A G-type arm with thrust support mechanism

Abstract

The present invention relates to a G-type arm with a thrust support mechanism, which comprises a first, a second and a third pushing arm to form a multi-layer sliding structure. The first pushing arm is fixed to a frame, and a sliding support mechanism is arranged inside. The second and the third pushing arms slide in the first and second sliding cavities respectively through the sliding support mechanism. The cable traction drive mechanism comprises an auxiliary reel, a middle bidirectional tractor, a middle main tractor and a commutator, and power transmission and commutation are realized through traction cables and auxiliary cables. A wire opening is arranged on the pushing arm to facilitate the passage of cables. This structure makes the G-type arm flexible and stable, and is suitable for complex scenes.

Description

Technical Field

[0001] The invention relates to a G-type arm with a thrust support mechanism, belonging to the field of electric mechanical arm equipment. Background Art

[0002] The G-type arm is mainly used to support and fix the X-ray equipment in multiple positions, forming a C-shaped or G-shaped support on the side of the patient's body to achieve multi-directional observation of the patient's body; the current G-type arm mainly has a single-body G-shaped cantilever structure, which relies on the driving mechanism on the base to achieve the overall flipping and position adjustment of the G-type arm. Because the G-type arm is an integrated structure, its opening is small, and in most cases, the equipment can only be placed and separated by moving parallel to the axis of the G-type arm;

[0003] In order to solve such problems, the prior art has also proposed a telescopic G-arm structure, as disclosed in CN109602431B, which consists of a group of arc-shaped telescopic arms that can be telescoped to each other and a set of arc-shaped support arms that can drive the telescopic arms to slide. The telescopic arms are driven by a gear mechanism, and the driving and locking of the gear mechanism requires a large-torque reduction motor to drive. The large-torque reduction motor has a large deadweight. Because the telescopic arm as a whole is a cantilever structure relative to the support arm, the large deadweight reduction motor will bring greater requirements on the strength of the telescopic arm. Therefore, the overall deadweight of the telescopic arm and the support arm will also be large, and the weight of the entire mechanism will also be extremely increased, which will bring great difficulties to the movement of the G-arm. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the technical problems in the prior art and provide a G-type arm with a thrust support mechanism.

[0005] The technical solution adopted by the present invention to solve the technical problem is:

[0006] A G-type arm with a thrust support mechanism, comprising:

[0007] A first push arm, the first push arm is arc-shaped, with an arc of 90°-120°, the middle part of the first push arm is connected to the frame through a connecting seat, a first sliding cavity is arranged in the first push arm, and a first sliding support mechanism is arranged in the first sliding cavity;

[0008] The second push arm is arc-shaped with an arc angle of 180°-200°. The second push arm is slidably connected to the first sliding cavity through the first sliding support mechanism. The second push arm is provided with a second sliding cavity, and the second sliding cavity is provided with a second sliding support mechanism.

[0009] A third push arm, the third push arm is arc-shaped, the arc is 180°-200°, the third push arm is slidably connected to the second sliding cavity through a second sliding support mechanism, and a third cavity is provided inside the third push arm;

[0010] And, a cable traction drive mechanism, comprising:

[0011] A secondary wire reel, the secondary wire reel comprising a secondary wire reel, the secondary wire reel being connected to the front end of the third push arm via a rotation spring;

[0012] The middle bidirectional tractor comprises a middle auxiliary traction seat fixed to the inner side of the middle part of the first push arm, two sets of auxiliary traction motors are fixedly connected to the middle auxiliary traction seat, and a middle traction wheel is connected to the motor shaft of each auxiliary traction motor;

[0013] The middle main traction device includes a middle main traction seat fixed to the outer side of the middle part of the first push arm, two sets of coaxial main traction motors are fixed on the middle main traction seat, and a main traction wheel is connected to the motor shaft of the main traction motor;

[0014] And, a commutator, the commutator comprises a reversing traction seat, the reversing traction seat is fixed to the tail end of the second push arm, and a reversing wheel is arranged in the reversing traction seat;

[0015] Among them, one end of the traction cable is wound and fixed on the auxiliary winding drum, and the traction cable extending from the auxiliary winding drum passes through the third cavity and contacts the two sets of middle traction wheels. A first cable clamp is arranged on the tail end of the third pushing arm, and the traction cable is led out from the middle traction wheel and fixed to the first cable clamp; the traction cable led out from the first cable clamp is reversing through the reversing wheel and wound and fixed to the main traction wheel of one of the main traction motors; an auxiliary cable is also wound and fixed on the main traction wheel of the other main traction motor, and the auxiliary cable passes from the first sliding cavity to the second sliding cavity, and the end of the auxiliary cable is fixed to the front end of the second pushing arm through the second cable clamp, and the end of the auxiliary cable is fixedly connected to the end of the traction cable;

[0016] Among them, a first wire-passing opening passing through the first sliding cavity is arranged on the arc-shaped outer surface of the first pushing arm corresponding to the setting position of the middle main traction device, a second wire-passing opening passing through the first sliding cavity is arranged on the arc-shaped inner surface of the first pushing arm corresponding to the setting position of the middle bidirectional traction device, a third wire-passing opening passing through the second sliding cavity is arranged on the arc-shaped outer surface of the second pushing arm, a fourth wire-passing opening passing through the second sliding cavity is arranged on the arc-shaped inner surface of the second pushing arm, and a fifth wire-passing opening passing through the third cavity is arranged on the arc-shaped inner surface of the third pushing arm.

[0017] As a further improvement of the present invention, the second sliding support mechanism comprises two sets of arc-shaped second inner support frames fixed to the arc-shaped inner wall surface of the second sliding cavity, the two sets of second inner support frames are arranged at two ends of the second sliding cavity, and a plurality of second support rollers parallel to the arc-shaped axis of the second push arm are arranged in an array on the second inner support frames;

[0018] The effect of this technical solution is that the sliding friction between the third pushing arm and the second pushing arm is reduced through the pulley structure, wear is reduced, and the smoothness and accuracy of sliding are improved. At the same time, the traction cables located at both ends of the third pushing arm can contact the second support roller while passing through the fifth wire opening, thereby reducing the friction with the third cavity surface of the third pushing arm.

[0019] As a further improvement of the present invention, several groups of supporting sliders are also arranged on the arc-shaped outer inner wall surface of the front end of the second sliding cavity, and the arc-shaped outer surface of the third pushing arm is in contact with the supporting slider; the effect of this technical solution is that when the third pushing arm is extended and fixed, the end of the third pushing arm is mainly supported by the arc-shaped inner surface of the second pushing arm, and the slider structure has better rigidity, lower frame volume and higher support accuracy than the roller.

[0020] As a further improvement of the present invention, an auxiliary locking device is fixed on the front end portion of the second pushing arm, and the auxiliary locking device includes a locking seat fixed to the arc-shaped outer side of the front end portion of the second pushing arm, and a locking motor is fixedly connected in the locking seat, and a locking driving disk is fixed on the rotating shaft of the locking motor, and two groups of locking push rods are symmetrically arranged on the locking driving disk; the auxiliary locking device also includes two groups of locking swing arms rotatably connected to the locking seat, and the locking swing arms are arranged mirror-symmetrically; a pushing spring is coaxially fixedly connected to one end of the locking swing arm, and the pushing spring is fixedly connected to the end of the locking swing arm; a locking push block is rotatably connected to the other end of the locking swing arm. A contact surface is provided on the locking push block, and the contact surface is arc-shaped. A plurality of groups of positioning rollers are arranged in a linear array on the contact surface, and the two ends of the positioning roller are rotatably connected to the locking push block; a positioning strip is provided on the arc-shaped outer side wall of the third pushing arm, and a plurality of positioning grooves corresponding to the positioning rollers are arranged in a linear array on the surface of the positioning strip;

[0021] The effect of this technical solution is that the auxiliary locking device assists in providing supporting force for the third pushing arm. In addition, the cooperation between the positioning groove and the positioning roller can improve the length accuracy of the third pushing arm when it is extended. Because the end of the third pushing arm needs to fix the X-ray equipment, and the other end does not have any limiting structure, the cooperation between the positioning roller and the positioning groove can also prevent accidents caused by the third pushing arm falling out relative to the second pushing arm when the steel cable is stretched or broken.

[0022] As a further improvement of the present invention, a second tension adjustment mechanism is arranged inside the middle auxiliary traction seat of the middle bidirectional traction device, the second tension adjustment mechanism includes a tension push wheel in contact with the traction cable between the two sets of middle traction wheels, the tension push wheel is rotatably connected to a floating seat, the floating seat is slidably connected relative to the middle auxiliary traction seat through a slide rod mechanism arranged inside the middle auxiliary traction seat, a floating sleeve is fixed in the middle of the floating seat, an adjustment block is threadedly connected in the middle of the middle auxiliary traction seat, and a push spring is arranged between the adjustment block and the end of the floating sleeve;

[0023] The effect of this technical solution is that the tension adjustment mechanism can not only adjust the internal tension of the traction cable to a certain extent, but also increase the contact area between the traction cable and the middle traction wheel by bending the middle part of the traction cable, thereby improving the torque transmission efficiency of the middle traction wheel to the traction cable.

[0024] As a further improvement of the present invention, a tension motor is fixed in the middle main traction seat of the middle main traction device, a tension arm is fixedly connected to the motor shaft of the tension motor, a tension wheel is rotatably connected to the end of the tension arm, and a direction-changing wheel group is also arranged in the middle main traction seat, and the traction cable passes through the tension wheel and is wound around the main traction wheel after being changed by the direction-changing wheel group;

[0025] The effect of this technical solution is that the tension motor can provide a stable tension output for the traction cable, and can also provide additional traction torque by pulling the traction cable, thereby further ensuring the stability and safety of the mechanism.

[0026] As a further improvement of the present invention, the reversing wheel of the commutator includes an upper reversing wheel and a lower reversing wheel; wherein the radial position of the upper reversing wheel is located in the middle of the longitudinal direction of the second sliding cavity, and the radial position of the lower reversing wheel is located at the bottom of the longitudinal direction of the second sliding cavity corresponding to the arc-shaped outer side of the second sliding cavity;

[0027] The effect of the technical solution is that two groups of reversing wheel mechanisms are used, which can not only reduce the curvature of the end of the traction cable and reduce the shear stress of the cable, but also share the load. In addition, the two groups of reversing wheel mechanisms make the two ends of the cable bend in a suitable position. When the third pushing arm is fully retracted into the second driving arm, the end of the third driving arm is not easy to shear the traction cable, so that the traction cable can be completely inserted into the third cavity and the gap between the second pushing arm and the third pushing arm.

[0028] As a further improvement of the present invention, a group of wire-blocking wheels are respectively arranged at the two end positions corresponding to the third wire-passing opening in the second sliding cavity, and the traction cable and the auxiliary cable are in contact with the surface of the wire-blocking wheel on one side facing the arc-shaped inner side of the second sliding cavity;

[0029] The effect of the technical solution is that the wire blocking wheel can prevent the traction cable and auxiliary cable located at both ends of the second pushing arm from leaking out of the third wire opening on the outside of the second pushing arm, and at the same time prevent the traction cable and auxiliary cable from rubbing against the edge of the third wire opening, making it smooth and causing the possibility of wear of the traction cable and auxiliary cable.

[0030] As a further improvement of the present invention, the first sliding support mechanism includes sliding support wheel mechanisms respectively arranged at both ends of the first sliding cavity, the sliding support wheel mechanism includes a first inner support frame, a sliding groove is arranged in the middle of the first inner support frame, and a sliding protrusion embedded in the sliding groove is arranged on the arc-shaped outer side of the second push arm; the sliding support wheel mechanism also includes a first support roller rotatably connected to the first inner support frame at positions on both sides of the corresponding sliding groove, and the first support roller is in rolling contact with the arc-shaped outer side of the second push arm;

[0031] The effect of the present technical solution is that, because the opening cross-sectional areas of the first pushing arm and the second pushing arm are relatively large, the provided sliding groove and the sliding support wheel mechanism can reduce the possibility of axial swinging between the first pushing arm and the second pushing arm; in addition, the first support roller can also prevent the traction cable and the auxiliary cable from rubbing against the opening side of the first wire opening, thereby affecting the life of the traction cable and the auxiliary cable.

[0032] As a further improvement of the present invention, two sets of mirror-symmetrical auxiliary wheels are arranged at the connection position between the middle auxiliary traction seat and the first pushing arm, the spacing between the rotating axes of the auxiliary wheels is smaller than the spacing between the middle traction wheels, and the traction cable is led to the middle traction wheel after passing around the opposite side of the auxiliary wheel; the auxiliary wheel can prevent the traction cable from rubbing against the opening side of the second wire-passing opening, and can further increase the contact area of ​​the traction cable relative to the middle traction wheel, thereby improving the torque transmission efficiency.

[0033] The beneficial effects of the present invention are:

[0034] The present invention realizes the three-stage telescopic structure of the G-type arm by cooperating with the gear train through the cable group structure. Compared with the gear-driven cantilever structure, the cable-driven cantilever structure does not need to be provided with an independent reduction motor on the telescopic arm, which greatly reduces the strength requirement of the telescopic arm, thereby reducing the deadweight of the entire G-type arm, greatly improving the convenience of equipment movement, and compared with the gear drive, the structure cancels the ruler structure, greatly reducing the processing cost and processing accuracy requirements;

[0035] The present invention realizes the driving of cables through three sets of rolling motors. When rotating synchronously, the cables can be driven synchronously, and when rotating asynchronously, the cables can be conveniently tightened in both directions, thereby realizing the mutual locking of the mechanism, namely the first pushing arm, the second pushing arm and the third pushing arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0037] Figure 1 It is a cross-sectional schematic diagram of the present invention;

[0038] Figure 2 yes Figure 1 The local schematic diagram of the A in the middle;

[0039] Figure 3 yes Figure 1 The local schematic diagram of point B in the middle;

[0040] Figure 4 yes Figure 1 Schematic diagram of the cross section at point C in the middle.

[0041] In the figure:

[0042] 1. First push arm; 1-1. First wire opening; 1-2. Second wire opening; 1-3. First inner support frame; 1-4. First support roller; 1-5. First sliding cavity; 1-6. Sliding groove;

[0043] 2. Second push arm; 2-1. Sliding protrusion; 2-2. Third wire-passing opening; 2-3. Fourth wire-passing opening; 2-4. Wire-blocking wheel; 2-5. Second inner support frame; 2-6. Second support roller; 2-7. Wire-pressing wheel; 2-8. Second sliding cavity; 2-9. Second cable clamp;

[0044] 3. Third push arm; 3-1. Third cavity; 3-2. Positioning bar; 3-3. Fifth cable opening; 3-4. Inner sleeve; 3-5. First cable clamp;

[0045] 4. Middle bidirectional tractor; 4-1. Middle auxiliary traction seat; 4-2. Middle traction wheel; 4-3. Auxiliary wheel; 4-4. Tension driving wheel; 4-5. Floating seat; 4-6. Sliding rod mechanism; 4-7. Floating sleeve; 4-8. Adjustment block; 4-9. Push spring; 4-10. First equipment connection platform; 4-11. Adjustment hole;

[0046] 5. Middle main traction device; 5-1. Main traction wheel; 5-2. Middle main traction seat; 5-3. Tension motor; 5-4. Tension arm; 5-5. Tension wheel; 5-6. Anti-wear wheel set; 5-7. Direction-changing wheel set; 5-8. Connecting seat;

[0047] 6. Reversing device; 6-1. Reversing traction seat; 6-2. Lower reversing wheel; 6-3. Upper reversing wheel; 6-4. Fourth equipment connection platform;

[0048] 7. Auxiliary reel; 7-1. Auxiliary reel; 7-2. Transition wheel; 7-3. Auxiliary reel seat; 7-4. Third equipment connection platform;

[0049] 8. Auxiliary locker; 8-1. Locking seat; 8-2. Locking motor; 8-3. Locking swing arm; 8-4. Locking push block; 8-5. Positioning roller; 8-6. Pushing spring; 8-7. Locking push rod; 8-8. Second equipment connection platform;

[0050] 9. Traction cable;

[0051] 10. Auxiliary cable. DETAILED DESCRIPTION

[0052] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0053] Its main body comprises a first pushing arm, a second pushing arm and a third pushing arm; the first pushing arm is arc-shaped with an arc of 90°-120°, the middle part of the first pushing arm is connected to the frame through a connecting seat, a first sliding cavity is arranged in the first pushing arm, and a first sliding support mechanism is arranged in the first sliding cavity; the second pushing arm is arc-shaped with an arc of 180°-200°, the second pushing arm is slidably connected to the first sliding cavity through the first sliding support mechanism, a second sliding cavity is arranged in the second pushing arm, and a second sliding support mechanism is arranged in the second sliding cavity; the third pushing arm is arc-shaped with an arc of 180°-200°, the third pushing arm is slidably connected to the second sliding cavity through the second sliding support mechanism, and a third cavity is arranged inside the third pushing arm;

[0054] in,

[0055] A G-type arm with a thrust support mechanism;

[0056] like Figure 1 and Figure 4 ,include:

[0057] The first push arm is arc-shaped with an arc angle of 90°-120°. The middle part of the first push arm is connected to the frame through a connecting seat. A first sliding cavity is arranged in the first push arm, and a first sliding support mechanism is arranged in the first sliding cavity. Figure 1 The middle part of the first push arm is fixed to the connecting seat, which is used to connect with the machine platform. The G-type arm base is connected to the bottom of the machine platform, which is used to move the placement position of the entire G-type arm and lift the entire G-type arm;

[0058] The second push arm is arc-shaped with an arc angle of 180°-200°. The second push arm is slidably connected to the first sliding cavity through the first sliding support mechanism. The second push arm is provided with a second sliding cavity, and the second sliding cavity is provided with a second sliding support mechanism.

[0059] The third pushing arm is arc-shaped with an arc angle of 180°-200°. The third pushing arm is slidably connected to the second sliding cavity through a second sliding support mechanism. A third cavity is arranged inside the third pushing arm.

[0060] The first sliding support mechanism includes a sliding support wheel mechanism respectively arranged at the two ends of the first sliding cavity, the sliding support wheel mechanism includes a first inner support frame, a sliding groove is arranged in the middle of the first inner support frame, and a sliding protrusion embedded in the sliding groove is arranged on the arc-shaped outer side of the second pushing arm; the sliding support wheel mechanism also includes a first support roller rotatably connected to the first inner support frame at the positions on both sides of the corresponding sliding groove, and the first support roller is in rolling contact with the arc-shaped outer side of the second pushing arm.

[0061] The second sliding support mechanism includes two groups of arc-shaped second inner support frames fixed to the arc-shaped inner wall surface of the second sliding cavity, the two groups of second inner support frames are arranged at the two ends of the second sliding cavity, and a plurality of second support rollers parallel to the arc-shaped axis line of the second pushing arm are arranged in an array on the second inner support frames; a plurality of groups of supporting sliding blocks are also arranged on the arc-shaped outer wall surface of the front end of the second sliding cavity, and the arc-shaped outer surface of the third pushing arm is in contact with the supporting sliding block.

[0062] The first pushing arm, the second pushing arm, and the second pushing arm are driven by a cable traction driving mechanism, and the cable traction driving mechanism includes:

[0063] A secondary reel is fixedly connected to the end of the third pushing arm, and the secondary reel includes a secondary reel seat. An secondary reel wheel is rotatably connected to the secondary reel seat through a rotating spring mechanism. The rotating spring mechanism can reel in the cable when the secondary reel wheel is relaxed, and provide internal tension for the traction cable. A transition wheel is also arranged in the secondary reel seat. The secondary reel seat extends along the radial axis of the third pushing arm, and the traction cable is transferred into the third cavity after being reversed by the transition wheel.

[0064] like Figure 1 and Figure 3The middle bidirectional traction device comprises a middle bidirectional traction device, which includes a middle auxiliary traction seat fixed on the inner side of the middle part of the first pushing arm, and two sets of auxiliary traction motors are fixedly connected to the middle auxiliary traction seat, and a middle traction wheel is connected to the motor shaft of each auxiliary traction motor, and two sets of mirror-symmetrical auxiliary wheels are arranged at the connection position of the middle auxiliary traction seat and the first pushing arm, and the spacing between the auxiliary wheel rotating shafts is smaller than the spacing between the middle traction wheels, and the traction cable passes through the auxiliary reel and the cable passes around the opposite side of the auxiliary wheel and is led to the middle traction wheel, and then passes through the inner sleeve arranged in the third cavity and contacts the middle traction wheel, and the traction cable passes through the third cavity after passing the middle traction wheel and extends toward the commutator at the end of the second cavity; two sets of mirror-symmetrical auxiliary wheels are arranged at the connection position of the middle auxiliary traction seat and the first pushing arm, and the spacing between the auxiliary wheel rotating shafts is smaller than the spacing between the middle traction wheels, and the traction cable passes around the opposite side of the auxiliary wheel and is led to the middle traction wheel.

[0065] like Figure 1 and Figure 3 A second tension adjustment mechanism is arranged inside the middle auxiliary traction seat of the middle bidirectional traction device, and the second tension adjustment mechanism includes a tension pushing wheel in contact with the traction cable between the two groups of middle traction wheels, and the tension pushing wheel is rotatably connected to a floating seat, and the floating seat is slidably connected relative to the middle auxiliary traction seat through a sliding rod mechanism arranged inside the middle auxiliary traction seat, a floating sleeve is fixed in the middle of the floating seat, and an adjustment block is threadedly connected in the middle of the middle auxiliary traction seat, a push spring is arranged between the adjustment block and the end of the floating sleeve, and an adjustment hole is arranged on the end of the middle auxiliary traction seat, and the spring can be pre-tightened by twisting the adjustment fast with an Allen wrench through the adjustment hole.

[0066] like Figure 1 , commutator, the commutator includes a reversing traction seat, the reversing traction seat is fixed to the tail end of the second pushing arm, and an upper reversing wheel and a lower reversing wheel are arranged in the reversing traction seat; wherein, the radial position of the upper reversing wheel is located in the middle position in the longitudinal direction of the second sliding cavity, and the radial position of the lower reversing wheel is located at the bottom of the longitudinal direction of the second sliding cavity corresponding to the arc-shaped outer side of the second sliding cavity.

[0067] like Figure 1 , the middle main traction device includes a middle main traction seat fixed to the outer side of the middle part of the first pushing arm, two sets of main traction motors are fixed on the middle main traction seat, and a main traction wheel is connected to each motor shaft of the main traction motor. Two sets of anti-wear wheel groups are also arranged at the opening of the middle main traction seat, the axle spacing of the anti-wear wheel groups is smaller than the diameter of the main traction wheel, and two sets of changing direction wheel groups are symmetrically arranged at the rear end of the anti-wear wheel group.

[0068] like Figure 1In order to ensure the passage of the cable and at the same time ensure that the first pushing arm, the second pushing arm and the third pushing arm will not interfere with the rolling of the traction cable when they slide against each other, a first wire-passing opening passing through the first sliding cavity is provided on the arc-shaped outer surface of the first pushing arm corresponding to the setting position of the middle main traction device, a second wire-passing opening passing through the first sliding cavity is provided on the arc-shaped inner surface of the first pushing arm corresponding to the setting position of the middle bidirectional traction device, a third wire-passing opening passing through the second sliding cavity is provided on the arc-shaped outer surface of the second pushing arm, a fourth wire-passing opening passing through the second sliding cavity is provided on the arc-shaped inner surface of the second pushing arm, and a fifth wire-passing opening passing through the third cavity is provided on the arc-shaped inner surface of the third pushing arm.

[0069] like Figure 1 The traction cable is wound around and fixed on the auxiliary cable drum, and the traction cable extending from the auxiliary cable drum enters the third cavity after being turned by the transition wheel, and then passes through the fifth wire-passing opening of the third cavity, and contacts the two sets of middle traction wheels after being supported by the auxiliary wheel. The traction cables between the two sets of middle traction wheels are pre-tightened by the tension pushing wheel, and a first cable clamp is provided on the tail end of the third pushing arm. The traction cable is fixed to the first cable clamp after being led out from the middle traction wheel; the traction cable led out from the first cable clamp is reversingly passed through the reversing wheel and then wound around and fixed to the main traction wheel. Before being wound around the main traction wheel, the traction cable passes through the anti-wear wheel group to change the distance between the traction cable and the opening of the middle main traction seat to prevent the traction cable from rubbing against the main traction seat Friction occurs between the openings, and then the cable is wound around the main traction wheel after changing direction through the changing wheel group; an auxiliary cable is also wound around and fixed on the main traction wheel of another main traction motor, and the end of the auxiliary cable passes from the first sliding cavity to the second sliding cavity, and the end of the auxiliary cable is fixed to the front end of the second pushing arm through the second cable clamp, and the end of the auxiliary cable is fixedly connected to the end of the traction cable; a first tension adjustment mechanism is fixed in the middle main traction seat of the middle main traction device, the first tension adjustment mechanism includes a tension motor, a tension arm is fixedly connected to the motor shaft of the tension motor, and a tension wheel is rotatably connected to the end of the tension arm, and a changing wheel group is also arranged in the middle main traction seat, and the traction cable passes through the tension wheel and is wound around the main traction wheel after changing direction through the changing wheel group.

[0070] like Figure 2An auxiliary locking device is fixed on the front end portion of the second pushing arm, and the auxiliary locking device includes a locking seat fixed to the arc-shaped outer side of the front end portion of the second pushing arm, and a locking motor is fixedly connected in the locking seat, and a locking driving disk is fixed on the rotating shaft of the locking motor, and two groups of locking push rods are symmetrically arranged on the locking driving disk; the auxiliary locking device also includes two groups of locking swing arms rotatably connected to the locking seat, and the locking swing arms are arranged mirror-symmetrically; a pushing spring is coaxially fixedly connected to one end of the locking swing arm, and the pushing spring is fixedly connected to the end of the locking swing arm; a locking push block is rotatably connected to the other end of the locking swing arm, and a contact surface is provided on the locking push block, and the contact surface is arc-shaped, and a plurality of groups of positioning rollers are arranged in a linear array on the contact surface, and the two ends of the positioning roller are rotatably connected to the locking push block; a positioning strip is provided on the arc-shaped outer side wall of the third pushing arm, and a plurality of positioning grooves corresponding to the positioning rollers are arranged in a linear array on the surface of the positioning strip.

[0071] like Figure 1 A group of wire-blocking wheels are respectively arranged at the two end positions corresponding to the third wire-passing opening in the second sliding cavity. The traction cable and the auxiliary cable are in contact with the surface of the wire-blocking wheel on one side of the arc-shaped inner side of the second sliding cavity. A wire-pressing wheel is also arranged at the end of the second sliding cavity. The traction cable is between the wire-pressing wheel and the arc-shaped outer inner wall of the second sliding cavity. The wire-pressing wheel can further limit the moving space of the traction cable and reduce interference.

[0072] When the mechanism is used, it mainly includes several processes and states of folding, unfolding and position locking;

[0073] The first is the retraction process. The third push arm is gradually retracted into the second push arm. Through the winding of the middle two-way traction device, the front half of the traction cable is rolled through the two sets of middle traction wheels of the middle two-way traction device, so that the front end of the traction cable is retracted, thereby driving the movement from the tail of the third push arm toward the position of the middle two-way traction device. At the same time, the traction cable located at the rear end of the first cable clamp is retracted through the main traction wheel wound with the traction cable, so that the end of the third push arm moves toward the commutator direction, and the traction cable is under appropriate tension, but the tension is less than the tension of the auxiliary cable. At the same time, the main traction wheel of the main traction motor wound by the auxiliary cable is rolled to reel in the auxiliary cable, so that the end of the second push arm is retracted.

[0074] When the structure is to be unfolded, the auxiliary cable is released by the main traction wheel of the auxiliary cable, and at the same time, the main traction wheel of the traction cable is further rolled, so that the end of the second pushing arm moves toward the end of the first pushing arm, and the second pushing arm is extended. At the same time, the traction cable of the fixed part of the first cable clamp is moved toward the middle two-way traction device through the reverse rolling of the middle traction wheel, so that the third pushing arm is extended relative to the second pushing arm; in addition, at this time, the locking motor of the auxiliary lock is in a released state, so that the pushing spring is also in a natural state, and the locking push blocks at the ends of the two sets of locking swing arms are pressed onto the positioning strip by the pushing of the pushing spring. At this time, the rolling force of the second pushing arm can make the positioning strip push the locking push block to move in the opposite direction, so that the positioning roller can jump continuously in each positioning groove of the positioning strip in turn. When locking is required, the locking motor is selected to rotate clockwise or counterclockwise according to whether the third pushing arm is extended or retracted, so that the locking push rod can select the locking push block facing the opening at the end of the second pushing arm or facing away from the opening at the end of the second pushing arm to be pressed onto the surface of the positioning strip to achieve positioning locking;

[0075] When locking is required after extension, the two sets of middle traction wheels can output reverse torque, and at the same time, the two sets of main traction wheels of the traction cable and the auxiliary cable can output reverse torque, so that the traction cable and the auxiliary cable are in a suitable tension state, for example, Figure 1 As shown, the middle traction wheel located below the middle bidirectional traction device outputs a counterclockwise torque, so that the front traction cable is also in a suitable tension state with the cooperation of the auxiliary locker;

[0076] In addition, the main traction wheel fixed to the traction cable is in clockwise torque output, and the main traction wheel of the auxiliary cable is also in clockwise torque output, so that the traction cable and the auxiliary cable are also in a certain pre-tightened state. In addition, the traction cable can also control the swing state of the tension arm according to the process of locking or releasing, so as to dynamically realize the control of the traction cable tension;

[0077] A first equipment connection platform is fixed at the end of the middle auxiliary traction seat of the middle bidirectional traction device, a second equipment connection platform is arranged under the locking seat of the auxiliary locker, a third equipment connection platform is fixed on the auxiliary winding seat of the auxiliary winding device, and a fourth equipment connection platform is fixed on the reversing traction seat of the reversing device; each equipment connection platform can be connected to X-ray equipment or other IO equipment.

[0078] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A G-type arm with a thrust support mechanism, characterized in that: include: A first push arm, the first push arm is arc-shaped, with an arc of 90°-120°, the middle part of the first push arm is connected to the frame through a connecting seat, a first sliding cavity is arranged in the first push arm, and a first sliding support mechanism is arranged in the first sliding cavity; The second push arm is arc-shaped with an arc angle of 180°-200°. The second push arm is slidably connected to the first sliding cavity through the first sliding support mechanism. The second push arm is provided with a second sliding cavity, and the second sliding cavity is provided with a second sliding support mechanism. A third push arm, the third push arm is arc-shaped, the arc is 180°-200°, the third push arm is slidably connected to the second sliding cavity through a second sliding support mechanism, and a third cavity is provided inside the third push arm; And, a cable traction drive mechanism, comprising: A secondary wire reel, the secondary wire reel comprising a secondary wire reel, the secondary wire reel being connected to the front end of the third push arm via a rotation spring; The middle bidirectional tractor comprises a middle auxiliary traction seat fixed to the inner side of the middle part of the first push arm, two sets of auxiliary traction motors are fixedly connected to the middle auxiliary traction seat, and a middle traction wheel is connected to the motor shaft of each auxiliary traction motor; The middle main traction device includes a middle main traction seat fixed to the outer side of the middle part of the first push arm, two sets of coaxial main traction motors are fixed on the middle main traction seat, and a main traction wheel is connected to the motor shaft of the main traction motor; And, a commutator, the commutator comprises a reversing traction seat, the reversing traction seat is fixed to the tail end of the second push arm, and a reversing wheel is arranged in the reversing traction seat; Among them, one end of the traction cable is wound and fixed on the auxiliary winding drum, and the traction cable extending from the auxiliary winding drum passes through the third cavity and contacts the two sets of middle traction wheels. A first cable clamp is arranged on the tail end of the third pushing arm, and the traction cable is led out from the middle traction wheel and fixed to the first cable clamp; the traction cable led out from the first cable clamp is reversing through the reversing wheel and wound and fixed to the main traction wheel of one of the main traction motors; an auxiliary cable is also wound and fixed on the main traction wheel of the other main traction motor, and the auxiliary cable passes from the first sliding cavity to the second sliding cavity, and the end of the auxiliary cable is fixed to the front end of the second pushing arm through the second cable clamp, and the end of the auxiliary cable is fixedly connected to the end of the traction cable; Among them, a first wire-passing opening passing through the first sliding cavity is arranged on the arc-shaped outer surface of the first pushing arm corresponding to the setting position of the middle main traction device, a second wire-passing opening passing through the first sliding cavity is arranged on the arc-shaped inner surface of the first pushing arm corresponding to the setting position of the middle bidirectional traction device, a third wire-passing opening passing through the second sliding cavity is arranged on the arc-shaped outer surface of the second pushing arm, a fourth wire-passing opening passing through the second sliding cavity is arranged on the arc-shaped inner surface of the second pushing arm, and a fifth wire-passing opening passing through the third cavity is arranged on the arc-shaped inner surface of the third pushing arm.

2. A G-type arm with a thrust support mechanism as claimed in claim 1, characterized in that: The second sliding support mechanism includes two groups of arc-shaped second inner support frames fixed to the arc-shaped inner wall of the second sliding cavity, the two groups of second inner support frames are arranged at the two ends of the second sliding cavity, and a plurality of second support rollers parallel to the arc-shaped axis of the second pushing arm are arranged in an array on the second inner support frames.

3. A G-type arm with a thrust support mechanism as claimed in claim 2, characterized in that: A plurality of groups of supporting sliding blocks are also arranged on the arc-shaped outer inner wall surface of the front end portion of the second sliding cavity, and the arc-shaped outer surface of the third pushing arm contacts the supporting sliding blocks.

4. A G-type arm with a thrust support mechanism as claimed in claim 2, characterized in that: An auxiliary locking device is fixed on the front end portion of the second pushing arm, and the auxiliary locking device includes a locking seat fixed to the arc-shaped outer side of the front end portion of the second pushing arm, and a locking motor is fixedly connected in the locking seat, and a locking driving disk is fixed on the rotating shaft of the locking motor, and two groups of locking push rods are symmetrically arranged on the locking driving disk; the auxiliary locking device also includes two groups of locking swing arms rotatably connected to the locking seat, and the locking swing arms are arranged in a mirror-symmetrical manner; a pushing spring is coaxially fixedly connected to one end of the locking swing arm, and the pushing spring is fixedly connected to the end of the locking swing arm; a locking push block is rotatably connected to the other end of the locking swing arm, and a contact surface is provided on the locking push block, and the contact surface is arc-shaped, and a plurality of groups of positioning rollers are arranged in a linear array on the contact surface, and the two ends of the positioning roller are rotatably connected to the locking push block; a positioning strip is provided on the arc-shaped outer side wall of the third pushing arm, and a plurality of positioning grooves corresponding to the positioning rollers are arranged in a linear array on the surface of the positioning strip.

5. A G-type arm with a thrust support mechanism as claimed in claim 1, characterized in that: A second tension adjustment mechanism is arranged inside the middle auxiliary traction seat of the middle bidirectional traction device, and the second tension adjustment mechanism includes a tension pushing wheel in contact with the traction cable between the two groups of middle traction wheels, and the tension pushing wheel is rotatably connected to a floating seat, and the floating seat is slidably connected relative to the middle auxiliary traction seat through a sliding rod mechanism arranged inside the middle auxiliary traction seat, a floating sleeve is fixed in the middle of the floating seat, and an adjustment block is threadedly connected in the middle of the middle auxiliary traction seat, and a push spring is arranged between the adjustment block and the end of the floating sleeve.

6. A G-type arm with a thrust support mechanism as claimed in claim 1, characterized in that: A tension motor is fixed in the middle main traction seat of the middle main traction device, a tension arm is fixedly connected to the motor shaft of the tension motor, a tension wheel is rotatably connected to the end of the tension arm, and a changing wheel group is also arranged in the middle main traction seat. After the traction cable is changed by the changing wheel group, it passes through the tension wheel and is wound around the main traction wheel.

7. A G-type arm with a thrust support mechanism as claimed in claim 1, characterized in that: The reversing wheels of the commutator include an upper reversing wheel and a lower reversing wheel; wherein the radial position of the upper reversing wheel is located at the middle position in the longitudinal direction of the second sliding cavity, and the radial position of the lower reversing wheel is located at the bottom of the longitudinal direction of the second sliding cavity corresponding to the arc-shaped outer side of the second sliding cavity.

8. The G-type arm with thrust support mechanism according to claim 1, characterized in that: A group of wire-blocking wheels are respectively arranged at the two end positions corresponding to the third wire-passing opening in the second sliding cavity, and the traction cable and the auxiliary cable are in contact with the surface of the wire-blocking wheel on one side facing the arc-shaped inner side of the second sliding cavity.

9. A G-type arm with a thrust support mechanism as claimed in claim 1, characterized in that: The first sliding support mechanism includes a sliding support wheel mechanism respectively arranged at the two ends of the first sliding cavity, the sliding support wheel mechanism includes a first inner support frame, a sliding groove is arranged in the middle of the first inner support frame, and a sliding protrusion embedded in the sliding groove is arranged on the arc-shaped outer side of the second pushing arm; the sliding support wheel mechanism also includes a first support roller rotatably connected to the first inner support frame at the positions on both sides of the corresponding sliding groove, and the first support roller is in rolling contact with the arc-shaped outer side of the second pushing arm.

10. A G-type arm with a thrust support mechanism as claimed in claim 1, characterized in that: Two sets of mirror-symmetrical auxiliary wheels are arranged at the connection position between the middle auxiliary traction seat and the first pushing arm. The distance between the auxiliary wheel rotation axes is smaller than the distance between the middle traction wheels. The traction cable passes around the opposite side of the auxiliary wheel and is led to the middle traction wheel.

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