Parallel manipulator and surgical robot

Abstract

The present application relates to the technical field of surgical robots, and discloses a parallel manipulator and a surgical robot.The parallel manipulator comprises a static platform, a dynamic platform, a driving module and a protection module, the static platform and the dynamic platform are arranged in parallel, the driving module can drive the dynamic platform to move relative to the static platform, and the protection module comprises a supporting assembly and a shielding assembly.The supporting assembly is provided in plurality, the plurality of supporting assemblies are arranged along the circumference of the dynamic platform to form a cage structure, the driving module is arranged inside the cage structure, the supporting assembly can be extended and retracted along the length direction, one end of the supporting assembly along the length direction is connected to the static platform, and the other end is connected to the dynamic platform.The shielding assembly comprises a plurality of shielding mechanisms, each supporting assembly is connected with a shielding mechanism to shield the driving module, and each shielding mechanism can be synchronously extended and retracted with the corresponding supporting assembly.The present application improves the aesthetic level of the parallel manipulator, improves the safety of the operation, and ensures the smooth progress of the operation.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and more particularly to a parallel robotic arm and surgical robot. Background Technology

[0002] Surgical robots are widely used in the medical field. A surgical robot typically consists of a surgeon's control console and a patient's surgical end. The surgeon's control console includes a console base, a main control arm, and an input handle; the main control arm connects the input handle to the console base. The patient's surgical end includes a surgical base, an instrument arm, and a passive arm; the passive arm connects the instrument arm to the surgical base, and the instrument arm holds the surgical instruments. During surgery, the surgeon controls the movement of the surgical instruments by operating the input handle, thereby performing the surgical procedure.

[0003] To improve the stability and movement accuracy of surgical robots, some existing technologies employ a parallel robotic arm structure for the main manipulator and the passive arm. According to the motion platform and surgical robot disclosed in Chinese Patent CN115179267A, the parallel robotic arm (motion platform) includes a moving platform, a stationary platform, and three drive components. The moving platform is arranged parallel to the stationary platform, and the three drive components are located between the moving and stationary platforms. Each drive component includes two parallel telescopic rods that can extend and retract synchronously. The two ends of the telescopic rods are connected to the moving and stationary platforms via Hooke hinges, thereby enabling the parallel robotic arm to achieve three degrees of freedom of translation.

[0004] Currently, the parallel robotic arms of surgical robots typically lack a protective shell, resulting in exposed drive components. This increases the impact of airborne impurities on the drive components and raises the possibility of collisions between the operator and other parts of the surgical robot. This affects the durability and precision of the parallel robotic arms, reduces surgical safety, and hinders their operation, thus impacting the smooth progress of the surgery and reducing its aesthetic appeal.

[0005] Therefore, there is an urgent need for a parallel robotic arm and surgical robot to solve the problems mentioned above. Summary of the Invention

[0006] The purpose of this invention is to provide a parallel robotic arm and surgical robot that can protect the drive module, improve the aesthetics, durability and motion accuracy of the parallel robotic arm, improve the safety of surgery, ensure the smooth progress of surgery, avoid obstructing components that restrict the drive module, and also ensure that the moving platform has a large range of motion.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] A parallel robotic arm includes a static platform, a moving platform, a drive module, and a protection module. The static platform and the moving platform are arranged parallel to each other, and the drive module can drive the moving platform to move relative to the static platform. The protection module includes:

[0009] Multiple support components are provided, and the multiple support components are arranged around the circumference of the moving platform to form a cage-like structure. The drive module is placed inside the cage-like structure. The support components can extend and retract along the length direction. One end of the support component along the length direction is connected to the stationary platform, and the other end is connected to the moving platform.

[0010] The shielding assembly includes multiple shielding mechanisms, each of the support components is connected to one of the shielding mechanisms to shield the drive module, and each shielding mechanism can extend and retract synchronously with the corresponding support component.

[0011] As an optional technical solution for parallel robotic arms, the drive module includes several sets of branch components. Each branch component includes two parallel telescopic rods. The telescopic rods can extend and retract along the length direction. The two ends of the telescopic rods along the length direction are movably connected to the static platform and the moving platform respectively through universal hinges.

[0012] The two ends of the support component along its length are movably connected to the static platform and the moving platform respectively by universal hinges.

[0013] As an optional technical solution for parallel robotic arms, the support assembly includes a sleeve and a through rod. One end of the through rod is coaxially and movably inserted through one end of the sleeve along its length. The other end of the sleeve along its length is connected to one of the static platform and the moving platform via a universal hinge. The other end of the through rod is connected to the other of the static platform and the moving platform via a universal hinge. The sleeve and the through rod are respectively connected to the same shielding mechanism.

[0014] As an optional technical solution for parallel robotic arms, the blocking mechanism includes a first blocking member and a second blocking member, wherein the first blocking member is connected to the sleeve and the second blocking member is connected to the through rod.

[0015] As an optional technical solution for parallel robotic arms, the first blocking member and the second blocking member on the same support assembly are at least partially opposite each other.

[0016] As an optional technical solution for parallel robotic arms, the first blocking member is disposed on one side of the sleeve along the radial direction. A channel is provided through the side wall of the sleeve, and the channel extends axially. A connecting part is connected to the side wall of the through rod. The connecting part is placed in the channel and can move along the channel. The connecting part extends out of the sleeve on the side opposite to the through rod and is connected to the second blocking member.

[0017] As an optional technical solution for parallel robotic arms, the channel passes through the first blocking member, and the first blocking member and the second blocking member are both located on the same side of the sleeve.

[0018] And / or, the first shielding member on the same support assembly is substantially parallel to the second shielding member.

[0019] As an optional technical solution for parallel robotic arms, both the first blocking member and the second blocking member are located on the side of the sleeve facing outward from the cage-like structure.

[0020] As an optional technical solution for parallel robotic arms, the width of the first blocking member on the same support assembly is smaller than the width of the second blocking member.

[0021] As an optional technical solution for parallel robotic arms, the plurality of support components include a first support component and a second support component, wherein the first support component and the second support component are alternately arranged along the circumference of the cage structure;

[0022] The first shielding member on the first support assembly is located on the side of the second shielding member on the second support assembly away from the drive module, and the first shielding member on the first support assembly overlaps with the second shielding member on the second support assembly; or,

[0023] The first shielding member and the second shielding member on the second support assembly are located between the first shielding member and the second shielding member on the first support assembly, and the second shielding member on the first support assembly overlaps the second shielding member on the second support assembly.

[0024] As an optional technical solution for parallel robotic arms, both the first and second blocking components are located on the side of the sleeve facing the cage-like structure.

[0025] As an optional technical solution for parallel robotic arms, the plurality of support components include a first support component and a second support component, the first support component and the second support component being alternately arranged along the circumference of the cage structure; the second shielding member on the first support component is located on the side of the first shielding member on the second support component away from the drive module, and the second shielding member on the first support component overlaps with the first shielding member on the second support component.

[0026] As an optional technical solution for parallel robotic arms, the width of the second blocking member on the first support assembly is greater than the width of the first blocking member;

[0027] And / or, the width of the first shielding member on the second support assembly is greater than the width of the second shielding member.

[0028] As an optional technical solution for parallel robotic arms, the plurality of support components include a first support component and a second support component, wherein the first support component and the second support component are alternately arranged along the circumference of the cage structure;

[0029] The first shielding member and the second shielding member on the first support assembly are located on the side of the sleeve facing inward toward the cage structure, and the first shielding member and the second shielding member on the second support assembly are located on the side of the sleeve facing outward toward the cage structure.

[0030] As an optional technical solution for parallel robotic arms, the second blocking member on the first support assembly is located on the side of the second blocking member on the second support assembly away from the drive module, and the second blocking member on the first support assembly overlaps with the second blocking member on the second support assembly.

[0031] As an optional technical solution for parallel robotic arms, the width of the first blocking member on the same support assembly is smaller than the width of the second blocking member.

[0032] As an optional technical solution for parallel robotic arms, the plurality of support components include a first support component and a second support component, the first support component and the second support component are alternately arranged along the circumference of the cage structure, and the first shielding member or the second shielding member on the first support component is located between the first shielding member and the second shielding member on the second support component.

[0033] Alternatively, the shielding mechanism on the support assembly is arranged radially inclined to the cage structure, with each end of the shielding mechanism overlapping two adjacent shielding mechanisms along the width direction, and one end of the shielding mechanism along the width direction located on the side of the corresponding shielding mechanism away from the drive module, and the other end of the shielding mechanism along the width direction located on the side of the corresponding shielding mechanism facing the drive module.

[0034] As an optional technical solution for parallel robotic arms, the cross-section of the first shielding member is arc-shaped, the axis of the first shielding member is parallel to the axis of the static platform, and the first shielding member arches towards the side away from the drive module.

[0035] And / or, the cross-section of the second shield is arc-shaped, the axis of the second shield is parallel to the axis of the static platform, and the second shield arches toward the side away from the drive module.

[0036] As an optional technical solution for parallel robotic arms, the first blocking component is made of elastic material, and multiple first blocking components are connected end to end to form a closed loop first blocking ring;

[0037] And / or, the second shielding member is made of an elastic material, and multiple second shielding members are connected end to end to form a closed ring-shaped second barrier.

[0038] As an optional technical solution for parallel robotic arms, both the moving platform and the stationary platform are frustum-shaped, the diameter of the moving platform is smaller than the diameter of the stationary platform, the sleeve is connected to the stationary platform, and the through rod is connected to the moving platform;

[0039] One end of the second retaining ring is connected to the moving platform, and the other end of the second retaining ring is movably sleeved on the outside of the first retaining ring.

[0040] As an optional technical solution for parallel robotic arms, multiple support components are arranged at intervals;

[0041] The parallel robotic arm also includes a spacer bar, which is provided between each of the two adjacent support components. The spacer bar is connected to the second retaining ring, and the two ends of the spacer bar along its length are respectively directed toward the static platform and the moving platform.

[0042] As an optional technical solution for parallel robotic arms, the spacer bars are provided in multiple sets, with several sets of spacer bars provided between two adjacent support components. Each set of spacer bars includes two spacer bars, and the two spacer bars in the same set are located on the inner and outer sides of the second retaining ring and are arranged facing each other.

[0043] As an optional technical solution for the parallel robotic arm, the shielding component further includes a first flexible covering ring, which covers the outer side of the protection module facing the moving platform and is connected to the moving platform.

[0044] And / or, the shielding assembly further includes a second flexible covering ring, which covers the outer side of the protection module facing the stationary platform and is connected to the stationary platform.

[0045] A surgical robot includes a base and a parallel robotic arm as described above, wherein a static platform is connected to the base and a moving platform is used to connect an input handle or an instrument arm.

[0046] The beneficial effects of this invention are:

[0047] The parallel robotic arm provided by this invention includes a static platform, a moving platform, a drive module, and a protection module. The shielding component of the protection module shields the drive module, preventing it from being exposed and thus protecting it. This reduces the impact of airborne impurities on the drive module, prevents collisions between the operator and other components of the surgical robot, improves the durability and motion precision of the parallel robotic arm, enhances surgical safety, and facilitates its operation, ensuring a smooth surgical procedure and improving aesthetics. Simultaneously, the support component supports the shielding component, increasing the structural strength of the protection module and further enhancing the protection of the drive module. The protective mechanism not only provides protection, but also places the drive module within a cage-like structure enclosed by the support components. The shielding component is connected to the support components, preventing direct contact between the shielding component and the drive module. This reduces interference from the protection module, ensuring the drive module can smoothly move the platform and minimizing the possibility of damage to the shielding component, thus lowering maintenance costs. Furthermore, the shielding mechanism of the shielding component can extend and retract synchronously with the corresponding support components, preventing the shielding component from restricting the platform's movement range. This further reduces the obstruction the drive module from moving the platform, ensuring a larger range of motion for the platform, improving the practicality of the parallel robotic arm, and expanding its application scope.

[0048] The surgical robot provided by this invention includes the aforementioned parallel robotic arm. The protection module can shield and protect the drive module, improving the durability and motion accuracy of the parallel robotic arm, enhancing surgical safety, ensuring the smooth progress of the surgery, improving aesthetics, and reducing maintenance costs. At the same time, the moving platform has a large range of motion, improving the practicality of the surgical robot and expanding its application scope. Attached Figure Description

[0049] Figure 1This is a schematic diagram of the parallel robotic arm in its first state according to Embodiment 1 of the present invention;

[0050] Figure 2 yes Figure 1 A schematic diagram of the structure of the first and second flexible covering rings is omitted.

[0051] Figure 3 This is a schematic diagram of the structure of the parallel robotic arm concealment protection module provided in Embodiment 1 of the present invention;

[0052] Figure 4 This is a schematic diagram of the parallel robotic arm in its second state according to Embodiment 1 of the present invention;

[0053] Figure 5 This is a schematic diagram of the parallel robotic arm in a yaw state provided in Embodiment 1 of the present invention;

[0054] Figure 6 This is a cross-sectional view of the parallel robotic arm provided in Embodiment 1 of the present invention;

[0055] Figure 7 yes Figure 6 A magnified view of a section at point A in the middle;

[0056] Figure 8 This is a schematic diagram of the structure of the first support component and the second support component provided in Embodiment 1 of the present invention;

[0057] Figure 9 This is a schematic diagram of the sleeve and the first shielding member provided in Embodiment 1 of the present invention;

[0058] Figure 10 This is a schematic diagram of the structure of the through rod and the second blocking member provided in Embodiment 1 of the present invention;

[0059] Figure 11 This is a schematic diagram of the structure of the first connecting ring provided in Embodiment 1 of the present invention;

[0060] Figure 12 This is a schematic diagram of the parallel robotic arm in its first state according to Embodiment 2 of the present invention;

[0061] Figure 13 yes Figure 12 A schematic diagram of the structure of the first and second flexible covering rings is omitted.

[0062] Figure 14 This is a schematic diagram of the parallel robotic arm in its second state according to Embodiment 2 of the present invention;

[0063] Figure 15 This is a schematic diagram of the parallel robotic arm in a yaw state provided in Embodiment 2 of the present invention;

[0064] Figure 16 This is a cross-sectional view of the parallel robotic arm provided in Embodiment 2 of the present invention;

[0065] Figure 17 yes Figure 16 A magnified view of a section at point B in the middle;

[0066] Figure 18 This is a schematic diagram of the structure of the first support component and the second support component provided in Embodiment 2 of the present invention from a first perspective;

[0067] Figure 19 This is a structural schematic diagram of the first support component and the second support component provided in Embodiment 2 of the present invention from a second perspective;

[0068] Figure 20 This is a schematic diagram of the sleeve and the first shielding member provided in Embodiment 2 of the present invention;

[0069] Figure 21 This is a schematic diagram of the through rod and the second blocking member provided in Embodiment 2 of the present invention;

[0070] Figure 22 This is a cross-sectional view of the first case of the parallel robotic arm provided in Embodiment 3 of the present invention;

[0071] Figure 23 yes Figure 22 A magnified view of a section at point C;

[0072] Figure 24 This is a cross-sectional view of the second case of the parallel robotic arm provided in Embodiment 3 of the present invention;

[0073] Figure 25 yes Figure 24 A magnified view of a section at point D;

[0074] Figure 26 This is a cross-sectional view of the third case of the parallel robotic arm provided in Embodiment 3 of the present invention;

[0075] Figure 27 yes Figure 26 A magnified view of a section at point E in the middle;

[0076] Figure 28 This is a cross-sectional view of the fourth case of the parallel robotic arm provided in Embodiment 3 of the present invention;

[0077] Figure 29 yes Figure 28 A magnified view of a section at point F in the middle;

[0078] Figure 30 This is a schematic diagram of the parallel robotic arm in its first state according to Embodiment 4 of the present invention;

[0079] Figure 31 yes Figure 30 A schematic diagram of the structure of the first and second flexible covering rings is omitted.

[0080] Figure 32 This is a schematic diagram of the parallel robotic arm in its second state according to Embodiment 4 of the present invention;

[0081] Figure 33 This is a schematic diagram of the parallel robotic arm in a yaw state provided in Embodiment 4 of the present invention;

[0082] Figure 34 This is a cross-sectional view of the parallel robotic arm provided in Embodiment 4 of the present invention;

[0083] Figure 35 yes Figure 34 A magnified view of a section at point G in the middle;

[0084] Figure 36 This is a first-view structural schematic diagram of the first support component and the second support component provided in Embodiment 4 of the present invention;

[0085] Figure 37 This is a structural schematic diagram of the first support component and the second support component provided in Embodiment 4 of the present invention from a second perspective;

[0086] Figure 38 This is a schematic diagram of the sleeve and the first shielding member of the first support component provided in Embodiment 4 of the present invention;

[0087] Figure 39 This is a schematic diagram of the through rod and the second shielding member of the first support component provided in Embodiment 4 of the present invention;

[0088] Figure 40 This is a schematic diagram of the sleeve and the first shielding member of the second support component provided in Embodiment 4 of the present invention;

[0089] Figure 41 This is a schematic diagram of the through rod and the second shielding member of the second support assembly provided in Embodiment 4 of the present invention;

[0090] Figure 42 This is a cross-sectional view of the first case of the parallel robotic arm provided in Embodiment 5 of the present invention;

[0091] Figure 43 yes Figure 42 A magnified view of a portion of point O in the middle;

[0092] Figure 44 This is a cross-sectional view of the second case of the parallel robotic arm provided in Embodiment 5 of the present invention;

[0093] Figure 45 yes Figure 44A magnified view of a section at point H in the middle;

[0094] Figure 46 This is a cross-sectional view of the first case of the parallel robotic arm provided in Embodiment Six of the present invention;

[0095] Figure 47 yes Figure 46 A magnified view of a section at point I;

[0096] Figure 48 This is a cross-sectional view of the second case of the parallel robotic arm provided in Embodiment Six of the present invention;

[0097] Figure 49 yes Figure 48 A magnified view of a section at point J;

[0098] Figure 50 This is a cross-sectional view of the third case of the parallel robotic arm provided in Embodiment Six of the present invention;

[0099] Figure 51 yes Figure 50 A magnified view of a section at point K;

[0100] Figure 52 This is a schematic diagram of the parallel robotic arm provided in Embodiment 7 of the present invention;

[0101] Figure 53 yes Figure 52 The structural diagram of the first and second retaining rings is omitted.

[0102] Figure 54 This is a first-view cross-sectional view of the parallel robotic arm provided in Embodiment 7 of the present invention;

[0103] Figure 55 yes Figure 54 A magnified view of a section at point L;

[0104] Figure 56 This is a cross-sectional view from a second perspective of the parallel robotic arm provided in Embodiment 7 of the present invention;

[0105] Figure 57 yes Figure 56 A magnified view of a section at point M;

[0106] Figure 58 This is a schematic diagram of the structure of the support component provided in Embodiment 7 of the present invention;

[0107] Figure 59 This is a schematic diagram of the parallel robotic arm provided in Embodiment 8 of the present invention;

[0108] Figure 60 This is a cross-sectional view of the parallel robotic arm provided in Embodiment 8 of the present invention;

[0109] Figure 61 yes Figure 60 A magnified view of a portion of point N in the middle;

[0110] Figure 62 This is a schematic diagram of the sleeve structure provided in Embodiment 8 of the present invention;

[0111] Figure 63 This is a schematic diagram of the through rod structure provided in Embodiment 8 of the present invention;

[0112] Figure 64 This is a schematic diagram of the parallel robotic arm provided in Embodiment 9 of the present invention;

[0113] Figure 65 This is a partial structural schematic diagram of the parallel robotic arm provided in Embodiment 9 of the present invention.

[0114] In the picture:

[0115] 10. Protection module; 20. Moving platform; 30. Drive module; 301. Branch chain assembly; 3011. Telescopic rod; 40. Static platform;

[0116] 1. Support assembly; 1a. First support assembly; 1b. Second support assembly; 1c. Third support assembly; 11. Sleeve; 111. Channel; 112. Mounting plate; 113. U-shaped frame; 114. Stop; 12. Through rod; 121. Connecting part; 122. Support plate; 13. Cylindrical part; 14. Pressure strip;

[0117] 2. Shielding assembly; 201. Shielding mechanism; 21. First shielding member; 210. First retaining ring; 22. Second shielding member; 220. Second retaining ring; 23. First flexible covering ring; 24. Second flexible covering ring;

[0118] 3. Universal hinge; 4. Spacer bar;

[0119] 5. First connecting ring; 51. First mounting ring groove; 6. Second connecting ring;

[0120] 7. Clamping plate; 8. First connecting piece; 81. Side protrusion; 811. Receiving groove; 9. Second connecting piece. Detailed Implementation

[0121] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0122] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0123] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0124] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0125] Example 1

[0126] This embodiment provides a parallel robotic arm. Specifically, as shown in the example... Figures 1-11 As shown, the parallel robotic arm includes a static platform 40, a moving platform 20, a drive module 30, and a protection module 10. The drive module 30 can drive the moving platform 20 to move relative to the static platform 40. The protection module 10 includes a support component 1 and a shielding component 2. Multiple support components 1 are arranged circumferentially along the moving platform 20 to form a cage-like structure. The drive module 30 is placed inside the cage-like structure. The support components 1 can extend and retract along their length. One end of the support component 1 along its length is connected to the static platform 40, and the other end is connected to the moving platform 20. The shielding component 2 includes multiple shielding mechanisms 201. Each support component 1 is connected to a shielding mechanism 201 to shield the drive module 30, and each shielding mechanism 201 can extend and retract synchronously with the corresponding support component 1.

[0127] The parallel robotic arm provided in this embodiment includes a static platform 40, a moving platform 20, a drive module 30, and a protection module 10. The shielding component 2 of the protection module 10 can shield the drive module 30, preventing the drive module 30 from being exposed and thus protecting it. This reduces the impact of airborne impurities on the drive module 30, prevents collisions between the operator and other structures of the surgical robot, improves the durability and motion accuracy of the parallel robotic arm, enhances surgical safety, and facilitates the operation of the parallel robotic arm, thereby ensuring the smooth progress of the surgery and improving its aesthetics. Simultaneously, the support component 1 supports the shielding component 2, increasing the structural strength of the protection module 10 and further enhancing the protection of the drive module 30. Furthermore, by placing the drive module 30 within the cage-like structure enclosed by the support component 1, and connecting the shielding component 2 to the support component 1, the direct contact between the shielding component 2 and the drive module 30 is prevented. This reduces the interference of the protection module 10 on the drive module 30, further ensuring that the drive module 30 can smoothly drive the moving platform 20 to move, and also reducing the possibility of damage to the shielding component 2, thereby reducing maintenance costs. In addition, the shielding mechanism 201 of the shielding component 2 can extend and retract synchronously with the corresponding support component 1, which also prevents the shielding component 2 from restricting the movement range of the moving platform 20, further reducing the obstruction of the drive module 30 from driving the moving platform 20 to move, ensuring that the moving platform 20 has a large range of motion, improving the practicality of the parallel robotic arm, and expanding the application range of the parallel robotic arm.

[0128] Specifically, both the moving platform 20 and the stationary platform 40 are frustum-shaped, and the stationary platform 40 is arranged in parallel with the moving platform 20, that is, the axis of the moving platform 20 is parallel to the axis of the stationary platform 40.

[0129] In this embodiment, the drive module 30 can drive the parallel robotic arm to extend and retract, that is, the drive module 30 can make the moving platform 20 move closer to or further away from the stationary platform 40 along the axial direction. The drive module 30 can also drive the parallel robotic arm to yaw, that is, the drive module 30 can drive the moving platform 20 to move radially relative to the stationary platform 40.

[0130] Specifically, such as Figure 3 As shown, the drive module 30 includes several sets of branch components 301. Each branch component 301 includes two parallel telescopic rods 3011. The telescopic rods 3011 can extend and retract along the length direction. The two ends of the telescopic rods 3011 along the length direction are movably connected to the static platform 40 and the dynamic platform 20 respectively through universal hinges 3.

[0131] The drive module 30 also includes several drive components, which are configured one-to-one with the branch assembly 301. The drive components can drive the two telescopic rods 3011 in the corresponding branch assembly 301 to extend and retract synchronously, ensuring that the moving platform 20, the stationary platform 40 and the two telescopic rods 3011 in the same branch assembly 301 can always form a parallelogram, so that the moving platform 20 and the stationary platform 40 are always parallel, and also prevent the moving platform 20 from rotating relative to the stationary platform 40.

[0132] In this embodiment, three sets of branch components 301 are provided, and three corresponding drive components are provided. The three sets of branch components 301 are evenly arranged along the circumference of the moving platform 20, thereby realizing the parallel robotic arm with three degrees of freedom linear motion. In other embodiments, the number of branch components 301 and drive components can be adjusted adaptively, and is not limited here.

[0133] As a preferred embodiment, the two ends of the support component 1 along its length are movably connected to the static platform 40 and the moving platform 20 respectively via universal hinges 3. When the drive module 30 drives the parallel robotic arm to perform a yaw motion, the above configuration allows the support component 1 to adaptively deflect relative to the static platform 40 or the moving platform 20, avoiding the protection module 10 restricting the movement of the parallel robotic arm, ensuring that the moving platform 20 has a large range of motion, and improving the practicality of the parallel robotic arm.

[0134] Specifically, the universal hinge 3 is a Hooke hinge. The Hooke hinge includes two U-shaped seats, one of which is connected to the moving platform 20 or the stationary platform 40, and the other U-shaped seat is connected to the support assembly 1. In other embodiments, the universal hinge 3 may also be a ball joint. The support assembly 1 is connected to a sphere, and a spherical recess is formed on the moving platform 20 or the stationary platform 40. The sphere is located within the spherical recess and can rotate within it, allowing the support assembly 1 to deflect relative to the moving platform 20 or the stationary platform 40.

[0135] For ease of description, the parallel robotic arm is assumed to have a first state, a second state, and a yaw state. For example... Figure 1 and Figure 2 As shown, when the parallel robotic arm is in its first state, the moving platform 20 and the stationary platform 40 are coaxially arranged, and the length of the telescopic rod 3011 is at its minimum. Figure 4 As shown, when the parallel robotic arm is in the second state, the moving platform 20 and the stationary platform 40 are coaxially arranged, and the length of the telescopic rod 3011 is at its maximum value. Figure 5 As shown, when the parallel robotic arm is in a yaw state, the moving platform 20 and the stationary platform 40 are not set on the same axis.

[0136] In this embodiment, both the drive module 30 and the protection module 10 are located between the moving platform 20 and the stationary platform 40. In other embodiments, the moving platform 20 and the stationary platform 40 may also be located within a cage-like structure, which is not limited here.

[0137] In this embodiment, multiple support components 1 are arranged at uniform intervals along the circumference of the cage-like mechanism.

[0138] Furthermore, such as Figures 6-10 As shown, the support assembly 1 includes a sleeve 11 and a through rod 12. One end of the through rod 12 is coaxially and movably inserted through one end of the sleeve 11 along its length. The other end of the sleeve 11 along its length is connected to one of the static platform 40 and the moving platform 20 via a universal hinge 3. The other end of the through rod 12 is connected to the other of the static platform 40 and the moving platform 20 via a universal hinge 3. Both the sleeve 11 and the through rod 12 are connected to the same shielding mechanism 201. This configuration simplifies the structure of the support assembly 1 and facilitates production and assembly. In this embodiment, the through rod 12 is a round rod.

[0139] In this embodiment, the sleeve 11 is connected to the moving platform 20, and the through rod 12 is connected to the stationary platform 40. In other embodiments, the sleeve 11 may also be connected to the stationary platform 40, and the through rod 12 may be connected to the moving platform 20; this is not limited here.

[0140] As a preferred embodiment, the shielding mechanism 201 includes a first shielding member 21 and a second shielding member 22. The first shielding member 21 is connected to the sleeve 11, and the second shielding member 22 is connected to the through rod 12. Setting the shielding mechanism 201 as a separate first shielding member 21 and second shielding member 22 facilitates the synchronous extension and retraction of each shielding mechanism 201 with the corresponding support component 1. Furthermore, compared to using an elastic material for the shielding mechanism 201, it avoids pulling on the shielding mechanism 201, ensuring its durability. It also prevents the elastic force of the shielding mechanism 201 from affecting the driving process of the drive module 30 on the moving platform 20, ensuring surgical safety. This also reduces the power requirement of the drive module 30, thus reducing costs.

[0141] As a preferred embodiment, the first blocking member 21 and the second blocking member 22 on the same support component 1 are at least partially aligned. During the movement of the through rod 12 relative to the sleeve 11, the first blocking member 21 and the second blocking member 22 always have an overlapping area, ensuring the blocking effect of the blocking mechanism 201, reducing the gaps generated by the protection module 10, reducing the possibility of the drive module 30 being exposed through the gaps, and further ensuring the protective function of the protection module 10 and the aesthetics of the parallel robotic arm.

[0142] It should be noted that the phrase "at least partially facing each other" described in this application can also be understood as "at least partially overlapping each other." If two structures are at least partially facing each other, that is, there is an overlapping area between the two structures. For example, specifically, the phrase "the first shielding member 21 and the second shielding member 22 on the same support component 1 are at least partially facing each other" described above can also be understood as "the first shielding member 21 and the second shielding member 22 on the same support component 1 are at least partially overlapping each other," that is, there is an overlapping area between the first shielding member 21 and the second shielding member 22.

[0143] Furthermore, the first blocking member 21 is disposed on one radial side of the sleeve 11. A channel 111 is formed through the side wall of the sleeve 11, extending axially. A connecting part 121 is connected to the side wall of the through rod 12. The connecting part 121 is placed inside the channel 111 and can move along the channel 111. The side of the connecting part 121 opposite to the through rod 12 extends out of the sleeve 11 through the channel 111 and connects to the second blocking member 22. Through the arrangement of the connecting part 121 and the channel 111, the first blocking member 21 and the second blocking member 22 are always partially aligned during the movement of the through rod 12 relative to the sleeve 11, ensuring the blocking function of the blocking mechanism 201. The arrangement of the connecting part 121 also increases the distance between the through rod 12 and the second blocking member 22, avoiding interference between the second blocking member 22 and the sleeve 11, ensuring that the support assembly 1 can extend and retract smoothly, and ensuring the durability and reliability of the blocking mechanism 201. It is understandable that the channel 111 extends along the axial direction of the sleeve 11.

[0144] In this embodiment, the connecting portion 121 extends along the axial direction of the through rod 12, which helps to increase the connection area between the through rod 12 and the second blocking member 22.

[0145] In this embodiment, both the first blocking member 21 and the second blocking member 22 are sheet-shaped. The length direction of the first blocking member 21 is the same as the axial direction of the sleeve 11, and the sleeve 11 is connected to one side of the first blocking member 21 along the thickness direction. The length direction of the second blocking member 22 is the same as the axial direction of the through rod 12, and the connecting part 121 is connected to one side of the second blocking member 22 along the thickness direction.

[0146] Preferably, the cross-section of the first shielding member 21 is arc-shaped, the axis of the first shielding member 21 is parallel to the axis of the sleeve 11, and the first shielding member 21 arches towards the side away from the drive module 30. This arrangement causes both ends of the first shielding member 21 to extend towards the inside of the cage-like structure along its width, reducing the protruding ridges formed on the outside of the shielding assembly 2, lowering the possibility of scratching operators, and further improving the aesthetics of the parallel robotic arm.

[0147] Furthermore, the cross-section of the second shielding member 22 is arc-shaped, the axis of the second shielding member 22 is parallel to the axis of the through rod 12, and the second shielding member 22 arches towards the side away from the drive module 30. This arrangement causes both ends of the second shielding member 22 to extend towards the inside of the cage-like structure along its width, further reducing the protruding ridges formed on the outside of the shielding assembly 2, lowering the possibility of scratching operators, and further improving the aesthetics of the parallel robotic arm.

[0148] In this embodiment, the radius of the cross-section of the first blocking member 21 is smaller than the radius of the cross-section of the second blocking member 22. The radius of the cross-section of each first blocking member 21 is the same, and the radius of the cross-section of each second blocking member 22 is the same.

[0149] In other embodiments, the radius of the cross-section of the first shielding member 21 may be the same as the radius of the cross-section of the second shielding member 22; or, the radius of the cross-section of the first shielding member 21 may be greater than the radius of the cross-section of the second shielding member 22, and neither is limited here.

[0150] Preferably, the channel 111 passes through the first shielding member 21, and the first shielding member 21 and the second shielding member 22 are located on the same side of the sleeve 11. This reduces the distance between the first shielding member 21 and the second shielding member 22, reduces the possibility of the drive module 30 being exposed through the gap between the first shielding member 21 and the second shielding member 22, further ensures the shielding and protection function of the shielding mechanism 201, improves the aesthetics, and also reduces the thickness of the shielding mechanism 201, thus reducing the impact on the arrangement of other structures of the parallel robotic arm.

[0151] Preferably, the first shielding member 21 and the second shielding member 22 on the same support component 1 are approximately parallel, which reduces the thickness of the protection module 10 and further reduces the size of the parallel robotic arm.

[0152] In this embodiment, the sleeve 11 is disposed in the middle of the first blocking member 21 along the width direction, and the through rod 12 and the connecting part 121 are disposed in the middle of the second blocking member 22 along the width direction.

[0153] Preferably, the sleeve 11 and the first blocking member 21 are integrally formed, and the through rod 12, the connecting part 121 and the second blocking member 22 are integrally formed.

[0154] Specifically, when the parallel robotic arm is in the first state, the vertical connection between the axis of the first blocking member 21 and the axis of the moving platform 20 is arranged radially along the moving platform 20, and the vertical connection between the axis of the second blocking member 22 and the axis of the moving platform 20 is arranged radially along the moving platform 20.

[0155] In this embodiment, the first shielding member 21 and the sleeve 11 are spaced apart at their ends facing the moving platform 20, and the end of the sleeve 11 protrudes from the first shielding member 21, resulting in a larger distance between the first shielding member 21 and the moving platform 20. When the support assembly 1 deflects relative to the moving platform 20, the above arrangement can prevent the first shielding member 21 from being squeezed and collided with the moving platform 20, ensuring the durability of the first shielding member 21, improving the stability and reliability of the parallel robotic arm during use, and reducing the maintenance cost of the parallel robotic arm.

[0156] Similarly, the second blocking member 22 and the end of the through rod 12 facing the stationary platform 40 are spaced apart, and the end of the through rod 12 protrudes from the second blocking member 22, resulting in a larger distance between the second blocking member 22 and the stationary platform 40. When the support assembly 1 deflects relative to the stationary platform 40, the above arrangement can prevent the second blocking member 22 from being squeezed and collided with the stationary platform 40, ensuring the durability of the second blocking member 22, improving the stability and reliability of the parallel robotic arm during use, and also reducing the maintenance cost of the parallel robotic arm.

[0157] As a preferred embodiment, both the first shielding member 21 and the second shielding member 22 are located on the side of the sleeve 11 facing outwards from the cage-like structure. This arrangement allows the shielding mechanism 201 to be positioned outside the support assembly 1, ensuring the support assembly 1 is located on the side of the shielding mechanism 201 facing inwards from the cage-like structure. This prevents the support assembly 1 from being exposed, further reduces the protruding ridges formed on the outside of the shielding assembly 2, lowers the possibility of scratching operators, and also improves the aesthetics of the parallel robotic arm.

[0158] Based on the descriptions above, "the first shielding member 21 is disposed on one radial side of the sleeve 11, a channel 111 is provided through the side wall of the sleeve 11, the channel 111 extends axially, a connecting part 121 is connected to the side wall of the through rod 12, the connecting part 121 is placed in the channel 111 and can move along the channel 111, the connecting part 121 extends out of the sleeve 11 on the side opposite to the through rod 12 and is connected to the second shielding member 22" and "both the first shielding member 21 and the second shielding member 22 are located on the side of the sleeve 11 facing outwards from the cage structure", it can be concluded without doubt that the second shielding member 22 is located on the side of the first shielding member 21 facing outwards from the cage structure.

[0159] As a preferred embodiment, the width of the first shielding member 21 on the same support component 1 is smaller than the width of the second shielding member 22. When the parallel robotic arm is in the first state, the distance between the moving platform 20 and the stationary platform 40 is at its minimum. This arrangement allows the second shielding member 22 to completely cover the first shielding member 21, reducing the convex structure formed on the outside of the shielding component 2, reducing the possibility of scratching the operator, and also improving the aesthetics of the parallel robotic arm. In addition, since the diameter of the moving platform 20 is smaller than the diameter of the stationary platform 40, the first shielding member 21 is connected to the moving platform 20 through the sleeve 11. When the parallel robotic arm is extended and in a swaying position, the moving platform 20 drives the sleeve 11 to gradually move away from the stationary platform 40, and the sleeve 11 deflects relative to the moving platform 20, setting the first shielding member 21 to a smaller width, reducing the possibility of interference between adjacent first shielding members 21.

[0160] In other embodiments, the width of the first blocking member 21 on the same support component 1 may be the same as the width of the second blocking member 22; or, the width of the first blocking member 21 on the same support component 1 may be greater than the width of the second blocking member 22, and neither is limited here.

[0161] Preferably, the width of the second blocking member 22 increases from the moving platform 20 to the stationary platform 40, and the width of the first blocking member 21 also increases from the moving platform 20 to the stationary platform 40. Since the diameter of the moving platform 20 is smaller than the diameter of the stationary platform 40, this arrangement reduces the possibility of interference between the ends of the second blocking members 22 and the moving platform 20, and also reduces the possibility of interference between the ends of the first blocking members 21 and the moving platform 20, thus ensuring the smooth operation of the parallel robotic arm.

[0162] In this embodiment, the minimum width of the second blocking member 22 is greater than or equal to the maximum width of the first blocking member 21.

[0163] To ensure the protective function of the shielding component 2, during the movement of the moving platform 20 relative to the stationary platform 40, two adjacent shielding mechanisms 201 always have an overlapping area, which reduces the possibility of the drive module 30 being exposed, improves the shielding and protection function of the protection module 10, enhances the safety of the operation, and facilitates the operation of the parallel robotic arm, thereby ensuring the smooth progress of the operation and improving the aesthetics.

[0164] For ease of description, the multiple support components 1 include a first support component 1a and a second support component 1b, which are alternately arranged circumferentially along the cage structure. A first shielding member 21 on the first support component 1a is located on the side of the second shielding member 22 on the adjacent second support component 1b away from the drive module 30, and the first shielding member 21 on the first support component 1a overlaps with the second shielding member 22 on the second support component 1b. That is, the shielding mechanisms 201 on the second support component 1b are located on the sides of the shielding mechanisms 201 of the two adjacent first support components 1a facing inwards into the cage structure on both sides along the width direction.

[0165] The above arrangement allows the shielding mechanisms 201 on the first support assembly 1a and the second support assembly 1b to be alternately arranged inside and outside. During the movement of the moving platform 20 relative to the stationary platform 40, the possibility of the first shielding member 21 or the second shielding member 22 being trapped in another shielding mechanism 201 is reduced, thereby reducing the possibility of mutual interference between the two adjacent sets of shielding mechanisms 201, improving the safety of the operation, and also facilitating the smooth operation of the parallel robotic arm, thus ensuring the smooth progress of the operation.

[0166] In this embodiment, the widths of the first blocking member 21 and the second blocking member 22 need to meet the following conditions: during the movement of the moving platform 20 relative to the stationary platform 40, the first blocking member 21 on the first support component 1a can always overlap with the second blocking member 22 on the second support component 1b, and two adjacent first blocking members 21 always have a directly overlapping area, and two adjacent second blocking members 22 always have a directly overlapping area.

[0167] It is understandable that the overlapping area between two adjacent second blocking elements 22 is larger than the overlapping area between two adjacent first blocking elements 21.

[0168] Preferably, the overlapping area between two adjacent second shielding members 22 extends along the length direction of the support assembly 1, and the overlapping area between two adjacent first shielding members 21 extends along the length direction of the support assembly 1.

[0169] In this embodiment, the cross-sections of the first shielding member 21 and the second shielding member 22 of the first support assembly 1a are both arc-shaped; the first shielding member 21 and the second shielding member 22 of the second support assembly 1b are both flat plates. In other embodiments, the first shielding member 21 and the second shielding member 22 of the first support assembly 1a are both flat plates, and the cross-sections of the first shielding member 21 and the second shielding member 22 of the second support assembly 1b are both arc-shaped; or, the cross-sections of all the first shielding members 21 and all the second shielding members 22 are arc-shaped; or, the cross-sections of all the first shielding members 21 are arc-shaped, and all the second shielding members 22 are flat plates; or, the cross-sections of all the first shielding members 21 are flat plates, and the cross-sections of all the second shielding members 22 are arc-shaped; or, the cross-sections of all the first shielding members 21 and all the second shielding members 22 are both flat plates.

[0170] Preferably, the width of the second shielding member 22 on the second support component 1b is smaller than the width of the second shielding member 22 on the first support component 1a. Since the two sides of the second shielding member 22 on the second support component 1b are directly opposite the two first support components 1a, setting the width of the second shielding member 22 on the second support component 1b to a smaller width during the movement of the moving platform 20 reduces the possibility of collision and interference between the second shielding member 22 on the second support component 1b and the first support component 1a. In addition, setting the width of the second shielding member 22 on the first support component 1a to a larger width also ensures that the gap between the shielding mechanisms 201 on two adjacent second support components 1b can be covered by the second shielding member 22 on the first support component 1a, avoiding the exposure of the drive module 30, improving the protection effect of the protection module 10 on the drive module 30, facilitating the operation of the parallel robotic arm, thereby ensuring the smooth progress of the surgery and improving the aesthetics.

[0171] In other embodiments, the width of each first blocking member 21 may be the same, and the width of each second blocking member 21 may be the same; or, the width of the second blocking member 22 on the second support assembly 1b may be greater than the width of the second blocking member 22 on the first support assembly 1a, and none of these are limited here.

[0172] As a preferred option, such as Figures 2-5 As shown, the protection module 10 also includes a first connecting ring 5, which is coaxially connected to the moving platform 20 and located on the side of the moving platform 20 facing the stationary platform 40. One end of the support assembly 1 is connected to the first connecting ring 5. By setting the first connecting ring 5, all support assemblies 1 can be connected to the moving platform 20 at once, avoiding the need to connect each support assembly 1 individually, simplifying the disassembly and assembly process, and improving the convenience of disassembly and installation.

[0173] Furthermore, the protection module 10 also includes a second connecting ring 6, which is coaxially connected to the stationary platform 40 and located on the side of the stationary platform 40 facing the moving platform 20. The other end of the support component 1 is connected to the second connecting ring 6. By setting the second connecting ring 6, all support components 1 can be connected to the stationary platform 40 at once, avoiding the need to connect each support component 1 individually, further simplifying the assembly and disassembly process and improving the convenience of assembly and disassembly.

[0174] Specifically, the support assembly 1 is located between the first connecting ring 5 and the second connecting ring 6. In this embodiment, the end of the sleeve 11 away from the through rod 12 is connected to the first connecting ring 5 via a universal hinge 3, and the end of the through rod 12 away from the sleeve 11 is connected to the second connecting ring 6 via a universal hinge 3.

[0175] As a preferred option, such as Figure 1 As shown, the shielding component 2 also includes a first flexible covering ring 23. The first flexible covering ring 23 is sleeved on the outer side of the protective module 10 facing the moving platform 20. The first flexible covering ring 23 is connected to the moving platform 20, which reduces the gap between the protective module 10 and the moving platform 20, improves the protective and shielding effect of the protective module 10 on the driving module 30, further ensures the smooth progress of the operation, and also improves the aesthetics.

[0176] Furthermore, the end of the first flexible covering ring 23 is sleeved on the outer wall of the first connecting ring 5, and the first flexible covering ring 23 covers part of the first shielding member 21, so that the universal hinge 3 connecting the sleeve 11 and the moving platform 20, the part of the sleeve 11 protruding from the first shielding member 21, and part of the first connecting ring 5 are located inside the first flexible covering ring 23, which further reduces the gap between the protection module 10 and the moving platform 20, improves the protection and shielding effect of the protection module 10 on the drive module 30, further ensures the smooth progress of the operation, and also improves the aesthetics.

[0177] In this embodiment, as Figure 11 As shown, a first mounting groove 51 is provided circumferentially on the outer side wall of the first connecting ring 5. The first flexible covering ring 23 is placed in the first mounting groove 51, which facilitates determining the installation position of the first flexible covering ring 23 and further simplifies the assembly process. The first flexible covering ring 23 is made of an elastic material, such as rubber.

[0178] Furthermore, the shielding component 2 also includes a second flexible covering ring 24, which is sleeved on the outer side of the end of the protection module 10 facing the static platform 40. The second flexible covering ring 24 is connected to the static platform 40, which reduces the gap between the protection module 10 and the static platform 40, improves the protection and shielding effect of the protection module 10 on the drive module 30, further ensures the smooth progress of the operation, and also improves the aesthetics.

[0179] Furthermore, the end of the second flexible covering ring 24 is sleeved on the outer wall of the second connecting ring 6, and the second flexible covering ring 24 covers part of the second shielding member 22, so that the universal hinge 3 connecting the through rod 12 and the static platform 40, the part of the through rod 12 protruding from the second shielding member 22, and part of the second connecting ring 6 are located inside the second flexible covering ring 24, which further reduces the gap between the protection module 10 and the static platform 40, improves the protection and shielding effect of the protection module 10 on the drive module 30, further ensures the smooth progress of the operation, and also improves the aesthetics.

[0180] In this embodiment, the second flexible covering ring 24 is sleeved on the outside of the second connecting ring 6, and the second flexible covering ring 24 is bonded to the second connecting ring 6 by an adhesive layer. The second flexible covering ring 24 is made of an elastic material, such as rubber.

[0181] In other embodiments, a second mounting ring groove may also be provided circumferentially on the outer side wall of the second connecting ring 6, and the second flexible covering ring 24 is placed in the second mounting ring groove, which facilitates the determination of the installation position of the second flexible covering ring 24 and further simplifies the assembly process.

[0182] This embodiment also provides a surgical robot. Specifically, the surgical robot includes a base and parallel robotic arms as described above. A static platform 40 is connected to a surgical trolley, and a moving platform 20 is used to connect an input handle or an instrument arm.

[0183] The surgical robot provided in this embodiment includes the aforementioned parallel robotic arm. The protection module 10 can shield and protect the drive module 30, which improves the durability and motion accuracy of the parallel robotic arm, enhances the safety of the surgery, ensures the smooth progress of the surgery, improves the aesthetics, and reduces maintenance costs. At the same time, the moving platform 20 has a large range of motion, which improves the practicality of the surgical robot and expands its application scope.

[0184] In this embodiment, the surgical robot includes a doctor's console for controlling the movement of surgical instruments. The doctor's console includes a base, a parallel robotic arm, and an input handle. The parallel robotic arm is connected between the input handle and the base, and the input handle is used to control the movement of the surgical instruments.

[0185] In this embodiment, the surgical robot also includes a patient surgical end, which includes a base, a parallel robotic arm, and an instrument arm. The parallel robotic arm is connected between the instrument arm and the base. The instrument arm is used to load surgical instruments, and the surgical instruments are used to perform surgical operations.

[0186] The base of the doctor's console, the base of the patient's surgical end, the input handle, the instrument arm, the surgical instruments, other structures of the doctor's console, and other structures of the patient's surgical end can all refer to existing technologies and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0187] Example 2

[0188] This embodiment provides a parallel robotic arm and surgical robot. The structure of this embodiment is basically the same as that of Embodiment 1, except that the structure of the protection module is different. This embodiment will not describe the other structures that are the same as those in Embodiment 1.

[0189] Preferably, such as Figures 12-21 As shown, the first blocking member 21 and the second blocking member 22 on the second support assembly 1b are located between the first blocking member 21 and the second blocking member 22 on the adjacent first support assembly 1a, and the second blocking member 22 on the first support assembly 1a overlaps with the second blocking member 22 on the second support assembly 1b. That is, the blocking mechanism 201 on the second support assembly 1b extends into the blocking mechanisms 201 of the two adjacent first support assemblies 1a on both sides along the width direction.

[0190] The above configuration reduces the possibility of separation between two adjacent shielding mechanisms 201, avoids large gaps between them, prevents the drive module 30 from being exposed, improves the protective effect of the shielding component 2 on the drive module 30, enhances the durability and motion accuracy of the parallel robotic arm, improves surgical safety, and facilitates the operation of the parallel robotic arm, thereby ensuring the smooth progress of the surgery and improving aesthetics. In addition, since the sleeve 11 is connected to the moving platform 20 and the through rod 12 is connected to the stationary platform 40, the above configuration also ensures that there is no relative sliding between the two overlapping shielding components (i.e., the second shielding component 22 on the first support component 1a and the second shielding component 22 on the second support component 1b). When the moving platform 20 moves, the friction generated on the protection module 10 is reduced, ensuring the smooth operation of the parallel robotic arm and the smooth implementation of the surgery, and also reducing the power requirement of the drive module 30, which helps to reduce the cost of the surgical robot.

[0191] It is understandable that the height of the connecting part 121 on the first support component 1a is greater than the height of the connecting part 121 on the second support component 1b, so that there is a large space between the first blocking member 21 and the second blocking member 22 on the first support component 1a. During the movement of the moving platform 20, the possibility of generating large friction due to the mutual squeezing of the two adjacent blocking mechanisms 201 is reduced, thus ensuring the smooth operation of the parallel robotic arm.

[0192] Furthermore, the first shielding member 21 on the first support assembly 1a overlaps with the first shielding member 21 on the second support assembly 1b. When the parallel robotic arm is in the second state, the above arrangement can further reduce the possibility of the drive module 30 being exposed.

[0193] In this embodiment, the widths of the first blocking member 21 and the second blocking member 22 need to meet the following conditions: two adjacent blocking mechanisms 201 always have a directly overlapping area, and during the movement of the moving platform 20 relative to the stationary platform 40, two adjacent first blocking members 21 always have a directly overlapping area, and two adjacent second blocking members 22 always have a directly overlapping area.

[0194] It is understandable that the overlapping area between two adjacent second blocking elements 22 is larger than the overlapping area between two adjacent first blocking elements 21.

[0195] Preferably, the width of the second shielding member 22 on the second support assembly 1b is smaller than the width of the second shielding member 22 on the first support assembly 1a. Since the two sides of the second shielding member 22 on the second support assembly 1b are directly opposite the connecting portions 121 of the two first support assemblies 1a, setting the second shielding member 22 on the second support assembly 1b to a smaller width during the movement of the moving platform 20 reduces the possibility of collision and interference between the second shielding member 22 on the second support assembly 1b and the two connecting portions 121. In addition, setting the second shielding member 22 on the first support assembly 1a to a larger width also ensures that the gap between the second shielding members 22 on two adjacent second support assemblies 1b can be blocked by the second shielding member 22 on the first support assembly 1a, avoiding gaps in the protection module 10, improving the protection effect of the protection module 10 on the drive module 30, facilitating the operation of the parallel robotic arm, thereby ensuring the smooth progress of the surgery and improving the aesthetics.

[0196] Preferably, such as Figures 18-21 As shown, the support assembly 1 also includes a cylinder 13, which is coaxially connected to the sleeve 11, and the cylinder 13 and the sleeve 11 have the same outer diameter. The cylinder 13 is located at the end of the sleeve 11 facing the moving platform 20. The end of the first blocking member 21 facing the moving platform 20 protrudes from the end of the sleeve 11, and the end of the cylinder 13 facing the moving platform 20 protrudes from the first blocking member 21. The channel 111 passes through the sleeve 11 along the axial direction, and the cylinder 13 protrudes from the first blocking member 21 on the side radially away from the drive module 30, so that the cylinder 13 can stop the connecting part 121, limiting the minimum distance between the through rod 12 and the moving platform 20, thereby limiting the minimum distance between the second blocking member 22 and the moving platform 20.

[0197] Furthermore, the first flexible covering ring 23 covers a portion of the cylinder 13 and a portion of the first blocking member 21, with one end of the cylinder 13 extending out of the first flexible covering ring 23 for connection with the sleeve 11. When the parallel robotic arm is in the first state, the above arrangement ensures a certain gap between the second blocking member 22 and the first flexible covering ring 23, preventing the first flexible covering ring 23 from being flipped up and ensuring the blocking function of the first flexible covering ring 23.

[0198] Example 3

[0199] This embodiment provides a parallel robotic arm and surgical robot. The structure of this embodiment is basically the same as that of Embodiment 1, except that the structure of the protection module is different. This embodiment will not describe the other structures that are the same as those in Embodiment 1.

[0200] Specifically, such as Figures 22-29 As shown, the first shielding member 21 or the second shielding member 22 on the first support assembly 1a is located between the first shielding member 21 and the second shielding member 22 on the second support assembly 1b. By clamping one shielding member (first shielding member 21 or second shielding member 22) on the first support assembly 1a into the shielding mechanism 201 of the second support assembly 1b, the possibility of separation between two adjacent shielding mechanisms 201 is reduced, large gaps between adjacent shielding mechanisms 201 are avoided, the drive module 30 is prevented from being exposed, the protective effect of the shielding assembly 2 on the drive module 30 is improved, the durability and motion accuracy of the parallel robotic arm are improved, the safety of the surgery is enhanced, and the operation of the parallel robotic arm is facilitated, thereby ensuring the smooth progress of the surgery and improving aesthetics.

[0201] In this embodiment, the sleeve 11 is connected to the moving platform 20, and the through rod 12 is connected to the stationary platform 40.

[0202] In this embodiment, the radius of the cross-section of the first blocking member 21 can be the same as the radius of the cross-section of the second blocking member 22. The width of the second blocking member 22 on the same support assembly 1 is greater than the width of the first blocking member 21.

[0203] This embodiment lists four structural configurations of the protection module 10, each corresponding to a parallel robotic arm.

[0204] In the first case, such as Figures 22-23 As shown, the first shielding member 21 and the second shielding member 22 on the same support assembly 1 are both located on the side of the sleeve 11 facing inward toward the cage structure, that is, the support assembly 1 is located on the side of the shielding mechanism 201 facing outward toward the cage structure. And it can be concluded without doubt that the second shielding member 22 on the same support assembly 1 is located on the side of the first shielding member 21 facing inward toward the cage structure.

[0205] The second blocking member 22 on the first support assembly 1a is located between the first blocking member 21 and the second blocking member 22 on the second support assembly 1b. The first blocking member 21 on the first support assembly 1a is located on the side of the blocking mechanism 201 on the second support assembly 1b facing outward from the cage structure, that is, the first blocking member 21 on the second support assembly 1b is located between the first blocking member 21 and the second blocking member 22 on the first support assembly 1a. By placing the support assembly 1 outside the blocking mechanism 201, the blocking mechanism 201 on the support assembly 1 is protected, ensuring the durability of the blocking mechanism 201 on the support assembly 1, thereby improving the durability of the parallel robotic arm.

[0206] In the second case, such as Figures 24-25 As shown, the first shielding member 21 and the second shielding member 22 on the same support assembly 1 are both located on the side of the sleeve 11 facing outwards from the cage structure, that is, the support assembly 1 is located on the side of the shielding mechanism 201 facing inwards from the cage structure. And it can be concluded without doubt that the second shielding member 22 on the same support assembly 1 is located on the side of the first shielding member 21 facing outwards from the cage structure.

[0207] The second shielding member 22 on the first support assembly 1a is located between the first shielding member 21 and the second shielding member 22 on the second support assembly 1b. The first shielding member 21 on the first support assembly 1a is located on the side of the shielding mechanism 201 on the second support assembly 1b facing inwards towards the cage structure. That is, the first shielding member 21 on the second support assembly 1b is located between the first shielding member 21 and the second shielding member 22 on the first support assembly 1a. This arrangement ensures that the support assembly 1 is located on the side of the shielding mechanism 201 facing inwards towards the cage structure, preventing the support assembly 1 from being exposed. It further reduces the protruding ridge structure formed on the outside of the shielding mechanism 201, reduces the possibility of scratching the operator, and also improves the aesthetics of the parallel robotic arm.

[0208] In the third case, such as Figures 26-27 As shown, the first shielding member 21 and the second shielding member 22 on the first support assembly 1a are both located on the side of the sleeve 11 facing inwards towards the cage structure, while the first shielding member 21 and the second shielding member 22 on the second support assembly 1b are both located on the side of the sleeve 11 facing outwards towards the cage structure. It can be clearly understood that the second shielding member 22 on the first support assembly 1a is located on the side of the first shielding member 21 facing inwards towards the cage structure, and the second shielding member 22 on the second support assembly 1b is located on the side of the first shielding member 21 facing outwards towards the cage structure.

[0209] The second shielding member 22 on the first support assembly 1a is located between the first shielding member 21 and the second shielding member 22 on the second support assembly 1b. The first shielding member 21 on the first support assembly 1a is located on the side of the shielding mechanism 201 on the second support assembly 1b facing outward from the cage structure, that is, the second shielding member 22 on the second support assembly 1b is located between the first shielding member 21 and the second shielding member 22 on the first support assembly 1a.

[0210] Since the sleeve 11 is connected to the moving platform 20 and the through rod 12 is connected to the stationary platform 40, the above arrangement also ensures that there is no relative sliding between the two overlapping shielding parts (i.e., the second shielding part 22 on the first support component 1a and the second shielding part 22 on the second support component 1b). When the moving platform 20 moves, the friction generated on the protection module 10 is reduced, which ensures the smooth operation of the parallel robotic arm and the smooth implementation of the surgery. It also reduces the power requirement of the drive module 30, which helps to reduce the cost of the surgical robot.

[0211] In the fourth case, such as Figures 28-29 As shown, the first shielding member 21 and the second shielding member 22 on the first support assembly 1a are both located on the side of the sleeve 11 facing inwards towards the cage structure, while the first shielding member 21 and the second shielding member 22 on the second support assembly 1b are both located on the side of the sleeve 11 facing outwards towards the cage structure. It can be clearly understood that the second shielding member 22 on the first support assembly 1a is located on the side of the first shielding member 21 facing inwards towards the cage structure, and the second shielding member 22 on the second support assembly 1b is located on the side of the first shielding member 21 facing outwards towards the cage structure.

[0212] The first shielding member 21 on the first support assembly 1a is located between the first shielding member 21 and the second shielding member 22 on the second support assembly 1b. The second shielding member 22 on the first support assembly 1a is located on the side of the shielding mechanism 201 on the second support assembly 1b facing the cage structure. That is, the first shielding member 21 on the second support assembly 1b is located between the first shielding member 21 and the second shielding member 22 on the first support assembly 1a.

[0213] In other embodiments, the positional relationship between the shielding mechanism 201 of the first support component 1a and the first support component 1a, and the positional relationship between the shielding mechanism 201 of the second support component 1b and the second support component 1b, may be other cases, which are not limited here.

[0214] Preferably, in the first and second cases, the width of the second blocking member 22 on the second support assembly 1b is greater than the width of the second blocking member 22 on the first support assembly 1a.

[0215] Example 4

[0216] This embodiment provides a parallel robotic arm and surgical robot. The structure of this embodiment is basically the same as that of Embodiment 1, except that the structure of the protection module is different. This embodiment will not describe the other structures that are the same as those in Embodiment 1.

[0217] In this embodiment, as Figures 30-41 As shown, the first shielding member 21 and the second shielding member 22 on the same support assembly 1 are located on the side of the sleeve 11 facing into the cage structure. It can be concluded without doubt that the second shielding member 22 on the same support assembly 1 is located on the side of the first shielding member 21 facing into the cage structure.

[0218] The support component 1 is placed on the outside of the shielding mechanism 201, which protects the shielding mechanism 201 and improves the durability of the parallel robotic arm. In addition, compared with placing the shielding mechanism 201 on the outside of the support component 1, this embodiment places the shielding mechanism 201 on the inside of the support component 1, which reduces the volume of the protection module 10, thereby making it easier to reduce the size of the parallel robotic arm.

[0219] Specifically, the second shielding member 22 on the first support assembly 1a is located on the side of the first shielding member 21 on the adjacent second support assembly 1b away from the drive module 30, and the second shielding member 22 on the first support assembly 1a overlaps with the first shielding member 21 on the second support assembly 1b. That is to say, the shielding mechanism 201 on the second support assembly 1b is located on both sides along the width direction on the side of the shielding mechanism 201 of the two adjacent first support assemblies 1a facing into the cage structure.

[0220] The above arrangement allows the shielding mechanisms 201 on the first support assembly 1a and the second support assembly 1b to be alternately arranged inside and outside. During the movement of the moving platform 20 relative to the stationary platform 40, the possibility of the first shielding member 21 or the second shielding member 22 being trapped in another shielding mechanism 201 is reduced, thereby reducing the possibility of mutual interference between the two adjacent sets of shielding mechanisms 201, improving the safety of the operation, and also facilitating the smooth operation of the parallel robotic arm, thus ensuring the smooth progress of the operation.

[0221] In this embodiment, the sleeve 11 of the first support component 1a is connected to the moving platform 20, and the through rod 12 is connected to the stationary platform 40; the sleeve 11 of the second support component 1b is connected to the stationary platform 40, and the through rod 12 is connected to the moving platform 20.

[0222] In this embodiment, the widths of the first blocking member 21 and the second blocking member 22 need to meet the following conditions: during the movement of the moving platform 20 relative to the stationary platform 40, the second blocking member 22 on the first support component 1a can always overlap with the first blocking member 21 on the second support component 1b, and the first blocking member 21 on the first support component 1a and the two adjacent second blocking members 22 always have a directly overlapping area.

[0223] Furthermore, the width of the second blocking member 22 on the first support assembly 1a is greater than the width of the first blocking member 21, and the width of the first blocking member 21 on the second support assembly 1b is greater than the width of the second blocking member 22. It is understood that the blocking mechanism 201 of the first support assembly 1a and the sleeve 11 on the second support assembly 1b are positioned directly opposite each other.

[0224] The above configuration, by setting the two overlapping shielding components (i.e., the second shielding component 22 on the first support assembly 1a and the first shielding component 21 on the second support assembly 1b) to a larger width, increases the distance between the first shielding component 21 on the first support assembly 1a and the sleeve 11 on the second support assembly 1b. During the swaying of the parallel robotic arm, this reduces the possibility of interference between the first shielding component 21 on the first support assembly 1a and the second support assembly 1b, and reduces the possibility of damage to the shielding mechanism 201, thereby reducing maintenance costs, ensuring the shielding and protective function of the protection module 10, improving surgical safety, and facilitating the smooth operation of the parallel robotic arm, thus ensuring the success of the surgery. This not only improves the aesthetics but also enhances the overall appearance. Furthermore, since the sleeve 11 on the first support component 1a and the through rod 12 on the second support component 1b are connected to the moving platform 20, and the through rod 12 on the first support component 1a and the sleeve 11 on the second support component 1b are connected to the stationary platform 40, the above arrangement also ensures that there is no relative sliding between the two overlapping shielding parts (i.e., the second shielding part 22 on the first support component 1a and the first shielding part 21 on the second support component 1b). When the moving platform 20 moves, the friction generated on the protection module 10 is reduced, ensuring the smooth operation of the parallel robotic arm and the smooth implementation of the surgery. It also reduces the power requirement of the drive module 30, which helps to reduce the cost of the surgical robot.

[0225] It is understandable that the overlap area between the second shielding member 22 on the first support component 1a and the first shielding member 21 on the second support component 1b is greater than the overlap area between the first shielding member 21 on the first support component 1a and the second shielding member 22 on the second support component 1b.

[0226] Preferably, the overlapping area between the second shielding member 22 on the first support component 1a and the first shielding member 21 on the second support component 1b extends along the length direction of the support component 1, and the overlapping area between the first shielding member 21 on the first support component 1a and the second shielding member 22 on the second support component 1b extends along the length direction of the support component 1.

[0227] Preferably, the width of the first shielding member 21 on the second support assembly 1b is greater than the width of the second shielding member 22 on the first support assembly 1a. Since the two sides of the second shielding member 22 on the first support assembly 1a are directly opposite the sleeves 11 of the two second support assemblies 1b, the second shielding member 22 on the first support assembly 1a is set to a smaller width during the movement of the moving platform 20, reducing the possibility of collision and interference between the second shielding member 22 on the first support assembly 1a and the two sleeves 11. In addition, setting the first shielding member 21 on the second support assembly 1b to a larger width also ensures that the gap between the second shielding members 22 on two adjacent first support assemblies 1a can be blocked by the first shielding member 21 on the second support assembly 1b, avoiding gaps in the protection module 10, improving the protection effect of the protection module 10 on the drive module 30, facilitating the operation of the parallel robotic arm, thereby ensuring the smooth progress of the surgery and improving the aesthetics.

[0228] Preferably, such as Figures 36-41 As shown, the support assembly 1 also includes a cylinder 13, which has the same outer diameter as the sleeve 11.

[0229] For the first support assembly 1a, the cylinder 13 is coaxially connected to the through rod 12, and the cylinder 13 is located at the end of the through rod 12 facing the stationary platform 40. The end of the second blocking member 22 facing the stationary platform 40 protrudes from the end of the through rod 12, and the end of the cylinder 13 facing the stationary platform 40 protrudes from the second blocking member 22. The cylinder 13 can stop the sleeve 11, limiting the minimum distance between the stationary platform 40 and the sleeve 11, thereby limiting the minimum distance between the first blocking member 21 and the stationary platform 40.

[0230] For the second support assembly 1b, the cylinder 13 is coaxially connected to the through rod 12, and the cylinder 13 is located at the end of the through rod 12 facing the moving platform 20. The end of the second blocking member 22 facing the moving platform 20 protrudes from the end of the through rod 12, and the end of the cylinder 13 facing the moving platform 20 protrudes from the second blocking member 22. The cylinder 13 can stop the sleeve 11, limiting the minimum distance between the moving platform 20 and the sleeve 11, thereby limiting the minimum distance between the first blocking member 21 and the moving platform 20.

[0231] Furthermore, the first flexible covering ring 23 covers a portion of the cylinder 13 on the second support assembly 1b, a portion of the second blocking member 22 on the second support assembly 1b, a portion of the first blocking member 21 on the first support assembly 1a, and a portion of the sleeve 11 on the first support assembly 1a. The end of the cylinder 13 on the second support assembly 1b that is connected to the through rod 12 extends out of the first flexible covering ring 23. When the parallel robotic arm is in the first state, the above arrangement ensures that there is a certain gap between the first blocking member 21 on the second support assembly 1b and the first flexible covering ring 23, preventing the first flexible covering ring 23 from being flipped up and ensuring the blocking function of the first flexible covering ring 23.

[0232] The second flexible covering ring 24 covers a portion of the cylinder 13 on the first support assembly 1a, a portion of the second blocking member 22 on the first support assembly 1a, a portion of the first blocking member 21 on the second support assembly 1b, and a portion of the sleeve 11 on the second support assembly 1b. The end of the cylinder 13 on the first support assembly 1a that is connected to the through rod 12 extends out of the second flexible covering ring 24. When the parallel robotic arm is in the first state, the above arrangement ensures that there is a certain gap between the first blocking member 21 on the first support assembly 1a and the second flexible covering ring 24, preventing the second flexible covering ring 24 from being flipped up and ensuring the blocking function of the second flexible covering ring 24.

[0233] Example 5

[0234] This embodiment provides a parallel robotic arm and surgical robot. The structure of this embodiment is basically the same as that of Embodiment 1, except that the structure of the protection module is different. This embodiment will not describe the other structures that are the same as those in Embodiment 1.

[0235] As a preferred option, such as Figures 42-45 As shown, the first blocking member 21 and the second blocking member 22 on the first support assembly 1a are located on the side of the sleeve 11 facing inward towards the cage structure, while the first blocking member 21 and the second blocking member 22 on the second support assembly 1b are located on the side of the sleeve 11 facing outward towards the cage structure. By placing the first support assembly 1a on the outside of the blocking mechanism 201, the blocking mechanism 201 on the first support assembly 1a is protected, ensuring its durability and thus improving the durability of the parallel robotic arm.

[0236] According to the previous description that "the first shielding member 21 and the second shielding member 22 on the first support assembly 1a are located on the side of the sleeve 11 facing the inside of the cage structure, and the first shielding member 21 and the second shielding member 22 on the second support assembly 1b are located on the side of the sleeve 11 facing the outside of the cage structure", that is, the shielding mechanism 201 on the first support assembly 1a is located on the side of the first support assembly 1a facing the inside of the cage structure, and the shielding mechanism 201 on the second support assembly 1b is located on the side of the second support assembly 1b facing the outside of the cage structure.

[0237] It can be concluded without doubt that the second shielding member 22 on the first support assembly 1a is located on the side of the first shielding member 21 facing into the cage structure, and the second shielding member 22 on the second support assembly 1b is located on the side of the first shielding member 21 facing out of the cage structure.

[0238] This embodiment lists two structural configurations of the protection module 10, each corresponding to a parallel robotic arm.

[0239] In the first case, such as Figures 42-43 As shown, the second shielding member 22 on the first support assembly 1a is located on the side of the second shielding member 22 on the second support assembly 1b away from the drive module 30, and the second shielding member 22 on the first support assembly 1a overlaps with the second shielding member 22 on the second support assembly 1b. That is, the shielding mechanism 201 on the second support assembly 1b is located on the side of the shielding mechanism 201 of the two adjacent first support assemblies 1a facing into the cage structure on both sides along the width direction.

[0240] The above arrangement allows the shielding mechanisms 201 on the first support assembly 1a and the second support assembly 1b to be alternately arranged inside and outside. During the movement of the moving platform 20 relative to the stationary platform 40, the possibility of the first shielding member 21 or the second shielding member 22 being trapped in another shielding mechanism 201 is reduced, thereby reducing the possibility of mutual interference between the two adjacent sets of shielding mechanisms 201, improving the safety of the operation, and also facilitating the smooth operation of the parallel robotic arm, thus ensuring the smooth progress of the operation.

[0241] Preferably, the sleeve 11 of the support component 1 is connected to the moving platform 20, and the through rod 12 is connected to the stationary platform 40. When the moving platform 20 moves, there is no relative sliding between the overlapping second shielding members 22, which reduces the friction generated on the protection module 10, ensures the smooth operation of the parallel robotic arm and the smooth implementation of the surgery, and also reduces the power requirement of the drive module 30, which helps to reduce the cost of the surgical robot.

[0242] Furthermore, the width of the first blocking member 21 on the same support assembly 1 is smaller than the width of the second blocking member 22. Since the sleeve 11 is located in the middle of the first blocking member 21 along the width direction, and the through rod 12 and the connecting part 121 are located in the middle of the second blocking member 22 along the width direction, setting the overlapping second blocking members 22 to a larger width increases the distance between two adjacent support assemblies 1, reduces the number of support assemblies 1, facilitates disassembly and assembly, and also helps to reduce the cost of parallel robotic arms.

[0243] In this case, the widths of the first blocking member 21 and the second blocking member 22 need to meet the following conditions: during the movement of the moving platform 20 relative to the stationary platform 40, the second blocking member 22 on the first support assembly 1a can always overlap with the second blocking member 22 on the second support assembly 1b, and the two adjacent first blocking members 21 always have a directly overlapping area.

[0244] It is understandable that the overlapping area between two adjacent second blocking elements 22 is larger than the overlapping area between two adjacent first blocking elements 21.

[0245] Preferably, the overlapping area between two adjacent second shielding members 22 extends along the length direction of the support assembly 1, and the overlapping area between two adjacent first shielding members 21 extends along the length direction of the support assembly 1.

[0246] In the second case, such as Figures 44-45 As shown, the first shielding member 21 on the first support assembly 1a is located on the side of the first shielding member 21 on the second support assembly 1b facing the drive module 30, and the first shielding member 21 on the first support assembly 1a overlaps with the first shielding member 21 on the second support assembly 1b. That is, the shielding mechanism 201 on the first support assembly 1a is located on both sides along the width direction on the side of the shielding mechanism 201 of the two adjacent second support assemblies 1b facing the cage structure.

[0247] The above arrangement allows the shielding mechanisms 201 on the first support assembly 1a and the second support assembly 1b to be alternately arranged inside and outside. During the movement of the moving platform 20 relative to the stationary platform 40, the possibility of the first shielding member 21 or the second shielding member 22 being trapped in another shielding mechanism 201 is reduced, thereby reducing the possibility of mutual interference between the two adjacent sets of shielding mechanisms 201, improving the safety of the operation, and also facilitating the smooth operation of the parallel robotic arm, thus ensuring the smooth progress of the operation.

[0248] Preferably, the sleeve 11 of the support component 1 is connected to the static platform 40, and the through rod 12 is connected to the moving platform 20. When the moving platform 20 moves, there is no relative sliding between the two overlapping first shielding parts 21, which reduces the friction generated on the protection module 10, ensures the smooth operation of the parallel robotic arm and the smooth implementation of the surgery, and also reduces the power requirement of the drive module 30, which helps to reduce the cost of the surgical robot.

[0249] Furthermore, the width of the first blocking member 21 on the same support assembly 1 is greater than the width of the second blocking member 22. Since the sleeve 11 is located in the middle of the first blocking member 21 along the width direction, and the through rod 12 and the connecting part 121 are located in the middle of the second blocking member 22 along the width direction, setting the overlapping first blocking members 21 to a larger width increases the distance between two adjacent support assemblies 1, reduces the number of support assemblies 1, facilitates disassembly and assembly, and also helps to reduce the cost of parallel robotic arms.

[0250] In this case, the widths of the first blocking member 21 and the second blocking member 22 need to meet the following conditions: during the movement of the moving platform 20 relative to the stationary platform 40, the first blocking member 21 on the first support assembly 1a can always overlap with the first blocking member 21 on the second support assembly 1b, and the two adjacent second blocking members 22 always have a directly overlapping area.

[0251] It is understandable that the overlapping area between two adjacent first blocking elements 21 is greater than the overlapping area between two adjacent second blocking elements 22.

[0252] Preferably, the overlapping area between two adjacent second shielding members 22 extends along the length direction of the support assembly 1, and the overlapping area between two adjacent first shielding members 21 extends along the length direction of the support assembly 1.

[0253] In this embodiment, all the second blocking members 22 are the same size, and all the first blocking members 21 are the same size, which is beneficial for production and processing.

[0254] Example 6

[0255] This embodiment provides a parallel robotic arm and surgical robot. The structure of this embodiment is basically the same as that of Embodiment 1, except that the structure of the protection module is different. This embodiment will not describe the other structures that are the same as those in Embodiment 1.

[0256] In this embodiment, as Figures 46-51As shown, the shielding mechanism 201 on the support assembly 1 is arranged radially inclined to the cage structure. The two ends of the shielding mechanism 201 in the width direction are respectively connected to two adjacent shielding mechanisms 201. One end of the shielding mechanism 201 in the width direction is located on the side of the corresponding shielding mechanism 201 away from the drive module 30, and the other end of the shielding mechanism 201 in the width direction is located on the side of the corresponding shielding mechanism 201 facing the drive module 30.

[0257] For ease of description, the three consecutive support components 1 are designated as first support component 1a, second support component 1b, and third support component 1c, with second support component 1b located between first support component 1a and third support component 1c. First support component 1a is located at the first end of the blocking mechanism 201 of second support component 1b along the width direction, and third support component 1c is located at the second end of the blocking mechanism 201 of second support component 1b along the width direction. The first end of the blocking mechanism 201 on second support component 1b is located on the side of the blocking mechanism 201 of first support component 1a away from the drive module 30, and the second end of the blocking mechanism 201 on second support component 1b is located on the side of the blocking mechanism 201 of third support component 1c facing the drive module 30.

[0258] The above configuration simplifies the structure of the protection module 10 and the assembly process of the protection module 10, which is conducive to the production and processing of parallel robotic arms and reduces the production and assembly costs.

[0259] This embodiment lists three structural configurations of the protection module 10, each corresponding to a parallel robotic arm.

[0260] In the first case, such as Figures 46-47 As shown, the shielding mechanism 201 is an integral elastic structure, and the shielding mechanism 201 is located on the side of the support component 1 facing outward from the cage structure.

[0261] In the second case, such as Figures 48-49 As shown, the shielding mechanism 201 includes a first shielding member 21 and a second shielding member 22 that are separately arranged. The first shielding member 21 and the second shielding member 22 on the same support assembly 1 are both located on the side of the sleeve 11 facing into the cage structure, that is, the support assembly 1 is located on the side of the shielding mechanism 201 facing out of the cage structure.

[0262] In the third case, such as Figures 50-51As shown, the shielding mechanism 201 includes a first shielding member 21 and a second shielding member 22, which are separately configured. Both the first shielding member 21 and the second shielding member 22 on the same support assembly 1 are located on the side of the sleeve 11 facing outwards from the cage-like structure; that is, the support assembly 1 is located on the side of the shielding mechanism 201 facing inwards from the cage-like structure. This arrangement avoids the support assembly 1 being exposed, further reduces the protruding ridges formed on the outside of the shielding assembly 2, lowers the possibility of scratching operators, and also improves the aesthetics of the parallel robotic arm.

[0263] Preferably, in the second and third cases, the width of the first blocking member 21 on the same support assembly 1 is smaller than the width of the second blocking member 22. The sleeve 11 is connected to the moving platform 20, and the through rod 12 is connected to the stationary platform 40.

[0264] In this embodiment, the first blocking member 21 and the second blocking member 22 are configured as flat plates.

[0265] In other implementations, the first support component 1a and the second support component 1b may also be configured such that the first shielding member 21 and the second shielding member 22 on the first support component 1a are located on the side of the sleeve 11 facing into the cage structure, and the first shielding member 21 and the second shielding member 22 on the second support component 1b are located on the side of the sleeve 11 facing out of the cage structure. No limitation is made here.

[0266] Example 7

[0267] This embodiment provides a parallel robotic arm and surgical robot. The structure of this embodiment is basically the same as that of Embodiment 1, except that the structure of the protection module is different. This embodiment will not describe the other structures that are the same as those in Embodiment 1.

[0268] As a preferred option, such as Figures 52-58 As shown, the first shielding component is made of elastic material, and multiple first shielding components are connected end to end along the circumference of the cage-like structure to form a closed ring-shaped first blocking ring 210. That is, the shielding assembly 2 includes the first blocking ring 210, the first blocking ring 210 is made of elastic material, the first blocking ring 210 is sleeved on the outside of the cage-like structure, and the first blocking ring 210 is connected to all the sleeves 11.

[0269] The above configuration simplifies the structure of the protection module 10, facilitates production and assembly, and simplifies the assembly process. Furthermore, the first retaining ring 210 is a closed ring, further ensuring the shielding and protective function of the shielding component 2. In this embodiment, the first retaining ring 210 is made of rubber.

[0270] In this embodiment, the sleeve 11 is connected to the static platform 40, and the through rod 12 is connected to the dynamic platform 20.

[0271] Furthermore, the first retaining ring 210 is fixedly sleeved on the outer side of the cage structure facing the static platform 40, and the end of the first retaining ring 210 is connected to the side wall of the second connecting ring 6.

[0272] In this embodiment, a first connector 8 is fixedly sleeved on the end of the sleeve 11 facing the through rod 12. A side protrusion 81 is provided on the side wall of the first connector 8. A receiving groove 811 is opened on the side of the side protrusion 81 facing the first connecting ring 5. The receiving groove 811 passes through the side protrusion 81 circumferentially along the cage structure. The end of the first retaining ring 210 is placed in the receiving groove 811. After the screw passes through the groove side wall of the receiving groove 811 away from the first connector 8 and the first retaining ring 210, it is connected to the first connector 8, thereby connecting the first retaining ring 210 to the first connector 8.

[0273] In some other embodiments, the length of the first retaining ring 210 may be greater than the length of the sleeve 11, and the end of the first retaining ring 210 away from the stationary platform 40 protrudes from the end of the sleeve 11.

[0274] Furthermore, the second blocking component is made of elastic material, and multiple second blocking components are connected end to end to form a closed loop second retaining ring 220. That is, the blocking assembly 2 includes a second retaining ring 220, the second retaining ring 220 is made of elastic material, the second retaining ring 220 is sleeved on the outside of the cage-like structure, and the second retaining ring 220 is connected to all the through rods 12.

[0275] The above-described design further simplifies the structure of the protection module 10, facilitates production and assembly, and simplifies the assembly process. Furthermore, the second retaining ring 220 is a closed ring, further ensuring the shielding and protective function of the shielding component 2. In this embodiment, the second retaining ring 220 is made of rubber.

[0276] It is understandable that, since the diameter of the moving platform 20 is smaller than the diameter of the stationary platform 40, the diameter of the first retaining ring 210 increases along the direction from the moving platform 20 to the stationary platform 40, and the diameter of the second retaining ring 220 increases along the direction from the moving platform 20 to the stationary platform 40.

[0277] Furthermore, the second retaining ring 220 is fixedly sleeved on the outer side of the cage structure facing the moving platform 20, and the end of the second retaining ring 220 is connected to the first mounting ring groove 51 on the first connecting ring 5.

[0278] In this embodiment, a second connector 9 is connected to one end of the through rod 12 opposite to the sleeve 11, and the second connector 9 is connected to the second retaining ring 220. Specifically, the second connector 9 and the second retaining ring 220 can be connected by adhesive or fasteners, which is not limited here.

[0279] In this embodiment, the sleeve 11 does not have a channel 111, and the rod 12 does not have a connecting part 121.

[0280] Preferably, one end of the second retaining ring 220 is connected to the moving platform 20, and the other end of the second retaining ring 220 is movably sleeved outside the first retaining ring 210. When the parallel robotic arm is in the second state, the end of the second retaining ring 220 away from the moving platform 20 overlaps with part of the first retaining ring 210. This arrangement ensures that there is always an overlapping area between the first retaining ring 210 and the second retaining ring 220, preventing the drive module 30 from being exposed through the gap between the first retaining ring 210 and the second retaining ring 220. This further ensures the shielding and protection function of the shielding component 2, improves aesthetics, reduces the thickness of the shielding mechanism, and reduces the impact on the arrangement of other structures of the parallel robotic arm.

[0281] Furthermore, the parallel robotic arm also includes spacer bars 4. Spacer bars 4 are provided between each pair of adjacent support components 1. The spacer bars 4 are connected to the second retaining ring 220, with both ends of the spacer bars 4 facing the stationary platform 40 and the moving platform 20, respectively, along their length. When the parallel robotic arm extends or retracts, the second retaining ring 220 slides relative to the first retaining ring 210. The spacer bars 4 reduce the possibility of the second retaining rings 220 stacking together and folding, thus ensuring the covering area of ​​the second retaining ring 220. This further ensures that there is always an overlapping area between the first retaining ring 210 and the second retaining ring 220, preventing the drive module 30 from being exposed through the gap between the first retaining ring 210 and the second retaining ring 220. This further ensures the covering and protection function of the covering component 2, improves aesthetics, reduces the thickness of the covering mechanism, and minimizes the impact on the layout of other structures in the parallel robotic arm.

[0282] Preferably, multiple sets of spacer bars 4 are provided, with several sets of spacer bars 4 between each pair of adjacent support components 1. Each set of spacer bars 4 includes two spacer bars 4, with the two spacer bars 4 in the same set located on the inner and outer sides of the second retaining ring 220 and facing each other. This arrangement increases the number of spacer bars 4, further reducing the possibility of the second retaining rings 220 stacking together.

[0283] In this embodiment, the bolt passes through the two spacer bars 4 and the second retaining ring 220 in the same group and is connected to the nut to fix the two spacer bars 4. This avoids using bolts to directly fix the spacer bars 4 to the rubber second retaining ring 220, reduces the possibility of damage to the second retaining ring 220, and ensures the durability of the second retaining ring 220.

[0284] In other embodiments, the spacer strip 4 may be provided only on the inner or outer side of the second retaining ring 220, which is not limited here.

[0285] Example 8

[0286] This embodiment provides a parallel robotic arm and surgical robot. The structure of this embodiment is basically the same as that of Embodiment 7, with only some structural differences. This embodiment will not describe the other structures that are the same as those in Embodiment 7.

[0287] Specifically, such as Figures 59-63 As shown, the sleeve 11 includes a mounting plate 112 and a U-shaped frame 113. The opening of the U-shaped frame 113 is the channel 111, which extends through the U-shaped frame 113 along its length. The mounting plate 112 is connected to the side of the U-shaped frame 113 opposite to the opening, with the opening of the U-shaped frame 113 facing inwards towards the cage-like structure. A first retaining ring 210 is fitted onto the outside of the cage-like structure. Specifically, the first retaining ring 210 is fitted onto the outside of multiple mounting plates 112, and the first retaining ring 210 is connected to all mounting plates 112.

[0288] The protection module 10 also includes clamping plates 7, of which multiple clamping plates 7 are arranged one-to-one with multiple mounting plates 112. The clamping plates 7 are located on the outside of the first retaining ring 210. Bolts pass through each clamping plate 7, the first retaining ring 210, and the corresponding mounting plate 112, and are connected to nuts. That is, the first retaining ring 210 is clamped between multiple sets of opposing clamping plates 7 and mounting plates 112, realizing the connection of the first retaining ring 210 to the sleeve 11. The above arrangement avoids directly fixing the mounting plate 112 to the rubber first retaining ring 210 with bolts, reducing the possibility of damage to the first retaining ring 210 and ensuring the durability of the first retaining ring 210.

[0289] Preferably, the clamping plate 7 and the mounting plate 112 have the same width, and the width of the mounting plate 112 is greater than the width of the U-shaped frame 113, which increases the area of ​​the sleeve 11 for connecting bolts and facilitates assembly.

[0290] Furthermore, each of the two side arms of the U-shaped frame 113 is connected to a stop 114, which is located on the inner side wall of the U-shaped frame 113. The through rod 12 has a T-shaped cross-section and is placed inside the U-shaped frame 113. The two stop 114 can stop the protruding parts on both sides of the through rod 12, reducing the possibility of the through rod 12 separating from the sleeve 11 and improving the reliability of the protection module 10.

[0291] Preferably, the through rod 12 is connected to the support plate 122 on the side opposite to the mounting plate 112, the second retaining ring 220 is disposed on the inner side of the cage structure, and multiple support plates 122 are connected to the outer side of the second retaining ring 220. This arrangement ensures that the first retaining ring 210 and the second retaining ring 220 are respectively disposed on the outer and inner sides of the cage structure, reducing the possibility of the first retaining ring 210 and the second retaining ring 220 stacking due to mutual friction. This reduces the possibility of gaps forming in the shielding component 2, ensuring the shielding and protective function of the shielding component 2 and improving aesthetics. Simultaneously, it avoids friction between the first retaining ring 210 and the second retaining ring 220, reducing the power requirement of the drive module 30 and helping to reduce the cost of the surgical robot.

[0292] It should be noted that the connecting part 121 is not provided in this embodiment.

[0293] The support assembly 1 also includes multiple pressure strips 14, each facing a support plate 122. The pressure strips 14 are positioned inside the second retaining ring 220. Bolts pass through each pressure strip 14, the second retaining ring 220, and the corresponding support plate 122, and are connected to nuts. In other words, the second retaining ring 220 is clamped between multiple sets of facing pressure strips 14 and support plates 122, thus connecting the second retaining ring 220 to the through rod 12. This arrangement avoids directly fixing the support plate 122 to the rubber second retaining ring 220 with bolts, reducing the possibility of damage to the second retaining ring 220 and ensuring its durability.

[0294] Example 9

[0295] This embodiment provides a parallel robotic arm and surgical robot. The structure of this embodiment is basically the same as that of Embodiment 1, with only some structural differences. This embodiment will not describe the other structures that are the same as those in Embodiment 1.

[0296] In this embodiment, as Figures 64-65 As shown, the shielding mechanism is an integrally formed elastic structure. Multiple shielding mechanisms are connected end-to-end along the circumference of the cage-like structure to form a closed-loop elastic sleeve. That is, the shielding component 2 is an elastic sleeve made of elastic material. The elastic sleeve is fitted onto the outside of the cage-like structure, with one end connected to the first connecting ring 5 and the other end connected to the second connecting ring 6. In this embodiment, the elastic sleeve is integrally formed.

[0297] The above configuration simplifies the structure of the protection module 10 and the assembly process of the protection module 10, which is conducive to the production and processing of parallel robotic arms and reduces the production and assembly costs.

[0298] In this embodiment, the elastic sleeve is made of rubber. The end of the elastic sleeve can be bonded to the outer side wall of the first connecting ring 5 and the second connecting ring 6 through an adhesive layer.

[0299] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A parallel robotic arm, comprising a static platform, a moving platform, a drive module, and a protection module, wherein the drive module is capable of driving the moving platform to move relative to the static platform, characterized in that, The protection module includes: Multiple support components are provided, and the multiple support components are arranged circumferentially along the moving platform to form a cage-like structure. The drive module is placed inside the cage-like structure. The support components are telescopic along the length direction. Each support component includes a sleeve and a through rod. One end of the through rod is coaxially and movably inserted through one end of the sleeve along the length direction. The other end of the sleeve along the length direction is connected to one of the static platform and the moving platform. The other end of the through rod is connected to the other of the static platform and the moving platform. The shielding assembly includes multiple shielding mechanisms, each of which is connected to a shielding mechanism to shield the drive module. Each shielding mechanism is capable of synchronous extension and retraction with the corresponding support assembly. The shielding mechanism includes a first shielding member and a second shielding member. The first shielding member is connected to the sleeve. A channel is formed through the side wall of the sleeve and extends axially. A connecting part is connected to the side wall of the through rod. The connecting part is placed in the channel and can move along the channel. The side of the connecting part opposite to the through rod extends out of the sleeve and is connected to the second shielding member.

2. The parallel robotic arm according to claim 1, characterized in that, The drive module includes several sets of branch components. Each branch component includes two parallel telescopic rods. The telescopic rods are capable of extending and retracting along the length direction. The two ends of the telescopic rods along the length direction are respectively movably connected to the static platform and the moving platform through universal hinges. The two ends of the support component along its length are movably connected to the static platform and the moving platform respectively by universal hinges.

3. The parallel robotic arm according to claim 2, characterized in that, The sleeve and the through rod are respectively connected to the same shielding mechanism.

4. The parallel robotic arm according to claim 3, characterized in that, The first shielding member and the second shielding member on the same support assembly are at least partially opposite each other.

5. The parallel robotic arm according to claim 4, characterized in that, The first shielding member is disposed on one side of the sleeve along the radial direction.

6. The parallel robotic arm according to claim 5, characterized in that, The channel passes through the first shielding member, and the first shielding member and the second shielding member are located on the same side of the sleeve; And / or, the first shielding member on the same support assembly is substantially parallel to the second shielding member.

7. The parallel robotic arm according to claim 6, characterized in that, Both the first shielding member and the second shielding member are located on the side of the sleeve facing outward from the cage-like structure.

8. The parallel robotic arm according to claim 7, characterized in that, The width of the first shielding member on the same support assembly is smaller than the width of the second shielding member.

9. The parallel robotic arm according to claim 8, characterized in that, The plurality of support components include a first support component and a second support component, wherein the first support component and the second support component are alternately arranged along the circumference of the cage structure; The first shielding member on the first support assembly is located on the side of the second shielding member on the second support assembly away from the drive module, and the first shielding member on the first support assembly overlaps with the second shielding member on the second support assembly; or, The first shielding member and the second shielding member on the second support assembly are located between the first shielding member and the second shielding member on the first support assembly, and the second shielding member on the first support assembly overlaps the second shielding member on the second support assembly.

10. The parallel robotic arm according to claim 6, characterized in that, Both the first shielding member and the second shielding member are located on the side of the sleeve facing the cage-like structure.

11. The parallel robotic arm according to claim 10, characterized in that, The plurality of support components include a first support component and a second support component, the first support component and the second support component being alternately arranged along the circumference of the cage structure; the second shielding member on the first support component is located on the side of the first shielding member on the second support component away from the drive module, and the second shielding member on the first support component overlaps the first shielding member on the second support component.

12. The parallel robotic arm according to claim 11, characterized in that, The width of the second blocking member on the first support assembly is greater than the width of the first blocking member; And / or, the width of the first shielding member on the second support assembly is greater than the width of the second shielding member.

13. The parallel robotic arm according to claim 7 or 10, characterized in that, The plurality of support components include a first support component and a second support component, the first support component and the second support component being alternately arranged along the circumference of the cage structure, and the first shielding member or the second shielding member on the first support component being located between the first shielding member and the second shielding member on the second support component.

14. The parallel robotic arm according to claim 6, characterized in that, The plurality of support components include a first support component and a second support component, wherein the first support component and the second support component are alternately arranged along the circumference of the cage structure; The first shielding member and the second shielding member on the first support assembly are located on the side of the sleeve facing inward toward the cage structure, and the first shielding member and the second shielding member on the second support assembly are located on the side of the sleeve facing outward toward the cage structure.

15. The parallel robotic arm according to claim 14, characterized in that, The second shielding member on the first support component is located on the side of the second shielding member on the second support component away from the drive module, and the second shielding member on the first support component overlaps with the second shielding member on the second support component.

16. The parallel robotic arm according to claim 15, characterized in that, The width of the first shielding member on the same support assembly is smaller than the width of the second shielding member.

17. The parallel robotic arm according to claim 14, characterized in that, The first or second shielding member on the first support assembly is located between the first and second shielding members on the second support assembly.

18. The parallel robotic arm according to claim 7, 10, or 14, characterized in that, The shielding mechanism on the support assembly is arranged radially inclined to the cage structure. The two ends of the shielding mechanism along the width direction are respectively connected to two adjacent shielding mechanisms. One end of the shielding mechanism along the width direction is located on the side of the corresponding shielding mechanism away from the drive module, and the other end of the shielding mechanism along the width direction is located on the side of the corresponding shielding mechanism facing the drive module.

19. The parallel robotic arm according to claim 6, characterized in that, The first shield has an arc-shaped cross-section, the axis of the first shield is parallel to the axis of the static platform, and the first shield arches toward the side away from the drive module. And / or, the cross-section of the second shield is arc-shaped, the axis of the second shield is parallel to the axis of the static platform, and the second shield arches toward the side away from the drive module.

20. The parallel robotic arm according to claim 1, characterized in that, The first shielding component is made of elastic material, and multiple first shielding components are connected end to end to form a closed ring-shaped first barrier ring; And / or, the second shielding member is made of an elastic material, and multiple second shielding members are connected end to end to form a closed ring-shaped second barrier.

21. The parallel robotic arm according to claim 20, characterized in that, Both the moving platform and the stationary platform are frustum-shaped, the diameter of the moving platform is smaller than the diameter of the stationary platform, the sleeve is connected to the stationary platform, and the through rod is connected to the moving platform; One end of the second retaining ring is connected to the moving platform, and the other end of the second retaining ring is movably sleeved on the outside of the first retaining ring.

22. The parallel robotic arm according to claim 21, characterized in that, Multiple support components are arranged at intervals; The parallel robotic arm also includes a spacer bar, which is provided between each of the two adjacent support components. The spacer bar is connected to the second retaining ring, and the two ends of the spacer bar along its length are respectively directed toward the static platform and the moving platform.

23. The parallel robotic arm according to claim 22, characterized in that, The spacer bars are provided in multiple sets, and several sets of spacer bars are provided between two adjacent support components. Each set of spacer bars includes two spacer bars, and the two spacer bars in the same set are located on the inner and outer sides of the second retaining ring and are facing each other.

24. The parallel robotic arm according to any one of claims 1-12, 14-17, and 19-23, characterized in that, The shielding assembly further includes a first flexible covering ring, which covers the outer side of the protection module facing the moving platform and is connected to the moving platform. And / or, the shielding assembly further includes a second flexible covering ring, which covers the outer side of the protection module facing the stationary platform and is connected to the stationary platform.

25. A surgical robot, characterized in that, Includes a base and a parallel robotic arm as described in any one of claims 1-24, wherein the static platform is connected to the base and the moving platform is used to connect an input handle or a robotic arm.

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