedly provided on the end face of the first turntable 650 away from the fixed housing 300, corresponding to the positions of the two wire fasteners 670. A first threaded hole 657 is provided between the end face of the support protrusion 680 away from the turntable and the end face of the turntable away from the support protrusion 680. The support protrusion 680 is provided to fix the wire fastener 670. If the turntable is thick enough, the support protrusion 680 can be omitted, but this would make the turntable too heavy, increasing the burden on the drive motor 611, which does not meet the aforementioned technical requirements. The wire fastener 670 includes a screwing end 672, a winding section 673, a first threaded section 674, and a second threaded section 675 connected in sequence. The screwing end 672 adopts any structure that is easy to screw with existing tools, such as a cross plate shape, a square shape, or a hexagonal shape. For ease of processing, the diameter of the winding section 673 is larger than the diameter of the first threaded hole 657. The second winding groove 671 is provided on the winding section 673. The first threaded section 674 mates with the first threaded hole 657. The direction in which the driving wire rope 630 is screwed into the winding groove is the same as the direction in which the first threaded section 674 is screwed into the first threaded hole 657. The thread on the second threaded section 675 is opposite in direction to the thread on the first threaded section 674 (similarly, for ease of processing, the diameter of the second threaded section 675 is smaller than the diameter of the first threaded section 674). The wire fastener 670 is fixed to the first winding section 673 by the engagement of the first threaded section 674 and the first threaded hole 657. On a turntable 650, a second threaded segment 675 extends through a first threaded hole 657 to the side of the first turntable 650 away from the corresponding support protrusion 680. A reinforcing nut 690 with a diameter larger than that of the first threaded hole 657 is used in conjunction with the second threaded segment 675 to strengthen the connection between the wire fastener 670 and the first turntable 650. The length of the first threaded segment 674 is less than the depth of the first threaded hole 657 to prevent the first threaded segment 674 from being unscrewed out of the first threaded hole 657, which would prevent the reinforcing nut 690 from pressing the first turntable 650 tightly and affect the fastening effect.

[0082] In this embodiment, the aforementioned locking device, through the cooperation of the first threaded section 674 and the second threaded section 675, can prevent the wire fastener 670 from loosening and enhance its connection reliability with the turntable. When the drive wire rope deforms and elongates due to long-term use, since the direction in which the drive wire rope 630 is screwed into the second winding groove 671 is the same as the direction in which the first threaded section 674 is screwed into the first threaded hole 657, the drive wire rope 630 on the wire fastener 670 will be further wound during the rotation and screwing of the wire fastener 670 into the first threaded hole 657, thereby achieving pre-tightening of the wire rope. Of course, if the wire rope still becomes loose, the screwing end 672 can be rotated to re-tighten the drive wire rope 630 and the reinforcing nut 690 can be adjusted to ensure the reinforcement effect of the wire fastener 670.

[0083] It is understandable that using thread-locking adhesive or directly welding the cable fastener 670 to the first turntable 650 can also achieve the same anti-loosening effect. In this case, there is no need to set a complex thread structure on the cable fastener 670. However, this would lead to problems such as difficulty in disassembly and inability to re-tension the drive wire rope 630. Therefore, this non-removable connection structure is generally not used in medical equipment.

[0084] In a preferred embodiment, the winding segment 673 is provided with a second stepped hole 676 through the starting position of the second winding groove 671, that is, the fixed end position of the driving wire rope 630. The axis of the second stepped hole 676 passes through the axis of the winding segment 673 and the through direction is approximately perpendicular to the tangent of the through point of the winding segment 673, so as to reduce the bending of the driving wire rope 630 in the second stepped hole 676.

[0085] The second stepped hole 676 has the same structure as the first stepped hole 623, with a large-diameter end and a small-diameter end. When the driving wire rope 630 is introduced into the second winding groove 671 and wound to the stepped hole, the end of the driving wire rope 630 passes through the small-diameter end of the second stepped hole 676 and is fixedly fitted with a locking sleeve. The diameter of the locking sleeve is larger than the diameter of the small-diameter end of the second stepped hole 676 and is locked in the large-diameter end of the second stepped hole 676, thereby fixing the driving wire rope 630.

[0086] In this embodiment, the aforementioned locking device, through the cooperation of the locking sleeve with the first stepped hole 623 and the second stepped hole 676, eliminates the need for knotting the drive wire rope 630, and ensures that there are no excess protrusions on the outer surface of the winding shaft 620 and the winding segment 673, resulting in higher winding accuracy. Specifically, regarding the crimping fit structure between the locking sleeve and the wire rope, crimping pliers or a crimping machine can be used to fix the two together. For more detailed information, please refer to the applicant's Chinese Utility Model Patent Application 202220636992.7, which will not be elaborated here.

[0087] In a preferred embodiment, since the two drive wire ropes 630 are wound from both ends to the middle on the first winding groove 621, there is a certain misalignment in the axial direction of the winding shaft 620 when the two drive wire ropes 630 are led out from the first winding groove 621. The axes of the two first wire-passing holes 652 are not on the same vertical plane of the axis of the first annular ring 651, that is, the two first wire-passing holes 652 are misaligned in the axial direction of the first annular ring 651. This makes the first wire-passing holes 652 and the corresponding drive wire ropes 630 leading out from the winding shaft 620 approximately on the same vertical plane of the axis of the main shaft 610. The two supporting protrusions 6 at the corresponding positions are located on the same vertical plane of the axis of the main shaft 610. 80. Since the distance between the two first wire-passing holes 652 in the axial direction of the first annular ring 651 also has a corresponding height difference, after the wire fastener 670 is installed on the corresponding support protrusion 680, the direction in which the driving wire rope 630 is introduced into the second winding groove 671 is approximately parallel to the axis of the corresponding first wire-passing hole 652. This avoids a large height difference between the position where the driving wire rope 630 is introduced into the second winding groove 671 and the corresponding first wire-passing hole 652, thereby preventing changes in the extension direction of the driving wire rope 630 and reducing friction between the position where the driving wire rope 630 extends out of the first winding groove 621 and the position of the first wire-passing hole 652. In other words, the two support protrusions 680 have different height dimensions, thus accommodating the axial height difference between the two first wire-passing holes 652; that is, the height difference between the two support protrusions 680 is equal to the axial height difference between the two first wire-passing holes 652. Of course, since there is a certain distance between the winding shaft 620 and the two first wire-passing holes 652 (in this embodiment, it is between the radius and diameter of the first turntable 650), the larger this distance is, the smaller the above-mentioned influence will be.

[0088] In this embodiment, the locking device described above is used. The height difference between the two first wire passage holes 652 and the two support protrusions 680 satisfies the following: on one side of the first turntable 650, the lead-out end of the driving wire rope 630 from the first winding groove 621, the lead-in end of the first wire passage hole 652, and the lead-in end of the driving wire rope 630 from the second winding groove 671 are approximately on the same plane. This reduces the deformation of the driving wire rope 630 caused by the height difference of each node, and further improves the service life and driving accuracy of the driving wire rope 630.

[0089] In a preferred embodiment, such as Figure 10As shown, the second turntable 660 is circular, and a second annular ring 661 coaxial with the main shaft 610 is fixed on its outer ring surface. The two ends of the second annular ring 661 protrude (protrusion means protrusion or extension) from both sides of the second turntable 660. The second turntable 660 is also provided with two wire fasteners 670 and supporting protrusions 680 that cooperate with the wire fasteners 670. The second annular ring 661 is provided with a second wire through hole 662 that cooperates with the corresponding wire fastener 670. The wire fasteners 670 on the second turntable 660 are arranged in a similar position to those on the first turntable 650. The difference is that the two supporting protrusions 680 are respectively located on the two end faces of the second turntable 660. That is, although the two wire fasteners 670 are located on the main shaft 610 and the corresponding end faces of the main shaft 610, the two supporting protrusions 680 are located on the two end faces of the second turntable 660. At the symmetrical position of the line connecting the side winding shaft 620, but the installation directions of the two wire fasteners 670 are opposite, and the second wire passage hole 662 corresponding to the winding groove of the wire fastener 670 is also located on both sides of the second annular ring 661 about the second turntable 660. At the corresponding positions, two drive steel wire ropes 630 pass through the two second wire passage holes 662 along the outer ring surface of the second annular ring 661 and are fixedly connected to the wire fasteners 670 at the corresponding positions. The protrusion height of the two support protrusions 680 and the position of the second wire passage hole 662 satisfy the following: on one side of the second turntable 660, the lead-out end of the drive steel wire rope 630 from the first winding groove 621, the first wire passage hole 652, and the lead-in end of the drive steel wire rope 630 from the second winding groove 671 are approximately on the same plane.

[0090] The positional relationship between the second wire hole 662 and the wire fastener 670 on the second turntable 660, and the connection method between the drive wire rope 630 and the wire fastener 670 on the second turntable 660 are the same as the corresponding structures on the first turntable 650.

[0091] In this embodiment, the locking device described above is used. By utilizing the height difference between the wire fastener 670, the second annular ring 661, and the two supporting protrusions 680, the driving wire rope 630 can be fixed on both sides of the second turntable 660. This not only reduces the deformation of the driving wire rope 630 caused by the height difference between each node, further improving the service life and driving accuracy of the driving wire rope 630, but also provides a more flexible way to thread and fix the driving wire rope 630 in different working scenarios.

[0092] It is understandable that two second turntables 660 can also be symmetrically arranged and located on the two end faces of the second turntable 660 that are closer to and farther away from the fixed box 300, respectively.

[0093] Similarly, since both the first turntable 650 and the second turntable 660 are driven to rotate by two drive steel wire ropes 630 led out from the corresponding winding shaft 620, the arrangement of the wire fasteners 670 on the first turntable 650 and the second turntable 660 can be interchanged. At the same time, the corresponding structures arranged with the wire fasteners 670 can also be interchanged. That is, the locking structures of the drive steel wire ropes 630 on both sides can be interchanged. In this application, the reason why the locking structures on the sides of the boom 400 and the connecting rod 500 are different is to match the dimensions of each component. For the locking structure on the first turntable 650, this locking structure can make the connection between the first turntable 650 and the fixed housing 300 more compact. For the locking structure on the second turntable 660, this locking structure can expand the gap between the second turntable 660 and the fixed housing 300, which facilitates the installation and adjustment of the parts on the side of the second turntable 660 closer to the fixed housing 300.

[0094] In a preferred embodiment, a connecting rod mounting seat 663 is fixedly provided on the outer surface of the second annular ring 661. The end of the connecting rod 500 away from the transverse swing arm 800 is rotatably connected to the connecting rod mounting seat 663. A bearing mounting seat 664 coaxial with the main shaft 610 and having a hollow structure is provided through the second turntable 660. The second turntable 660 is rotatably connected to the main shaft 610 through the bearing provided in the bearing mounting seat 664. Therefore, the rotation of the first turntable 650 and the rotation of the second turntable 660 are not coupled, which facilitates the independent control of the boom 400 and the connecting rod 500 by the two drive motors 611.

[0095] It is understandable that the structure of the bearing mounting base 664 is not limited to the above structure, as long as it can realize the bearing rotation connection between the main shaft 610 and the second turntable 660.

[0096] In this embodiment, the aforementioned master robotic arm 10 is used, and the first turntable 650 and the second turntable 660 are directly driven to rotate using the drive wire rope 630, thereby driving the large arm 400 and the connecting rod 500 to rotate. Compared with the direct drive method of the drive motor 611, the lever arm is larger (the specific size of the lever arm depends on the diameter of the first turntable 650 and the second turntable 660), which can reduce the requirements for the drive motor 611 and further reduce the space occupied by the drive motor 611.

[0097] Because the requirements for the drive motor 611 are small, the size of the drive motor 611 can be smaller. Therefore, a coupling 612 can be set between the drive motor 611 and the winding shaft 620. On the one hand, it can protect the drive motor 611, and on the other hand, it can reduce the processing (mainly for the winding shaft 620 and the fixed housing 300) and assembly (mainly for the motor, winding shaft 620 and fixed housing 300) requirements of the parts.

[0098] like Figures 12 to 22As shown in the illustration, this application also provides a balancing component 700 for balancing the gravity of the upper arm 400, connecting rod 500, lateral swing arm 800, and wrist component 900. It includes a gravity balancing adjustment device and a pulley feedback unit connected to the gravity balancing adjustment device. The pulley feedback unit is connected to a first turntable 650 or a second turntable 660 and provides a varying balancing force to the corresponding components through the gravity balancing adjustment device, thereby effectively balancing the gravitational torque of the aforementioned components under different working postures. It should be noted that although only gravitational torque is mentioned here, the frictional torque of the rotation of each component also needs to be balanced. Since the frictional torque is much smaller than the gravitational torque, the industry often only refers to the gravitational torque, but the existence and need to eliminate the frictional torque cannot be ignored, and will not be elaborated further below.

[0099] In a preferred embodiment, such as Figures 16 to 22 As shown, the gravity balance adjustment device includes two adjustment chambers 701 symmetrically arranged about the vertical center line of the main shaft 610 and connected through the two end faces of the fixed housing 300 near and away from the boom 400. Spring fixing seats 710 and guide wheel fixing seats 720 are fixedly provided on the end faces of the fixed housing 300 corresponding to the two ends of the adjustment chambers 701. The spring fixing seats 710 and guide wheel fixing seats 720 provided in the two adjustment chambers 701 are in opposite positions. That is, in the direction from the boom 400 to the connecting rod 500, the guide wheel fixing seat 720 near the boom 400 is located to the left of the spring fixing seat 710, and in the direction from the connecting rod 500 to the boom 400, the guide wheel fixing seat 720 near the connecting rod 500 is located to the left of the spring fixing seat 710.

[0100] A spring tensioner 730 is internally threaded onto the spring fixing seat 710. A spring rod 740, which can rotate relative to the spring tensioner 730, is connected to the spring tensioner 730. A tension spring 702 is connected to the spring rod 740. A wire locking device 750 is connected to the end of the tension spring 702 away from the spring rod 740. A balance steel wire rope 760 is connected to the wire locking device 750. A guide wheel 721 is provided on the guide wheel fixing seat 720. The balance steel wire rope 760 passes through the corresponding position adjustment cavity 701 and is connected to the pulley feedback unit through the guide wheel 721. The force direction of the balance steel wire rope 760 on the tension spring 702 is parallel or collinear with the extension axis of the tension spring. When the force direction of the balance steel wire rope 760 on the tension spring 702 is collinear with the extension axis of the tension spring 702, the force on the tension spring 702 is the most uniform and the balance effect is the best.

[0101] In this embodiment, the aforementioned balancing component 700 is used. By rotating the spring tensioner 730, the relative position of the spring tensioner 730 and the adjustment cavity 701 can be adjusted, thereby adjusting the extension and contraction of the tension spring 702, and thus realizing the change of the balancing force of the tension spring 702. The adjustment of the balancing force is very important for the master hand robotic arm 10: First, during the installation and debugging of the master hand robotic arm 10, due to manufacturing and assembly errors, the balancing force needs to be adjusted so that it can just balance the required balancing torque; Second, during the use of the master hand, the balancing wire rope 760 and the tension spring 702 undergo irreversible deformation due to long-term use, and the balancing force needs to be adjusted to restore them to their original set values; Third, when components such as the wrist component 900 and the lateral swing arm 800 are repaired or replaced, the required balancing torque may change, and the balancing force also needs to be readjusted.

[0102] It is understandable that the principle of adjusting the balancing force of the tension spring 702 by the spring tensioner 730 is to adjust the relative positional relationship between the spring tensioner 730 and the adjusting cavity 701. At the same time, it should ensure the stability of the relative positional relationship between the spring tensioner 730 and the adjusting cavity 701. That is, the spring tensioner 730 can move along the extension and retraction direction of the tension spring 702 and has multiple limiting points relative to the adjusting cavity 701. The threaded connection between the spring tensioner 730 and the spring fixing seat 710 can be understood as the spring tensioner 730 having countless limiting points relative to the adjusting cavity 701, that is, the relative positional relationship between the two is infinitely adjustable.

[0103] In a preferred embodiment, the relative positional relationship and stability of the relative positional relationship between the spring tensioner 730 and the adjusting cavity 701 can also be achieved through other connection methods. For example, the spring tensioner 730 can be slidably connected to the spring fixing seat 710, and a controllable telescopic clip can be provided on the spring tensioner 730. At the same time, multiple limiting holes that cooperate with the telescopic clip can be arrayed in the adjusting cavity 701 along the telescopic direction of the tension spring 702. By controlling the telescopic clip to retract, the spring tensioner 730 can move in the adjusting cavity 701 along the telescopic direction of the tension spring 702. By controlling the telescopic clip to extend and embed into the limiting hole at the corresponding position, the spring tensioner 730 can be limited relative to the adjusting cavity 701. At this time, the relative positional relationship between the spring tensioner 730 and the adjusting cavity 701 is multi-stage adjustable. This adjustment method requires preset limiting points, and the accuracy of tension control of the tension spring 702 is not high.

[0104] In a preferred embodiment, the fixed housing 300 is provided with two coaxial and through nested holes 770 on the corresponding side end faces of the adjusting cavity 701. The spring fixing seat 710 is provided with a through second threaded hole 711 and a first flange 712 is fixed on its outer circular surface. The spring tensioner 730 is provided with an external thread that mates with the second threaded hole 711. The spring fixing seat 710 is provided with a first nested protrusion 713 on the outer circular surface of one side of the first flange 712. The spring fixing seat 710 is fixedly mounted on the fixed housing 300 by bolts to the first flange 712. The first nested protrusion 713 is embedded in the corresponding nested hole 770.

[0105] Two fixing ears 722 are symmetrically and fixedly provided on one side end face of the guide wheel fixing seat 720. The guide wheel 721 is rotatably disposed between the two fixing ears 722. The guide wheel fixing seat 720 has a stroke cavity 723 with an opening facing away from the guide wheel 721. A third wire hole 724 is provided through the inner wall of the corresponding side of the guide wheel fixing seat 720 near the guide wheel 721. A second flange 725 is fixedly provided on the outer circular surface of the guide wheel fixing seat 720 away from the guide wheel 721. A second nested protrusion 726 is provided on the outer circular surface of the guide wheel fixing seat 720 about the second flange 725 away from the guide wheel 721. The guide wheel fixing seat 720 is fixedly disposed on the fixed housing 300 by bolts through the second flange 725. The second nested protrusion 726 is embedded in the nested hole 770 at the corresponding position.

[0106] The diameter of the second threaded hole 711 and the stroke cavity 723 is larger than the diameter of the tension spring 702, which allows the tension spring 702 to have a longer adjustment stroke space and will not interfere with the spring fixing seat 710 or the guide wheel fixing seat 720.

[0107] It is understandable that the spring fixing seat 710 or the guide wheel fixing seat 720 can also be omitted. That is, the spring tensioner 730 is directly threaded to the adjusting cavity 701, and the guide wheel 721 is directly set at the lead-out position of the fixed housing 300 relative to the balance steel wire rope 760. The same effect can be achieved in this case. The reason for setting the spring fixing seat 710 and the guide wheel fixing seat 720 is to increase the adjustment stroke length of the tension spring 702 as much as possible while simplifying the fixed housing 300. If the spring fixing seat 710 and the guide wheel fixing seat 720 are not set, in order to increase the adjustment stroke length of the tension spring 702, the length of the adjusting cavity 701 can only be increased, that is, the thickness of the fixed housing 300 at the position of the adjusting cavity 701 can be increased, or protrusions can be set on the end faces of the fixed housing 300 at both ends of the adjusting cavity 701 to extend the adjusting cavity 701.

[0108] In a preferred embodiment, a guide shaft 727 is provided through and rotatably between two fixed ears 722. The two ends of the guide shaft 727 protrude from the corresponding fixed ears 722 and are respectively provided with limiting parts. The guide wheel 721 is located between the two fixed ears and is rotatably mounted on the guide shaft 727.

[0109] The limiting parts at both ends of the guide shaft 727 are a limiting block 728 and a pin 729, respectively. The limiting block 728 is fixedly installed at the end, and the pin 729 is inserted radially into the guide shaft 727.

[0110] In a preferred embodiment, the spring tensioner 730 includes a cylindrical third threaded section 731 and an adjusting section located at one end of the third threaded section 731. An external thread is provided on the third threaded section 731. The adjusting section is specifically an adjusting nut 732. It is understood that the adjusting section can be configured in any way that is easy to turn manually or with tools.

[0111] The spring tensioner 730 has a locking hole 733 with an opening facing the side closer to the adjustment section. The end face of the third threaded section 731 away from the adjustment section and the inner wall of the corresponding side of the locking hole 733 are connected by a pull rod through hole 734. The pull rod through hole 734 is coaxial with the locking hole 733 and its diameter is smaller than that of the locking hole 733. The spring pull rod 740 is locked in the locking hole 733 and one end extends into the adjustment cavity 701 through the pull rod through hole 734.

[0112] In a preferred embodiment, the spring lever 740 includes a lever body 741 and a lever cap 742. The diameter of the lever cap 742 is larger than the diameter of the lever through hole 734 and is locked in the locking hole 733. The lever body 741 extends into the adjustment cavity 701 through the lever through hole 734.

[0113] A conical recess 735 is provided on the inner wall at the connection position between the locking hole 733 and the pull rod through hole 734. The conical recess 735 is folded in the direction closer to the pull rod through hole 734. The pull rod cap 742 is provided with a spherical transition part 743 that mates with the conical recess 735 on the side closer to the pull rod body 741. The pull rod body 741 is provided with a first spring connecting hole 744 for installing the tension spring 702 through radially at the end away from the pull rod cap 742. Platforms are cut on the outer circular surfaces of both ends of the pull rod body 741 about the first spring connecting hole 744, thereby shortening the length of the first spring connecting hole 744 and facilitating the installation of the tension spring 702.

[0114] In this embodiment, the aforementioned balancing component 700 is used. Since the adjustment process of the spring tensioner 730 is rotational, if the spring rod 740 rotates with the spring tensioner 730, it will cause the tension spring 702 to rotate. The rotation of the tension spring 702 will cause the balancing wire rope 760 to rotate, which will have an adverse effect. In order to prevent the tension spring 702 from rotating, when the rod cap 742 is locked in the locking hole 733 and is subjected to the tension of the tension spring 702 and abuts against the inclined concave surface of the conical recess 735 of the locking hole 733, the spherical transition part 743 greatly reduces the contact area between the rod cap 742 and the conical recess 735, so that the connection between the two is a ring-shaped linear contact, thereby reducing the friction between the two and thus preventing the spring rod 740 from rotating with the spring tensioner 730 during adjustment.

[0115] Understandably, this is based on the Ammonton-Coulomb law, i.e., f = μF. n It is known that frictional force is independent of the contact area. However, in practice, the friction coefficient measured by the friction pair often deviates significantly from the above formula. This is because the Ammonton-Coulomb law only considers the normal load as a factor and assumes that the friction coefficient is constant for a given friction pair. In reality, the magnitude of the friction coefficient depends on various factors, such as the condition of the friction pair surface film, surface properties, temperature, relative sliding speed, and the magnitude of the normal load. Corresponding friction theories include the "adhesive friction theory" and the "molecular-mechanical theory." In these theories, the friction coefficient is related to the surface pressure, and therefore indirectly related to the contact area. Based on this, by reducing the contact area between the tie rod cap 742 and the conical concave platform 735, the friction coefficient between them can be changed, thereby affecting the frictional force between them.

[0116] In a preferred embodiment, to further prevent the spring rod 740 from rotating along with the spring tensioner 730 during adjustment, the spherical transition portion 743 or the conical concave platform 735 can be replaced with an abutting protrusion, thereby making the connection between the rod cap 742 and the inner wall of the locking hole 733 a point contact, further reducing the friction between the two. Alternatively, a bearing can be provided between the spring rod 740 and the spring tensioner 730, or a corresponding rotation limiting mechanism can be provided between the spring rod 740 and the adjusting cavity 701. For example, a limiting protrusion can be provided on the outer circle of the spring rod 740, and a matching limiting groove can be provided on the inner wall of the adjusting cavity 701. This can completely limit the rotation of the spring rod 740, but it will increase the overall manufacturing cost of the gravity balance adjustment device.

[0117] In a preferred embodiment, one end of the wire locking device 750 is provided with a second spring connection hole 751 for installing the tension spring 702 through a radial path. The outer circular surfaces of both ends of the wire locking device 750 about the second spring connection hole 751 are cut with platforms, thereby shortening the length of the second spring connection hole 751 and facilitating the installation of the tension spring 702.

[0118] The wire locking device 750 has a fourth wire passage hole 752 through both ends about the axis. The starting end of the balance wire rope 760 is fixedly equipped with a locking sleeve. The diameter of the locking sleeve is larger than the diameter of the fourth wire passage hole 752. The balance wire rope 760 passes through the fourth wire passage hole 752 from the side of the wire locking device 750 near the tension spring 702 and extends to connect with the pulley feedback unit. The locking sleeve at the starting end of the balance wire rope 760 is restricted by the fourth wire passage hole 752 and abuts against the wire locking device 750.

[0119] In this embodiment, the above-mentioned master robotic arm 10 is used, and the tension spring 702 and the balance steel wire rope 760 are used to balance the gravity of the upper arm 400, the horizontal swing arm 800 and the wrist assembly 900. Compared with the motor balancing method, this solution adopts a pure mechanical structure, which is not only simple in structure, but also has no electrical control system. Even in the event of a power failure, the balance will not fail, thus ensuring the safety of the structure.

[0120] In a preferred embodiment, such as Figure 12 As shown, the pulley feedback unit includes a first pulley fixing frame 781, a first movable pulley 782, a first stationary pulley 783, and a first pulley mounting seat 784, all disposed on the side of the fixed housing 300 relative to the boom 400. The first pulley fixing frame 781 is fixedly disposed on the end face of the fixed housing 300 near the boom 400, and the first pulley mounting seat 784 is fixedly disposed on the end face of the first turntable 650 away from the fixed housing 300. The first movable pulley 782 is disposed on the first pulley mounting seat 784, and the first stationary pulley 783 is fixedly disposed on the first pulley fixing frame 781. A balance steel wire rope 760, extending from the guide wheel 721 on the side of the boom 400, passes around the first movable pulley 782 and is fixedly connected to the first stationary pulley 783.

[0121] From the boom 400 to the connecting rod 500 (i.e., on the boom 400 side), the first movable pulley 782 is located at the lower left corner of the first turntable 650, and the first stationary pulley 783 is located at the upper right corner of the first turntable 650. With the boom 400 vertical, the balance steel cable 760 between the first movable pulley 782 and the first stationary pulley 783 passes through the axis of the main shaft 610. This routing of the balance steel cable 760 can give the first turntable 650 a clockwise torque based on the direction shown in the figure (because the torque of the balance steel cable 760 to the first movable pulley 782 is directed to the left side of the first turntable 650), thereby balancing the gravitational torque that needs to be balanced. In this embodiment, with the boom 400 in a vertical position as the initial position, when the boom 400 rotates clockwise, the length of the extended portion of the balance wire rope 760 decreases (i.e., it is in a contracted state), and correspondingly, the balancing force also decreases. When the boom 400 rotates counterclockwise, the length of the extended portion of the balance wire rope 760 first increases and then decreases. At the critical point of increasing to decreasing, the torque direction of the balance wire rope 760 on the first movable pulley 782 passes through the center of the first turntable 650. At this point, the balancing force is at its maximum, but it will not generate torque on the boom 400. When the counterclockwise rotation continues at the critical point, the balancing force will give the first turntable 650 a counterclockwise torque based on the direction shown in the figure (because the torque direction of the balance wire rope 760 on the first movable pulley 782 is on the right side of the first turntable 650). This critical point is called the zero point of the balancing force. At the zero point, when the upper arm 400 rotates clockwise, the balancing force will exert a clockwise torque; when the upper arm 400 rotates counterclockwise, the balancing force will exert a counterclockwise torque, thus balancing the gravitational torque that needs to be balanced and reducing the operational burden on the doctor's hands. It can be understood that the position of the zero point depends on the relative positional relationship between the first movable pulley 782, the first stationary pulley 783, the guide wheel 721, and the upper arm 400 (or the first turntable 650). Preferably, the position of the zero point is set to the position when the upper arm 400 is vertically downward. This is more in line with usage habits, facilitates force analysis and calculation, and reduces the difficulty of equipment design.

[0122] It should be noted that the definition of "moving" or "static" pulley refers to whether it is moving or stationary relative to the fixed housing 300, and this definition also applies to other parts of the text. Regardless of whether it is a stationary or moving pulley, as long as it is a pulley that is fixed to the balancing steel wire rope 760, it does not rotate itself. However, the pulley that passes through the balancing steel wire rope 760 rotates itself. For example, the first moving pulley 782 can rotate with the first turntable 650, and it is fixed to the first turntable 650 and can rotate. The first stationary pulley 783 is fixed to the first pulley fixing bracket 781 and cannot rotate.

[0123] In a preferred embodiment, such as Figure 13As shown, from the boom 400 to the connecting rod 500 (i.e., on the boom 400 side), the first stationary pulley 783 is located at the lower left corner of the first turntable 650, and the first movable pulley 782 is located at the upper right corner of the first turntable 650. The balance steel wire rope 760, which is led out from the guide wheel 721 on one side of the boom 400, passes around the first stationary pulley 783 and is fixedly connected to the first movable pulley 782. When the boom 400 is vertical, the balance steel wire rope 760 between the first movable pulley 782 and the first stationary pulley 783 passes through the axis of the main shaft 610. The first movable pulley 782 can rotate with the first turntable 650, and it is fixed on the first turntable 650 and cannot rotate. The first stationary pulley 783 is fixed on the first pulley fixing bracket 781 and can rotate. This routing of the balance steel wire rope 760 can give the first turntable 650 a changing torque, thereby balancing the gravitational torque that needs to be balanced. In this embodiment, the aforementioned balancing assembly 700 is used. When the boom 400 is vertical, the balancing wire rope 760 between the first movable pulley 782 and the first stationary pulley 783 passes through the axis of the main shaft 610. At this time, the balancing force is at its maximum. However, since the force passes through the axis of the main shaft 610, it does not generate torque on the boom 400. When the boom 400 rotates left and right, causing the first movable pulley 782 to rotate around the main shaft 610, the balancing wire rope 760 deviates from the axis of the main shaft 610, thereby generating a changing balancing force. That is, when the first turntable 650 rotates clockwise and counterclockwise, the length of the balancing wire rope 760 decreases, and the balancing force also decreases accordingly. Specifically, when the upper arm 400 (or the first turntable 650) rotates clockwise, the force exerted by the balance steel cable 760 on the first movable pulley 782 will generate a clockwise torque; while when the upper arm 400 rotates counterclockwise, the force exerted by the balance steel cable 760 on the first movable pulley 782 will generate a counterclockwise torque, thereby balancing the gravitational torque that needs to be balanced and reducing the operational burden on the doctor's hands.

[0124] It should be further explained that although the balancing force generated by the balancing wire rope 760 gradually decreases as it rotates, the lever arm between its force and the rotation center of the first turntable 650 continuously increases, thus its balancing torque actually increases continuously. Of course, the change in lever arm is different when the limit position is exceeded (that is, when the first movable pulley 782 jumps from one side of the horizontal plane of the turntable center to the other side), but this is not within the scope of this application, because the rotation angle of the boom 400 is very limited (generally not exceeding 90°), and the range of motion of the first movable pulley 782 is limited.

[0125] In a preferred embodiment, such as Figure 14As shown, in the direction from the boom 400 to the connecting rod 500 (i.e., on the boom 400 side), the first movable pulley 782 is located at the lower left corner of the first turntable 650, and the first stationary pulley 783 is located at the upper right corner of the first turntable 650. A balance steel wire rope 760, extending from the guide wheel 721 on one side of the boom 400, passes around the first stationary pulley 783 and is fixedly connected to the first movable pulley 782. When the boom 400 is vertical, the balance steel wire rope 760 between the first movable pulley 782 and the first stationary pulley 783 passes through the axis of the main shaft 610. The first movable pulley 782 can rotate with the first turntable 650, but it is fixed to the first turntable 650 and cannot rotate. The first stationary pulley 783 is fixed to the first pulley fixing bracket 781 and can rotate. This routing of the balance steel wire rope 760 provides a varying torque to the first turntable 650, thereby balancing the gravitational torque that needs to be balanced. The working principle of this embodiment is similar to that described above. Figure 13 The embodiments shown are similar (except that the positions of the first movable pulley 782 and the first stationary pulley 782 are interchanged), and will not be described again.

[0126] The direction in which the balancing wire rope 760 passes around the first stationary pulley 783 can be either clockwise or counterclockwise from the first stationary pulley 783.

[0127] It is understandable that the arrangement of the first movable pulley 782 and the first stationary pulley 783 is not limited to the above form, as long as the balance steel wire rope 760 between the first movable pulley 782 and the first stationary pulley 783 passes through the axis of the main shaft 610, and the routing of the balance steel wire rope 760 can provide the first turntable 650 with a clockwise torque.

[0128] In a preferred embodiment, such as Figure 15 As shown, the pulley feedback unit includes a second pulley fixing frame 791, a second movable pulley 792, a second stationary pulley 793, a central pulley 794, and a second pulley mounting seat 795, all disposed on the side of the fixed housing 300 about the connecting rod 500. The second pulley fixing frame 791 is fixedly disposed on the end face of the fixed housing 300 near the connecting rod 500. The second pulley mounting seat 795 is fixedly disposed on the end face of the second turntable 660 away from the fixed housing 300. The second movable pulley 792 is disposed on the second pulley mounting seat 795. The second stationary pulley 793 is fixedly disposed on the second pulley fixing frame 791. The central pulley 794 is rotatably disposed on the main shaft 610. A balance steel wire rope 760, led from the guide wheel 721 on the side of the connecting rod 500, passes around the central pulley 794 and the second movable pulley 792 and is fixedly connected to the first stationary pulley 783.

[0129] From the connecting rod 500 to the boom 400 (i.e., on the side of the connecting rod 500), the second movable pulley 792 is located at the upper right corner of the second turntable 660, and the second stationary pulley 793 is located at the upper left corner of the second turntable 660. Due to the routing of the balance wire rope 760, a counterclockwise torque is applied to the second turntable 660, thus balancing the remaining part of the gravitational torque that needs to be balanced (lateral swing arm 800, wrist assembly 900, etc.).

[0130] In a preferred embodiment, the balancing steel wire rope 760 between the side guide wheel 721 of the connecting rod 500 and the center pulley 794 is parallel to the center line connecting the second stationary pulley 793 and the center pulley 794. The second stationary pulley 793 is nearly tangent to the outer periphery of the guide wheel fixing seat 720 at the corresponding position. That is, the closer the second stationary pulley 793 is to the guide wheel fixing seat 720 located in the upper left corner in the direction from the connecting rod 500 to the boom 400, the better. However, the second stationary pulley 793 and the guide wheel fixing seat 720 at the corresponding position can only be tangent at the closest possible point, otherwise interference will occur.

[0131] In this embodiment, the aforementioned balancing assembly 700 is used. The balancing steel wire rope 760 between the guide wheel 721 and the central pulley 794 is parallel to the center line connecting the second stationary pulley 793 and the central pulley 794, and the second stationary pulley 793 is nearly tangent to the outer periphery of the guide wheel fixing seat 720 at the corresponding position. This arrangement can reduce the loss of tension in the tension spring 702 to a greater extent, and can also reduce the technical requirements of components (including the tension spring 702) and improve the overall service life of the device.

[0132] Understandably, the routing of the balance wire rope 760 from the boom 400 to the connecting rod 500 (i.e., the boom 400 side) is used to provide a clockwise or varying torque to the first turntable 650, and the routing of the balance wire rope 760 from the connecting rod 500 to the boom 400 (i.e., the connecting rod 500 side) is used to provide a counterclockwise torque to the second turntable 660. Since the gravity balance adjustment device is centrally symmetrically arranged on the fixed housing 300, the arrangement of the pulley feedback units on both sides of the boom 400 and the connecting rod 500 cannot be interchanged. However, if the arrangement of the gravity balance adjustment device is changed, i.e., the boom 400 and the connecting rod 500... If the lead-out ends of the balance steel wire ropes 760 on both sides of the rod 500 are located on the same side of the fixed housing 300, then the pulley feedback units on both sides of the boom 400 and the connecting rod 500 can be arranged in a mirror image. When the pulley feedback unit on one side of the boom 400 is mirrored on the side of the connecting rod 500, the balance steel wire rope 760 in the direction from the connecting rod 500 to the boom 400 can give the second turntable 660 a counterclockwise torque. Similarly, when the pulley feedback unit on one side of the connecting rod 500 is mirrored on the side of the boom 400, the balance steel wire rope 760 in the direction from the boom 400 to the connecting rod 500 can give the first turntable 650 a clockwise torque.

[0133] In the embodiments of this application, such as Figure 23 As shown, the aforementioned master robotic arm 10 is used. The fixed housing 300 serves to connect the rotating component 200, the driving component 600, and the balancing component 700. Its overall structure is approximately centrally symmetrical. The fixed housing 300 has a relief recess 360 on the end face near the upper arm 400, corresponding to the position of the rotating shaft hole 320. The relief recess 360 is used to install an encoder for sensing the rotation angle of the upper arm 400 and to provide space for the installation of the upper arm 400. A limit groove 370 is provided on the relief recess 360. The limit groove 370 is used to cooperate with the limit post fixed on the upper arm 400 or the first turntable 650 to limit the rotation angle of the upper arm 400.

[0134] Since the drive assembly 600 and the balance assembly 700 are arranged symmetrically on the fixed housing 300, the spindle 610 can better bear the force, thus improving structural stability and service life.

[0135] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0136] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A gravity balance adjustment device, characterized in that, include: An adjustment cavity is disposed within a mounting base, extending along the extension and retraction axis of the tension spring. The spring tensioner is movable along the extension and retraction direction of the tension spring and has multiple limiting points relative to the adjustment cavity; The spring tensioner is provided with a locking hole, and a pull rod through hole is provided between the inner wall of the locking hole near the tension spring and the corresponding end face of the spring tensioner. A spring rod is connected between the spring tensioner and the tension spring. The spring rod includes a rod body and a rod cap disposed at one end of the rod body. The contact between the pull rod cap and the card hole is either a point contact or a ring-shaped linear contact centered on the rotation axis of the pull rod cap; The card hole has a conical recess on its inner wall at the position corresponding to the pull rod through hole, and the pull rod cap has a spherical transition part that mates with the conical recess on its end face near the pull rod body. A tension spring is disposed within the adjustment cavity and is rotatably connected to the spring tensioner on one side; A balance steel wire rope, one end of which is connected to the side of the tension spring away from the spring tensioner, and the other end is connected to the load; Wherein, the direction of the force exerted by the balancing steel wire rope on the tension spring is the direction of the extension and contraction of the tension spring.

2. The gravity balance adjustment device according to claim 1, characterized in that, The spring tensioner is rotatably mounted in the adjustment cavity.

3. The gravity balance adjustment device according to claim 1, characterized in that, A spring fixing seat is fixedly provided on the mounting base at a position through one side of the adjustment cavity, and a threaded hole is provided through the spring fixing seat; The spring tensioner is rotatably mounted in the threaded hole.

4. The gravity balance adjustment device according to claim 3, characterized in that, The diameter of the threaded hole is larger than the diameter of the tension spring.

5. The gravity balance adjustment device according to claim 2 or 3, characterized in that, The spring tensioner has an adjustment section at the end away from the tension spring, and the adjustment section extends to the outside of the adjustment cavity or threaded hole.

6. The gravity balance adjustment device according to claim 2 or 3, characterized in that, The pull rod cap is fitted into the locking hole and can rotate axially. The pull rod body passes through the pull rod through hole and is connected to the corresponding end of the tension spring.

7. The gravity balance adjustment device according to claim 1, characterized in that, A guide wheel fixing seat is fixedly provided on the mounting base at a position through which the adjustment cavity is away from the spring tensioner. The guide wheel fixing seat has a stroke cavity with an opening facing the tension spring. A first wire passage hole is provided between the inner wall of the stroke cavity away from the tension spring and the corresponding end face of the guide wheel fixing seat. The balancing steel wire rope passes through the first wire guide hole and is connected to the load.

8. The gravity balance adjustment device according to claim 7, characterized in that, The diameter of the stroke cavity is larger than the diameter of the tension spring.

9. The gravity balance adjustment device according to claim 7, characterized in that, Also includes: The guide wheel is disposed on the end face of the guide wheel fixing seat away from the tension spring, and is rotatable relative to the guide wheel fixing seat, and is used to guide the balance steel wire rope.

10. The gravity balance adjustment device according to claim 1, characterized in that, A wire locking device is provided between the tension spring and the balance steel wire rope. The wire locking device has a second wire passage hole through it along the extension and contraction direction of the tension spring. The balance steel wire rope passes through the second wire passage hole and is fixed with a locking sleeve with a diameter larger than the second wire passage hole at one end near the tension spring.

11. A master-operated robotic arm, characterized in that, The gravity balance adjustment device comprising any one of claims 1 to 10 further comprises a boom and a connecting rod; The boom and connecting rod are rotatably mounted on the mounting base and coupled to the gravity balance adjustment device.

12. A minimally invasive surgical robot, characterized in that, It includes a master hand and a slave hand, wherein the master hand includes a base, a display, and the master hand robotic arm of claim 11.

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