Gravity compensation device, surgeon console and surgical robot

Abstract

The application discloses a gravity balancing device, a doctor console and a surgical robot, wherein the gravity balancing device comprises an adjusting cavity arranged through an installation base, a constant force spring unit is arranged in the adjusting cavity or at an opening position of the installation base relative to one end of the adjusting cavity, one end of a balancing steel wire rope is connected with the constant force spring unit, and the other end is connected with a rotating disc; in the embodiment of the application, the above-mentioned gravity balancing device, the doctor console and the surgical robot are adopted, the constant force spring unit is used to provide a balancing force, the balancing force provided by the constant force spring unit is constant, the influence of the length reduction of the balancing steel wire rope on the balancing force is avoided, the balancing effect is ensured, the force required by a human hand is reduced, the balancing steel wire rope is directly fixed and connected on the rotating disc, that is, the balancing steel wire rope directly drives the rotating disc to rotate through the constant force spring unit, so that the loss of the balancing force is reduced, and the balancing effect is improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a gravity balancing device, a doctor's console, and a surgical robot. Background Technology

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

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

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

[0005] However, the above-mentioned scheme of using springs to provide balancing force has a problem during the adjustment of the balancing force of the main hand robotic arm. When the arm rotates, the length of the steel wire rope decreases, which reduces the balancing force provided by the spring. As a result, the force required by the human hand is still very large, and the balancing effect is not good. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the present invention provides a gravity balancing device with good balancing effect and strong stability, a doctor's console and a surgical robot.

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

[0008] First, this application provides a gravity balancing device, comprising:

[0009] The transition cavity is disposed throughout a mounting base.

[0010] A constant force spring unit is disposed within the transition cavity or at an opening of the mounting base at one end of the transition cavity.

[0011] The balancing steel wire rope is connected at one end to the constant force spring unit and at the other end to the turntable;

[0012] The turntable is rotatably mounted on the end face of the mounting base away from the constant force spring unit and coupled to the connecting rod.

[0013] The balancing steel wire rope is led out from the transition cavity and directly connected to the rotating circumferential surface, which is an annular surface coaxial with the rotation axis of the turntable.

[0014] Further specifying, in the aforementioned gravity balancing device, the constant force spring unit includes:

[0015] A constant force spring fixing seat is fixedly installed on the mounting base at one end of the opening of the transition cavity;

[0016] A constant force spring support is fixedly mounted on the constant force spring fixing seat;

[0017] At least one constant force spring winding is provided on the constant force spring support.

[0018] The constant force spring winding has a constant force spring lead-out end, which is connected to the balance steel wire rope.

[0019] Further specifying, in the aforementioned gravity balancing device, multiple constant force spring windings are arranged side by side on the constant force spring support, and the axes of the multiple constant force spring windings are parallel and have a common constant force spring lead-out end.

[0020] Further specifying, the aforementioned gravity balancing device further includes:

[0021] An annular ring is fixedly mounted on the turntable and is coaxial with the rotation axis of the turntable;

[0022] The balancing wire rope is led out from the transition cavity and then attached to and fixed on the outer circumference of the annular ring.

[0023] Further defining the above-mentioned gravity balancing device, it further includes a wire connecting seat fixedly mounted on the turntable, wherein the wire connecting seat has a wire fixing head that passes through the annular ring and extends to the outside of the annular ring.

[0024] The balance steel wire rope is led out from the transition cavity and then attached to the outer circumference of the annular ring and fixedly connected to the steel wire fixing head.

[0025] Further defining the above-mentioned gravity balancing device, wherein the balancing steel wire rope passes through the steel wire fixing head and a tube clamp is fitted on the side that exits the steel wire fixing head and abuts against the steel wire fixing head.

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

[0027] The guide wheel fixing seat is fixedly installed on the mounting base at the opening position on the side of the transition cavity away from the constant force spring unit;

[0028] The guide wheel fixing seat has a guide wheel on the end face away from the constant force spring unit, and a wire hole is provided through the guide wheel fixing seat. The balance steel wire rope passes through the wire hole and is guided by the guide wheel to connect to the turntable.

[0029] Furthermore, in the aforementioned gravity balancing device, the lead-out point of the balancing wire rope from the guide wheel and the fixing point on the rotating circumferential surface are located on the same vertical plane as the axis of the turntable.

[0030] Secondly, this application provides a doctor's console, characterized in that it includes the gravity balancing device described in any of the above-mentioned claims, and also includes the connecting rod;

[0031] The connecting rod is rotatably mounted on the mounting base and coupled to the gravity balancing device.

[0032] Finally, this application provides a surgical robot characterized by including a hand and the aforementioned doctor's console.

[0033] This invention has at least the following beneficial effects:

[0034] 1. A constant force spring unit is used to provide balancing force. The balancing force provided by the constant force spring unit is constant, which avoids the impact of the reduction in the length of the balancing steel wire rope on the balancing force, ensures the balancing effect, and reduces the force that needs to be provided by the hand.

[0035] 2. The balance steel wire rope is directly fixed to the turntable, thereby reducing the loss of balance force. Specifically, the balance steel wire rope is directly wound around the outer circumference of the ring and further fixed to the turntable. The balance steel wire rope directly drives the turntable to rotate through the constant force spring unit, thereby reducing the loss of balance force and improving the balancing effect.

[0036] 3. Using multiple constant force spring windings in parallel provides balancing force, reducing the tension and space requirements of a single constant force spring winding, and avoiding the increased cost and space occupation caused by using a single constant force spring winding. Attached Figure Description

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

[0038] Figure 2 This is a schematic diagram of the specific structure of the "main hand robotic arm 10" part of the doctor's console in an embodiment of this application;

[0039] Figure 3 This is a schematic diagram of the specific structure of the "main hand robotic arm 10" part of the doctor's console in an embodiment of this application;

[0040] Figure 4 This is a structural schematic diagram of the "main hand robotic arm 10" in an embodiment of this application regarding the "large arm 300" side;

[0041] Figure 5 This is a schematic diagram showing the arrangement of the pulley feedback unit in the "master robotic arm 10" of this application embodiment;

[0042] Figure 6 This is a structural schematic diagram of the "master robotic arm 10" in this embodiment of the application regarding the "linkage 400" side;

[0043] Figure 7 This is an enlarged structural diagram of the "steel wire fixing head 953" part in the "gravity balancing device" of this application embodiment;

[0044] Figure 8 This is an enlarged structural schematic diagram of the "constant force spring unit 940" in the "gravity balancing device" of this application embodiment;

[0045] Figure 9 This is a schematic diagram of the "steel wire fixing head 953" part in the "gravity balancing device" of this application embodiment;

[0046] Figure 10 This is an enlarged cross-sectional view of the "balance force adjustment device" part of the embodiment of this application;

[0047] Figure 11 This is a horizontal sectional view of the "balance force adjustment device" and "gravity balance device" in the embodiments of this application;

[0048] Figure 12 This is an enlarged cross-sectional view of the "spring rod 963" portion in the "balance force adjustment device" of this application embodiment;

[0049] Figure 13 This is a structural schematic diagram of the "constant force spring unit 940" in the "gravity balancing device" of this application embodiment;

[0050] Figure 14 This is a schematic diagram of the structure of the "thrust bearing 966" in the "balance force adjustment device" of this application embodiment;

[0051] Figure 15 This is a schematic diagram of the "balance force adjustment device" part of an embodiment of this application;

[0052] Figure 16 This is a schematic diagram of the structure of the "spring fixing seat 962" in the "balance force adjustment device" of this application embodiment;

[0053] Figure 17 This is a schematic diagram of the structure of the "spring tensioner 961" in the "balance force adjustment device" of this application embodiment;

[0054] Figure 18 This is a schematic diagram of the structure of the "spring rod 963" in the "balance force adjustment device" of this application embodiment;

[0055] Figure 19 This is a schematic diagram of the structure of the "guide wheel fixing seat 930" in the "balance force adjustment device" of this application embodiment;

[0056] Figure 20 This is a schematic diagram of the "wire locking device 965" in the "balance force adjustment device" of this application embodiment.

[0057] Figure Labels

[0058] 10-Main arm robotic arm, 100-Rotating assembly, 200-Support housing, 300-Large arm, 400-Connecting rod, 500-Horizontal swing arm, 600-Wrist assembly, 700-Fixed housing, 800-Drive assembly, 810-Drive motor, 820-Coupling, 830-Coupling mounting hole, 840-Winding shaft, 841-Drive wire rope, 850-Main shaft, 851-Aluminum tensioning sleeve, 860-First turntable, 861-First annular ring, 870-Wire fastener, 880 - Branch plate, 890- Second turntable, 891- Second annular ring, 892- Connecting rod mounting base, 900- Balancing assembly, 910- Pulley fixing bracket, 911- Stationary pulley, 912- Moving pulley, 920- Balancing wire rope, 921- Pipe clamp, 930- Guide wheel fixing base, 931- Guide wheel, 932- Limiting block, 933- Guide shaft, 934- Pin, 935- First wire hole, 936- Fixing lug, 937- Second flange, 938- Second nested protrusion, 939- Stroke Cavity, 940-Constant Force Spring Unit, 941-Constant Force Spring Support, 942-Constant Force Spring Fixing Seat, 943-Constant Force Spring Lead-out End, 944-Fixing Hole, 945-Constant Force Spring Winding, 951-Wire Connector, 952-Connecting Seat, 953-Wire Fixing Head, 961-Spring Tensioner, 9611-Threaded Section, 9612-Pull Rod Through Hole, 9613-Adjusting Nut, 9614-Snap Hole, 962-Spring Fixing Seat, 9621-Threaded Cavity, 9622-First Flange, 9623-First nested protrusion, 963-Spring rod, 9631-Rod body, 9632-Rod cap, 9633-First spring connecting hole, 964-Tension spring, 965-Wire locking device, 9651-Second spring connecting hole, 9652-Second wire hole, 966-Thrust bearing, 9661-Sleeve, 9662-Ball, 9663-Sleeve, 9664-Cage, 967-Adjusting cavity, 968-Transition cavity, 20-Base, 30-Display. Detailed Implementation

[0059] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0060] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0061] The gravity balancing device, doctor's console, and surgical robot provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0062] like Figure 1 As shown in the figure, this application provides a minimally invasive surgical robot, including a doctor's console (also known as the master hand) and a slave hand (also known as the patient-side trolley). The doctor's console includes a base 20, a master hand robotic arm 10, and a display 30.

[0063] The doctor's console is used to provide input for operation by the doctor, while the slave arm is used to connect with the patient and provide output based on the doctor's input. Generally, the doctor operates the master control input device on the master robotic arm 10, and the instruments or endoscopes on the slave robotic arm provide corresponding actions according to the movement of the master control input device, thereby completing the purpose of positioning, adjusting the viewing angle, and surgical operation. The display 30 is used to provide the doctor with the surgical field of view inside the patient's body, and its image comes from the endoscope on the slave robotic arm.

[0064] like Figures 2 to 20As shown, this embodiment of the application provides a master hand robotic arm 10, which is used to adapt to the multi-degree-of-freedom movement of a doctor's hand. Generally, the master hand robotic arm 10 includes two parts, left and right. Since the two structures are symmetrical, this embodiment only uses one as an example for description. The master hand robotic arm 10 includes a rotating component 100 installed in a predetermined position to fix the master hand robotic arm 10. The rotating component 100 is also used to realize the rotation of the master hand robotic arm 10 in the vertical direction. In this embodiment, the vertical direction specifically refers to the direction facing the ground when the master hand robotic arm 10 is installed. The rotating component 100 can drive the master hand robotic arm 10 to rotate clockwise or counterclockwise. It can be understood that the rotation can be active or passive, and correspondingly, the master hand robotic arm 10 is an active robotic arm or a passive robotic arm. A fixed housing 700 is fixedly provided at the rotation output end of the rotating component 100. The fixed housing 700 is a shell that houses many components and serves as a connecting structure. Its entirety can rotate with the rotating component 100, but it has no other degrees of freedom of movement. The fixed housing 700 is covered by a support shell 200 for protection and rotation with the fixed housing 700. The fixed housing 700 also includes a large arm 300, a connecting rod 400, a drive assembly 800 for driving the movement of the large arm 300 and the connecting rod 400, and a balance assembly 900 for balancing the weight of the large arm 300 and the connecting rod 400. A transverse swing arm 500 is rotatably mounted on the large arm 300. The connecting rod 400 is rotatably connected to the transverse swing arm 500 away from its connection point with the large arm 300. A wrist assembly 600 is mounted on the transverse swing arm 500 for receiving and sensing user movements. It can be understood that both the large arm 300 and the connecting rod 400 can rotate relative to the fixed housing 700 in a vertical plane.

[0065] It is understandable that the rotating component 100 is connected to the fixed housing 700 and can be configured as a motor gear transmission structure or a telescopic gear plate and gear meshing structure, as long as it can realize the rotation drive of the fixed housing 700, and its specific structure is not limited.

[0066] In a preferred embodiment, such as Figures 3 to 6As shown, the drive assembly 800 is used to drive the rotation of the boom 300 and / or the connecting rod 400 relative to the fixed housing 700. It includes a main shaft 850, a winding unit, and a locking device. The main shaft 850 is rotatably disposed between the two end faces of the fixed housing 700 about the boom 300 and the connecting rod 400. The winding unit includes two drive motors 810 that are approximately centrally symmetrical about the vertical center line of the main shaft 850 and are respectively fixedly disposed on the two end faces of the fixed housing 700 near and away from the boom 300. The power output end of the drive motor 810 is connected to the power input end of the coupling 820. The power output end of the coupling 820 is connected to the winding shaft 840. The winding shaft 840 is provided with a winding groove. Two drive steel wire ropes 841 that are connected to the locking device and coupled to the boom 300 or the connecting rod 400 are fixed and wound on the winding groove. It is understandable that in this embodiment, the use of a drive wire rope 841 to indirectly drive the boom 300 and / or the connecting rod 400 can increase the length of the drive lever arm and reduce the torque requirement on the drive motor 810. This allows for the selection of a smaller drive motor 810, which on the one hand meets the requirements of miniaturization, and on the other hand provides sufficient space to install a coupling 820 between the drive motor 810 and the winding shaft 840. This serves to protect the drive motor 810 and also reduces the machining precision of components such as the mounting holes on the fixed housing 700 and the winding shaft 840.

[0067] In a preferred embodiment, a rotating shaft hole is provided through the fixed housing 700. The main shaft 850 is rotatably mounted in the fixed housing 700 through a bearing in the rotating shaft hole. An encoder for sensing the rotation angle of the drive motor 810 is connected to the drive motor 810. The power output end of the drive motor 810 is located on the side close to the fixed housing 700. Two coupling mounting holes 830 are provided approximately symmetrically about the vertical center line of the main shaft 850 in the fixed housing 700. The couplings 820 connecting the two drive motors 810 are embedded in the corresponding coupling mounting holes 830. A shaft mounting hole is provided through the inner wall of the coupling mounting hole 830 about the output end of the corresponding coupling 820 and the corresponding end face of the fixed housing 700. The winding shaft 840 is installed in the shaft mounting hole and connected to the corresponding coupling 820. The winding groove on the winding shaft 840 is located on the opposite side of the corresponding drive motor 810 about the fixed housing 700. In this embodiment, the components of the drive assembly 800 on both sides of the fixed housing 700 are roughly centrally symmetrically distributed. It is understood that the drive assembly 800 of this embodiment may be used only on one side of the fixed housing 700, while other drive structures may be used on the other side. This application does not limit this, and the description of the roughly centrally symmetrical structural layout on both sides of the fixed housing 700 in this embodiment should not be construed as a limitation of this application.

[0068] In a preferred embodiment, two drive steel wire ropes 841 are fixedly provided on the winding shaft 840 at the two end positions of the winding groove. The two drive steel wire ropes 841 are wound towards the middle side of the winding groove on the winding shaft 840 and the winding directions are opposite. The reference angle for the winding direction is one end of the winding shaft 840. The two drive steel wire ropes 841 are led out from the winding groove of the winding shaft 840 and fixed on the locking device in a non-crossing state. Since the two drive wire ropes 841 on the winding shaft 840 are wound from both sides to the middle, their axial lead-out positions are relatively close. On the one hand, this makes the corresponding lead-in positions of the drive wire ropes 841 on the boom 300 or connecting rod 400 relatively close in the axial direction, so as not to generate a large torque (the ideal situation is that the lead-in positions coincide in the axial direction, so no torque is generated, but this is not possible in practice). On the other hand, it also makes the locking device structure of the corresponding fixed drive wire ropes 841 on the boom 300 or connecting rod 400 similar, reducing the difficulty of processing and manufacturing.

[0069] like Figures 3 to 6 As shown in the illustration, this application embodiment also provides a locking device, including a first turntable 860 fixedly disposed on the side of the main shaft 850 about the boom 300 and connected to the boom 300, and a second turntable 890 rotatably disposed on the side of the main shaft 850 about the connecting rod 400 and connected to the connecting rod 400. This application embodiment connects the main shaft 850 to the boom 300 or the connecting rod 400 via the turntables. The turntables provide installation space for the components of the locking device and further increase the length of the corresponding driving arm of the driving wire rope 841, thereby further reducing the performance requirements of the drive motor 810 and enhancing the advantages and technical effects described above.

[0070] like Figures 3 to 5 As shown, a first annular ring 861 coaxial with the main shaft 850 is fixedly provided on the end face of the first turntable 860 away from the fixed housing 700. Two wire fasteners 870 are fixedly provided on the first turntable 860. A wire-passing hole is provided between the outer and inner annular surfaces of the first annular ring 861 at the corresponding positions of the two wire fasteners 870. Two drive steel wire ropes 841 at the corresponding positions pass through the two wire-passing holes along the outer annular surface of the first annular ring 861 to the inside of the first annular ring 861 and are fixedly connected to the wire fasteners 870 at the corresponding positions.

[0071] When the drive motor 810 drives the winding shaft 840 on the corresponding side of the boom 300 to rotate, the lengths of the two drive steel wire ropes 841 at the corresponding positions increase or decrease. Since the winding directions of the two drive steel wire ropes 841 on the winding shaft 840 are opposite (the opposite winding directions here refer to the opposite starting positions, one winding from the outside to the inside and the other winding from the inside to the outside, but the rotation direction of the winding groove is the same), when one drive steel wire rope 840 increases in length, the other must decrease in length, thereby driving the first turntable 860 to rotate. Since the boom 300 is connected to the first turntable 860, the boom 300 also rotates. It can be understood that the boom 300 can be fixedly connected to the first turntable 860, or fixedly connected to the first annular ring 861, or fixedly connected to the corresponding end of the main shaft 850, as long as the coupling relationship between the first turntable 860 and the boom 300 can be achieved. Of course, for ease of processing, manufacturing and assembly, preferably in this embodiment, the first turntable 860 and the first annular ring 861 are integrally formed stainless steel parts, and the upper arm 300 is fixedly connected to the first turntable 860 by bolts.

[0072] It is understandable that the two cable holders 870 in this solution are designed to accommodate the scenario where the first turntable 860 is rotatably mounted on the main shaft 850 and driven by two drive wire ropes 841 to rotate in two directions. In other scenarios, such as when the first turntable 860 only needs to be driven by one drive wire rope 841 to rotate in one direction, the corresponding structure can be simplified to one. If the first turntable 860 is controlled by multiple drive wire ropes 841 coupled together, the corresponding structure can also be added. In this case, the position of the cable holder 870 can be adjusted according to the actual situation.

[0073] In this embodiment, the locking device described above is used to drive the wire rope 841 to follow the outer ring surface of the first annular ring 861 and enter the interior of the first annular ring 861 through the wire hole and be connected and fixed with the wire fastener 870. This makes the outer ring surface of the first annular ring 861 free of extra parts, with an aesthetically pleasing structure that is not prone to dust accumulation, thus reducing the difficulty of cleaning the equipment.

[0074] In a preferred embodiment, the first turntable 860 is provided with a through hole for a rotating shaft and a cable tray for wires to pass through. A branch plate 880 is fixedly provided on the end face of the first turntable 860 away from the fixed housing 700 at the position corresponding to the cable tray. A fastening ring coaxial with the rotating shaft through hole is fixedly provided on the end face of the first turntable 860 away from the fixed housing 700 at the position corresponding to the rotating shaft through hole. After the corresponding end of the main shaft 850 passes through the rotating shaft through hole, it is fixedly connected to the first turntable 860 through an aluminum tensioning sleeve 851 set in the fastening ring. In this embodiment, the first turntable 860 is fixedly connected to the main shaft 850. Therefore, when the first turntable 860 is driven to rotate by the wire rope 841, the main shaft 850 will also rotate. In order to ensure that the movements of the boom 300 and the connecting rod 400 are not coupled, it is understood that it is necessary to rotatably connect the second turntable 890 on the side of the connecting rod 400 to the main shaft 850, for example, by connecting the two through a bearing, so that their respective rotations do not affect each other.

[0075] In a preferred embodiment, the two wire fasteners 870 on the first turntable 860 are symmetrical about the line connecting the main shaft 850 and the corresponding side winding shaft 840. The two corresponding wire holes are also symmetrical about the line connecting the main shaft 850 and the corresponding side winding shaft 840. The symmetrical arrangement is to facilitate the processing of the first turntable 860 and the first annular ring 861, improve the driving accuracy of the driving wire rope 841, and maximize the driving lever arm.

[0076] In a preferred embodiment, such as Figure 6 As shown, the second turntable 890 is circular, and a second annular ring 891 coaxial with the main shaft 850 is fixed on its outer ring surface. The two ends of the second annular ring 891 protrude (protrusion means protrusion or extension) from both sides of the second turntable 890. Two wire holders 870 are also fixedly installed on the second turntable 890. The second annular ring 891 is provided with wire passage holes that cooperate with the corresponding wire holders 870. The arrangement of the wire holders 870 on the second turntable 890 is similar to that on the first turntable 860. The difference is that on the second turntable 890, the two wire holders 870 are located on opposite sides of the line connecting the main shaft 850 and the corresponding winding shaft 840. The two wire fasteners 870 are installed in opposite directions, that is, the two wire fasteners 870 are respectively installed on the two end faces of the second turntable 890, and the wire holes corresponding to the wire fasteners 870 are also located on the two sides of the second annular ring 891 with respect to the second turntable 890. The two drive steel wire ropes 841 at the corresponding positions pass through the two wire holes along the outer ring surface of the second annular ring 891 and are fixedly connected to the wire fasteners 870 at the corresponding positions. The positional relationship between the wire holes and the wire fasteners 870 on the second turntable 890 and the connection method between the drive steel wire ropes 841 and the wire fasteners 870 are the same as the corresponding structure on the first turntable 860.

[0077] It is understandable that two second annular rings 891 can also be symmetrically arranged and located on the two end faces of the second turntable 890, one near and one far from the fixed housing 700.

[0078] Similarly, since both the first turntable 860 and the second turntable 890 are driven to rotate by two drive steel wire ropes 841 led out from the corresponding winding shaft 840, the arrangement of the wire fasteners 870 on the first turntable 860 and the second turntable 890 can be interchanged. At the same time, the corresponding structures arranged with the wire fasteners 870 can also be interchanged. That is, the locking structures of the drive steel wire ropes 841 on both sides can be interchanged. In this application, the reason why the locking structures on the sides of the boom 300 and the connecting rod 400 are different is to match the dimensions of each component. For the locking structure on the first turntable 860, this locking structure can make the connection between the first turntable 860 and the fixed housing 700 more compact. For the locking structure on the second turntable 890, this locking structure can expand the gap between the second turntable 890 and the fixed housing 700, which facilitates the installation and adjustment of the parts on the side of the second turntable 890 closer to the fixed housing 700.

[0079] In a preferred embodiment, a connecting rod mounting seat 892 is fixedly provided on the outer surface of the second annular ring 891. The end of the connecting rod 400 away from the transverse swing arm 500 is rotatably connected to the connecting rod mounting seat 892. A bearing mounting seat with a hollow structure and coaxial with the main shaft 850 is provided through the second turntable 890. The second turntable 890 is rotatably connected to the main shaft 850 through the bearing provided in the bearing mounting seat. Therefore, the rotation of the first turntable 860 and the rotation of the second turntable 890 are not coupled, which facilitates the independent control of the boom 300 and the connecting rod 400 by the two drive motors 810.

[0080] In this embodiment, the doctor's console described above is used, and the first turntable 860 and the second turntable 890 are directly driven to rotate by the drive wire rope 841, thereby driving the upper arm 300 and the connecting rod 400 to rotate. Compared with the direct drive method of the drive motor 810, the lever arm is larger (the specific size of the lever arm depends on the diameter of the first turntable 860 and the second turntable 890), which can reduce the requirements of the drive motor 810 and further reduce the space occupied by the drive motor 810.

[0081] Because the requirements for the drive motor 810 are small, the size of the drive motor 810 can be smaller. Therefore, a coupling 820 can be set between the drive motor 810 and the winding shaft 840. On the one hand, it can protect the drive motor 810, and on the other hand, it can reduce the processing (mainly for the winding shaft 840 and the fixed housing 700) and assembly (mainly for the drive motor 810, the winding shaft 840 and the fixed housing 700) requirements of the parts.

[0082] like Figures 3 to 20As shown in the illustration, this application also provides a balancing component 900 for balancing the gravity of the upper arm 300, connecting rod 400, lateral swing arm 500, and wrist assembly 600. It includes a balancing force adjustment device for balancing the gravity on one side of the upper arm 300, a pulley feedback unit connected to the balancing force adjustment device, and a gravity balancing device for balancing the gravity on one side of the connecting rod 400. The pulley feedback unit is connected to the first turntable 860 and provides a constant balancing force to the corresponding components through the balancing force adjustment device. The gravity balancing device is connected to the second turntable 890 and can provide a variable balancing force to the corresponding components, thereby effectively balancing the gravitational torque of the aforementioned components under different working postures. It should be noted that although only gravitational torque is mentioned here, the rotational frictional torque of each component also needs to be balanced. Since the frictional torque is much smaller than the gravitational torque, the industry often only refers to the gravitational torque, but the existence and need to eliminate the frictional torque cannot be ignored, and will not be elaborated further below.

[0083] In a preferred embodiment, such as Figures 10 to 12 As shown, the balancing force adjustment device includes an adjustment cavity 967 that is disposed through the fixed housing 700 on both sides near and away from the boom 300. With the direction from the boom 300 to the connecting rod 400 as the reference frame, the adjustment cavity 967 is located on the left side of the vertical direction of the main shaft 850. A spring fixing seat 962 and a guide wheel fixing seat 930 are fixedly provided on the fixed housing 700 end faces corresponding to both ends of the adjustment cavity 967.

[0084] A spring tensioner 961 is internally threaded onto the spring fixing seat 962. A spring rod 963, which can rotate relative to the spring tensioner 961, is connected to the spring tensioner 961. A tension spring 964 is connected to the spring rod 963. A wire locking device 965 is connected to the end of the tension spring 964 away from the spring rod 963. A balance steel wire rope 920 is connected to the wire locking device 965. A guide wheel 931 is provided on the guide wheel fixing seat 930. The balance steel wire rope 920 passes through the adjustment cavity 967 and is connected to the pulley feedback unit through the guide wheel 931. The force direction of the balance steel wire rope 920 on the tension spring 964 is parallel or collinear with the extension axis of the tension spring 964. When the force direction of the balance steel wire rope 920 on the tension spring 964 is collinear with the extension axis of the tension spring 964, the force on the tension spring 964 is the most uniform, and the balance effect is the best.

[0085] In this embodiment, the aforementioned balancing force adjustment device is used. By rotating the spring tensioner 961, the relative position of the spring tensioner 961 and the adjustment cavity 967 can be adjusted, thereby adjusting the extension and contraction of the tension spring 964, and thus realizing the change of the balancing force of the tension spring 964. The adjustment of the balancing force is very important for the main hand robotic arm 10: First, during the installation and debugging of the main hand robotic arm 10, due to manufacturing and assembly errors, the balancing force needs to be adjusted so that it can just balance the required balancing torque; Second, during the use of the doctor's console, the balancing wire rope 920 and the tension spring 964 undergo irreversible deformation due to long-term use, and the balancing force needs to be adjusted to restore them to their original set values; Third, when components such as the wrist assembly 600 and the lateral swing arm 500 are repaired or replaced, the required balancing torque may change, and the balancing force also needs to be readjusted.

[0086] It is understandable that the principle of adjusting the balance force of the tension spring 964 by the spring tensioner 961 is to adjust the relative positional relationship between the spring tensioner 961 and the adjusting cavity 967. At the same time, it is necessary to ensure the stability of the relative positional relationship between the spring tensioner 961 and the adjusting cavity 967. That is, the spring tensioner 961 can move along the extension and retraction direction of the tension spring 964 and has multiple limiting points relative to the adjusting cavity 967. The threaded connection between the spring tensioner 961 and the spring fixing seat 962 can be understood as the spring tensioner 961 having countless limiting points relative to the adjusting cavity 967, that is, the relative positional relationship between the two is infinitely adjustable.

[0087] For example, the relative positional relationship and stability of the relative positional relationship between the spring tensioner 961 and the adjusting cavity 967 can also be achieved through other connection methods. For example, the spring tensioner 961 can be slidably connected to the spring fixing seat 962, and a controllable telescopic clip can be provided on the spring tensioner 961. At the same time, multiple limiting holes that cooperate with the telescopic clip can be arrayed in the adjusting cavity 967 along the telescopic direction of the tension spring 964. By controlling the telescopic clip to retract, the spring tensioner 961 can move in the adjusting cavity 967 along the telescopic direction of the tension spring 964. By controlling the telescopic clip to extend and embed into the limiting hole at the corresponding position, the spring tensioner 961 can be limited relative to the adjusting cavity 967. At this time, the relative positional relationship between the spring tensioner 961 and the adjusting cavity 967 is multi-stage adjustable. This adjustment method requires preset limit points, and the accuracy of tension control of the tension spring 964 is not high.

[0088] In a preferred embodiment, the fixed housing 700 has two coaxial and through nested holes on the corresponding side end faces of the adjusting cavity 967 at both ends, such as... Figure 16As shown, the spring fixing seat 962 has a threaded cavity 9621 that passes through it and a first flange 9622 that is fixed on its outer circular surface. The spring tensioner 961 has an external thread that mates with the threaded cavity 9621. The spring fixing seat 962 has a first nested protrusion 9623 on one side of the outer circular surface of the first flange 9622. The spring fixing seat 962 is fixedly mounted on the fixing box 700 by bolts through the first flange 9622. The first nested protrusion 9623 is embedded in the nested hole at the corresponding position.

[0089] like Figure 15 , Figure 19 As shown, two fixing ears 936 are symmetrically and fixedly provided on one side end face of the guide wheel fixing seat 930. The guide wheel 931 is rotatably disposed between the two fixing ears 936. The guide wheel fixing seat 930 has a stroke cavity 939 with an opening facing away from the guide wheel 931. A first wire hole 935 is provided between the end face of the guide wheel fixing seat 930 near the guide wheel 931 and the inner wall of the corresponding side of the stroke cavity 939. A second flange 937 is fixedly provided on the outer circular surface of the guide wheel fixing seat 930 away from the guide wheel 931. A second nested protrusion 938 is provided on the outer circular surface of the guide wheel fixing seat 930 about the second flange 937 away from the guide wheel 931. The guide wheel fixing seat 930 is fixedly mounted on the fixing box 700 by bolts through the second flange 937. The second nested protrusion 938 is embedded in the nested hole at the corresponding position.

[0090] The diameters of the threaded cavity 9621 and the stroke cavity 939 are larger than the diameter of the tension spring 964, thus giving the tension spring 964 a longer adjustment stroke space and preventing interference with the spring fixing seat 962 or the guide wheel fixing seat 930.

[0091] It is understandable that the spring fixing seat 962 or the guide wheel fixing seat 930 can also be omitted. That is, the spring tensioner 961 is directly threaded to the adjusting cavity 967, and the guide wheel 931 is directly set at the lead-out position of the fixed housing 700 relative to the balance steel wire rope 920. The same effect can be achieved in this case. The reason for setting the spring fixing seat 962 and the guide wheel fixing seat 930 is to increase the adjustment stroke length of the tension spring 964 as much as possible while simplifying the fixed housing 700. If the spring fixing seat 962 and the guide wheel fixing seat 930 are not set, in order to increase the adjustment stroke length of the tension spring 964, the length of the adjusting cavity 967 can only be increased, that is, the thickness of the fixed housing 700 at the position of the adjusting cavity 967 can be increased, or protrusions can be set on the end faces of the fixed housing 700 at both ends of the adjusting cavity 967 to extend the adjusting cavity 967.

[0092] In a preferred embodiment, a guide shaft 933 is provided through and rotatably between two fixed ears 936. The two ends of the guide shaft 933 protrude from the corresponding fixed ears 936 and are respectively provided with limiting parts. The guide wheel 931 is located between the two fixed ears 936 and is rotatably mounted on the guide shaft 933.

[0093] The limiting parts at both ends of the guide shaft 933 are a limiting block 932 and a pin 934, respectively. The limiting block 932 is fixedly installed at the end, and the pin 933 is inserted radially into the guide shaft 933.

[0094] In a preferred embodiment, such as Figure 17 As shown, the spring tensioner 961 includes a cylindrical threaded section 9611 and an adjusting section located at one end of the threaded section 9611. The external thread is provided on the threaded section 9611, and the adjusting section is specifically an adjusting nut 9613. It can be understood that the adjusting section can be configured as any structure that is easy to turn manually or with tools.

[0095] The spring tensioner 961 has a locking hole 9614 with an opening facing the side closer to the adjustment section. A pull rod through hole 9612 is provided between the end face of the threaded section away from the adjustment section and the inner wall of the corresponding side of the locking hole 9614. The pull rod through hole 9612 is coaxial with the locking hole 9614 and its diameter is smaller than that of the locking hole 9614. The spring pull rod 963 is locked in the locking hole 9614 and one end extends into the adjustment cavity 967 through the pull rod through hole 9612.

[0096] In a preferred embodiment, such as Figure 18 As shown, the spring lever 963 includes a lever body 9631 and a lever cap 9632. The diameter of the lever cap 9632 is larger than the diameter of the lever through hole 9612 and is locked in the locking hole 9614. The lever body 9631 extends into the adjustment cavity 967 through the lever through hole 9612.

[0097] The pull rod body 9631 has a first spring connection hole 9633 for installing a tension spring 964 through a radial passage on the side away from the pull rod cap 9632. The outer circular surfaces of the pull rod body 9631 at both ends of the first spring connection hole 9633 are cut with platforms to shorten the length of the first spring connection hole 9633 and facilitate the installation of the tension spring 964.

[0098] A thrust bearing 966 is provided between the inner wall of the corresponding side of the pull rod cap 9632 and the locking hole 9614, such as Figure 14 As shown, the thrust bearing 966 includes a seat 9661, a bushing 9663, and a cage 9664 located between the seat 9661 and the bushing 9663. The cage 9664 has a ring array of multiple balls 9662 that roll and abut against the seat and bushing on both sides respectively.

[0099] After the thrust bearing 966 is installed, the tie rod cap 9632 abuts against the abutment sleeve 9663. Under the pulling force of the tension spring 964, the seat sleeve 9661 abuts against the inner wall of the retaining hole 9614 near the tension spring 964.

[0100] In this embodiment, the above-mentioned balancing force adjustment device is used. Since the adjustment process of the spring tensioner 961 is rotational, if the spring rod 963 rotates with the spring tensioner 961, it will cause the tension spring 964 to rotate. The rotation of the tension spring 964 will cause the balance wire rope 920 to rotate, which will have an adverse effect. In order to prevent the tension spring 964 from rotating, when the rod cap 9632 is locked in the locking hole 9614 and is in contact with the thrust bearing 966 by the tension of the tension spring 964, the rotational resistance between the rod cap 9632 and the spring tensioner 961 is greatly reduced by the thrust bearing 966, thereby preventing the spring rod 963 from rotating with the spring tensioner 961 during adjustment.

[0101] In a preferred embodiment, such as Figure 20 As shown, one end of the wire locking device 965 has a second spring connection hole 9651 for installing the tension spring 964 through a radial path. The outer circular surfaces of both ends of the wire locking device 965 with respect to the second spring connection hole 9651 are cut with platforms, thereby shortening the length of the second spring connection hole 9651 and facilitating the installation of the tension spring 964.

[0102] The wire locking device 965 has a second threading hole 9652 through both ends about the axis. The starting end of the balance wire rope 920 is fixedly equipped with a locking sleeve. The diameter of the locking sleeve is larger than the diameter of the second threading hole 9652. The balance wire rope 920 passes through the second threading hole 9652 from the side of the wire locking device 965 near the tension spring 964 and extends to connect with the pulley feedback unit. The locking sleeve at the starting end of the balance wire rope 920 is restricted by the second threading hole 9652 and abuts against the wire locking device 965.

[0103] In this embodiment, the doctor's console described above is used, and the tension spring 964 and the balancing steel wire rope 920 are used to balance the gravity of the upper arm 300, the lateral swing arm 500 and the wrist assembly 600. Compared with the motor balancing method, this solution adopts a purely mechanical structure, which is not only simple in structure, but also has no electrical control system. Even in the event of a power outage, there will be no balance failure, ensuring the safety of the structure.

[0104] In a preferred embodiment, such as Figure 5As shown, the pulley feedback unit includes a pulley fixing frame 910, a stationary pulley 911, and a movable pulley 912, which are disposed on the side of the fixed housing 700 relative to the boom 300. The pulley fixing frame 910 is fixedly disposed on the end face of the fixed housing 700 near the boom 300. The movable pulley 912 is disposed on the first turntable 860. The stationary pulley 911 is disposed on the pulley fixing frame 910. The balance steel wire rope 920, which is led out from the guide wheel 931 on the side of the boom 300, passes around the stationary pulley 911 and is fixedly connected to the movable pulley 912.

[0105] It should be noted that the definition of "dynamic" or "static" pulley refers to whether it is moving or stationary relative to the fixed housing 700, and this definition also applies to other parts of the text. Whether it is a static pulley 911 or a moving pulley 912, any pulley that is fixed to the balancing wire rope 920 does not rotate, while pulleys that pass through the balancing wire rope 920 do rotate. For example, the moving pulley 912 can rotate with the first turntable 860, but it is fixed to the first turntable 860 and cannot rotate. The static pulley 911 is mounted on the pulley fixing frame 910 and can rotate.

[0106] In a preferred embodiment, such as Figure 5 As shown, from the boom 300 to the connecting rod 400 (i.e., on the boom 300 side), the movable pulley 912 is located at the lower left corner of the first turntable 860, and the stationary pulley 911 is located at the upper right corner of the first turntable 860. The balance steel wire rope 920, which is led out from the guide wheel 931 on one side of the boom 300, passes around the stationary pulley 911 and is fixedly connected to the movable pulley 912. When the boom 300 is vertical, the balance steel wire rope 920 between the movable pulley 912 and the stationary pulley 911 passes through the axis of the main shaft 850. The movable pulley 912 can rotate with the first turntable 860, and it is fixed on the first turntable 860 and cannot rotate. The stationary pulley 911 is fixed on the pulley fixing frame 910 and can rotate. This routing of the balance steel wire rope 920 can give the first turntable 860 a changing torque, thereby balancing the gravitational torque that needs to be balanced.

[0107] The direction in which the balancing wire rope 920 passes around the stationary pulley 911 can be either clockwise or counterclockwise.

[0108] In this embodiment, the pulley feedback unit described above is used. When the boom 300 is vertical, the balance steel cable 920 between the movable pulley 912 and the stationary pulley 911 passes through the axis of the main shaft 850. At this time, the balancing force is at its maximum. However, since the force passes through the axis of the main shaft 850, it does not generate torque on the boom 300. When the boom 300 rotates left and right, causing the movable pulley 912 to rotate around the main shaft 850, the balance steel cable 920 deviates from the axis of the main shaft 850, thereby generating a changing balancing force. That is, when the first turntable 860 rotates clockwise and counterclockwise, the length of the balance steel cable 920 decreases, and the balancing force also decreases accordingly. Specifically, when the upper arm 300 (or the first turntable 860) rotates clockwise, the force exerted by the balance steel cable 920 on the movable pulley 912 will generate a clockwise torque; while when the upper arm 300 rotates counterclockwise, the force exerted by the balance steel cable 920 on the movable pulley 912 will generate a counterclockwise torque, thereby balancing the gravitational torque that needs to be balanced and reducing the operational burden on the doctor's hands.

[0109] It is understandable that the arrangement of the movable pulley 912 and the stationary pulley 911 is not limited to the above form, as long as the balancing wire rope 920 between the movable pulley 912 and the stationary pulley 911 passes through the axis of the main shaft 850, and the routing of the balancing wire rope 920 can provide a clockwise torque to the first turntable 860.

[0110] In a preferred embodiment, such as Figures 6 to 9 , Figure 11 As shown, the gravity balancing device includes a transition cavity 968 that runs through the two end faces of the fixed housing 700 near and away from the boom 300. With the direction from the connecting rod 400 to one side of the boom 300 as a reference frame, the transition cavity 968 is located on the left side of the main shaft 850 in the vertical direction. A constant force spring unit 940 and a guide wheel fixing seat 930 are fixedly installed on the end faces of the fixed housing 700 at both ends of the transition cavity 968. A guide wheel 931 is installed on the guide wheel fixing seat 930. The balance steel wire rope 920 connected to the constant force spring unit 940 passes through the transition cavity 968 and is connected to the second turntable 890 through the guide wheel 931 at the corresponding position.

[0111] The structure of the guide wheel fixing seat 930 and the mating structure between the transition cavity 968 and the guide wheel fixing seat 930 are the same as those of the guide wheel fixing seat 930 at the corresponding position of the adjustment cavity 967. The positions of the guide wheel fixing seats 930 corresponding to the adjustment cavity 967 and the transition cavity 968 are opposite. That is, in the direction from the upper arm 300 to the connecting rod 400, the guide wheel fixing seat 930 on the side closer to the upper arm 300 is located to the left of the constant force spring unit 940. In the direction from the connecting rod 400 to the upper arm 300, the guide wheel fixing seat 930 on the side closer to the connecting rod 400 is located to the left of the spring fixing seat 962.

[0112] In a preferred embodiment, such as Figure 13As shown, the constant force spring unit 940 includes a constant force spring fixing seat 942 fixedly connected to the fixed housing 700. A constant force spring support seat 941 is fixedly provided on the end face of the constant force spring fixing seat 942 away from the fixed housing 700. Two constant force spring windings 945 are arranged side by side on the constant force spring support seat 941. The two constant force spring windings 945 have parallel axes and a common constant force spring lead-out end 943. The constant force spring lead-out end 943 passes through the constant force spring fixing seat 942 and extends into the transition cavity 968. A wire fixing hole 944 located in the transition cavity 968 is provided through the constant force spring lead-out end 944. One end of the balance steel wire rope 920 is connected to the constant force spring lead-out end 943 through the wire fixing hole 944 and the other end passes out of the transition cavity 968.

[0113] It is understandable that the position of the constant force spring unit 940 is not limited to the one mentioned above. For example, the constant force spring unit 940 can also be directly set in the transition cavity 968, but this setting will reduce the stretching stroke space of the constant force spring lead-out end 943.

[0114] In the master robotic arm 10, the balancing force of the connecting rod 400 is crucial. If a tension spring is used to provide the balancing force, the force required from the human hand is still very large (i.e., the balancing effect is not good). Further research revealed that when the connecting rod 400 rotates, the length of the balancing wire rope 920 decreases, which leads to a decrease in the balancing force provided by the tension spring, thus causing the aforementioned problem. In this embodiment, the aforementioned gravity balancing device is used, employing a constant force spring winding 945 to provide the balancing force. Specifically, the original tension spring is replaced with a constant force spring winding 945. The balancing force provided by the constant force spring winding 945 is constant. Therefore, the balancing force does not decrease during the rotation of the connecting rod 400, ensuring the balancing effect.

[0115] Specifically, two constant force spring windings 945 are arranged in parallel, and their spring output ends are fixed to the balance steel wire rope 920 through the wire fixing hole 944, thereby providing a constant tension to the balance steel wire rope 920. It can be understood that two constant force spring windings 945 are used in parallel because it can reduce the tension and space requirements of a single constant force spring winding 945, and avoid the problems of increased cost and space occupation caused by using a single constant force spring winding 945.

[0116] Understandably, if the required balancing force is not very large, a single constant force spring winding 945 can be used. Similarly, the number of constant force spring windings 945 can be further increased as needed.

[0117] In a preferred embodiment, such as Figure 11As shown, the fixed housing 700 has two coaxial and through nested holes on the corresponding side end faces of the transition cavity 968. The constant force spring fixing seat 942 is embedded in the corresponding nested hole and is fixedly connected to the fixed housing 700 by bolts.

[0118] In a preferred embodiment, such as Figures 6 to 7 , Figure 9 As shown, the constant force spring unit 940 also includes a connecting seat 952 fixedly mounted on the second turntable 890. A wire connecting seat 951 is fixedly mounted on the connecting seat 952. The wire connecting seat 951 has a wire fixing head 953 that passes through the second annular ring 891 and extends to the outside of the second annular ring 891. The balance wire rope 920 connected to the constant force spring unit 940 passes around the guide wheel 931 at the corresponding position and is fixedly connected to the wire fixing head 953.

[0119] Understandably, the connecting seat 952 is mainly used for the installation and disassembly of the wire connecting seat 951. Its structure is not limited to the one described above. For example, it can use the same structure as the wire fastener 870 to fix the balancing wire rope 920. When the wire connecting seat 951 and the second turntable 890 are directly fixed together, such as when the wire connecting seat 951 is directly welded to the second turntable 890, the connecting seat 952 can be discarded. Similarly, the wire connecting seat 951 is only used for the connection and positioning of the wire fixing head 953, as long as the balancing wire rope 920 can be guaranteed. Regarding the connection relationship with the second turntable 890, the structure of the wire connecting seat 951 is not limited to the one described above. If the wire fixing head 953 is directly fixed on the outer circumferential surface of the second annular ring 891, the wire connecting seat 951 can be discarded. If the balancing wire rope 920 is directly fixed on the outer circumferential surface of the second annular ring 891, the wire fixing head 953 can also be discarded. The reason why the above structure is adopted in this application embodiment is, firstly, to reduce the processing difficulty of the second turntable 890, and secondly, to increase the lever arm of the balancing wire rope 920 on the second turntable 890.

[0120] In a preferred embodiment, such as Figure 7 As shown, from the connecting rod 400 to the side of the boom 300, the wire fixing head 953 is located to the upper right of the second annular ring 891. The balance wire rope 920 connected to the constant force spring unit 940 passes through the wire fixing head 953 in the counterclockwise direction and is fitted with a pipe clamp 921 that abuts against the wire fixing head 953 in the clockwise direction.

[0121] In this embodiment, the aforementioned gravity balancing device is used to directly fix the balancing wire rope 920 to the second turntable 890, thereby reducing the loss of balancing force. Specifically, the balancing wire rope 920 connected to the constant force spring unit 940 is directly wound around the outer circumference of the second annular ring 891 and further fixed to the second turntable 890. The balancing wire rope 920 directly drives the second turntable 890 (i.e., the connecting rod 400) to rotate through the constant force spring unit 940, thereby reducing the loss of balancing force and improving the balancing effect.

[0122] Understandably, the lead-out point of the self-guide wheel 931 and the fixing point of the wire fixing head 953 of the balancing wire rope 920 are located on the same vertical plane of the axis of the second turntable 890, thereby ensuring that the balancing force applied by the balancing wire rope 920 to the second turntable 890 is only along the radial direction of the second turntable 890, and there is no extra component force in the axial direction of the second turntable 890, which further improves the balancing effect.

[0123] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0124] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A gravity balancing device, characterized in that, include: The transition cavity is disposed throughout a mounting base. A constant force spring unit is disposed within the transition cavity or at an opening of the mounting base at one end of the transition cavity. The balancing steel wire rope is connected at one end to the constant force spring unit and at the other end to the turntable; The turntable is rotatably mounted on the end face of the mounting base away from the constant force spring unit and coupled to the connecting rod. The balancing steel wire rope is led out from the transition cavity and directly connected to the rotating circumferential surface, which is an annular surface coaxial with the rotation axis of the turntable.

2. The gravity balancing device according to claim 1, characterized in that, The constant force spring unit includes: A constant force spring fixing seat is fixedly installed on the mounting base at one end of the opening of the transition cavity; A constant force spring support is fixedly mounted on the constant force spring fixing seat; At least one constant force spring winding is provided on the constant force spring support. The constant force spring winding has a constant force spring lead-out end, which is connected to the balance steel wire rope.

3. The gravity balancing device according to claim 2, characterized in that, Multiple constant force spring windings are arranged side by side on the constant force spring support base, and the axes of the multiple constant force spring windings are parallel and have a common constant force spring lead-out end.

4. The gravity balancing device according to claim 1, characterized in that, Also includes: An annular ring is fixedly mounted on the turntable and is coaxial with the rotation axis of the turntable; The balance steel wire rope is led out from the transition cavity and attached to and fixed on the outer circumference of the annular ring.

5. The gravity balancing device according to claim 1 or 4, characterized in that, It also includes a wire connecting seat fixedly mounted on the turntable, the wire connecting seat having a through annular ring and a wire fixing head extending to the outside of the annular ring; The balance steel wire rope is led out from the transition cavity and then attached to the outer circumference of the annular ring and fixedly connected to the steel wire fixing head.

6. The gravity balancing device according to claim 5, characterized in that, The balancing steel wire rope passes through the steel wire fixing head and a pipe clamp is fitted on the side that exits the steel wire fixing head, abutting against the steel wire fixing head.

7. The gravity balancing device according to claim 1, characterized in that, Also includes: The guide wheel fixing seat is fixedly installed on the mounting base at the opening position on the side of the transition cavity away from the constant force spring unit; The guide wheel fixing seat has a guide wheel on the end face away from the constant force spring unit, and a wire hole is provided through the guide wheel fixing seat. The balance steel wire rope passes through the wire hole and is guided by the guide wheel to connect to the turntable.

8. The gravity balancing device according to claim 1 or 7, characterized in that, The lead-out point of the balancing wire rope from the guide wheel and the fixed point on the rotating circumference are located on the same vertical plane as the axis of the turntable.

9. A doctor's control console, characterized in that, The gravity balancing device comprising any one of claims 1 to 8 further comprises the connecting rod; The connecting rod is rotatably mounted on the mounting base and coupled to the gravity balancing device.

10. A surgical robot, characterized in that, Includes the hand and the doctor's console as described in claim 9 above.

Images