Telecentric mechanism and surgical robot

Abstract

The invention relates to a telecentric mechanism and a surgical robot. The telecentric mechanism comprises a first connecting rod and a second connecting rod, the first passive joint is connected with the first connecting rod and the second connecting rod; the first passive joint comprises a first fixing shaft, a second fixing shaft, a first connecting rod and a second connecting rod, the first transmission assembly is arranged on the first connecting rod; the output end of the first transmission assembly is rotatably arranged on the first fixed shaft in a sleeving manner; one end of the second connecting rod is rotatably arranged on the first fixing shaft in a sleeving manner and is detachably and fixedly connected with the output end of the first transmission assembly; the first pre-tightening piece is detachably assembled on the first fixing shaft; the first pre-tightening piece is used for applying pre-tightening force to the first transmission assembly so that the first transmission assembly can be fixed relative to the first fixing shaft in the axial direction of the first fixing shaft. The transmission precision of the telecentric mechanism can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a telecentric mechanism and a surgical robot. Background Art

[0002] At present, minimally invasive abdominal surgical robots are increasingly widely used in modern medical surgeries. The actuator of the minimally invasive surgical robot is a telecentric mechanism, whose main function is to support the endoscope or surgical instruments to rotate and move linearly around a specific point to achieve real-time observation of lesions and various surgical operations. However, the current telecentric mechanism has the problem of insufficient transmission stability, which reduces the transmission accuracy of the telecentric mechanism. Summary of the invention

[0003] Based on this, the present application proposes a telecentric mechanism and a surgical robot to address at least one of the above problems.

[0004] In a first aspect, an embodiment of the present application provides a telecentric mechanism, comprising:

[0005] a first connecting rod and a second connecting rod;

[0006] A first passive joint connecting the first link and the second link;

[0007] Wherein, the first passive joint comprises:

[0008] A first fixed shaft, detachably fixedly connected to one end of the first connecting rod;

[0009] A first transmission assembly is arranged on the first connecting rod; an output end of the first transmission assembly is rotatably sleeved on the first fixed shaft; one end of the second connecting rod is rotatably sleeved on the first fixed shaft and is detachably fixedly connected to the output end of the first transmission assembly;

[0010] The first pre-tightening member is detachably mounted on the first fixed shaft; the first pre-tightening member is used to apply a pre-tightening force to the first transmission assembly so that the first transmission assembly is fixed relative to the first fixed shaft along the axial direction of the first fixed shaft.

[0011] In one embodiment, the first transmission assembly includes:

[0012] A first bearing group, sleeved on the first fixed shaft;

[0013] A first main pulley rotatably mounted on the first connecting rod;

[0014] A first secondary pulley is assembled on the first bearing assembly; the second connecting rod is detachably fixedly connected to the first secondary pulley;

[0015] The first transmission belt is stretched on the first main pulley and the first slave pulley.

[0016] In one embodiment, the first preload member abuts against the first bearing group to apply a preload force to the first bearing group.

[0017] In one embodiment, the first primary pulley comprises a first wheel body, a second wheel body and a first adjusting member, the first wheel body and the second wheel body are coaxially arranged, the second wheel body is adjustably arranged on one axial side of the first wheel body, the first adjusting member is arranged on the first wheel body, and the first adjusting member is used to adjust the rotation angle of the second wheel body around its own axis relative to the first wheel body;

[0018] The first transmission belt includes a first belt body and a second belt body which are staggered. One end of the first belt body is connected to the first wheel body, and the other end is connected to the first secondary pulley. One end of the second belt body is connected to the second wheel body, and the other end is connected to the first secondary pulley.

[0019] In one embodiment, the first preload member comprises a preload ring, and a thread pair is provided between the inner ring of the preload ring and the outer periphery of the first fixed shaft;

[0020] A pre-tightening groove is arranged on an end surface of the pre-tightening ring which is away from the first transmission assembly.

[0021] In one embodiment, the telecentric mechanism further includes a third link and a second passive joint, wherein the second passive joint connects the third link and the second link;

[0022] The second passive joint comprises:

[0023] A second fixed shaft, detachably fixedly connected to an end of the second connecting rod away from the first fixed shaft;

[0024] A second transmission assembly is arranged on the second connecting rod; an input end of the second transmission assembly is detachably fixedly connected to the first fixed shaft; an output end of the second transmission assembly is rotatably sleeved on the second fixed shaft; one end of the third connecting rod is rotatably sleeved on the second fixed shaft and detachably fixedly connected to the output end of the second transmission assembly;

[0025] The second preload member is detachably mounted on the second fixed shaft; the second preload member is used to apply a preload force to the second transmission assembly so that the second transmission assembly is fixed relative to the second fixed shaft along the axial direction of the second fixed shaft.

[0026] In one embodiment, the first preload member is installed between the output end of the first transmission assembly and the input end of the second transmission assembly.

[0027] In one embodiment, the telecentric mechanism further includes an end assembly and a third passive joint, wherein the third passive joint connects the end assembly and the third connecting rod;

[0028] The third passive joint comprises:

[0029] A third fixed shaft, detachably fixedly connected to an end of the third connecting rod away from the second fixed shaft;

[0030] A third transmission assembly is arranged on the third connecting rod; an input end of the third transmission assembly is detachably fixedly connected to the third fixed shaft; an output end of the third transmission assembly is rotatably sleeved on the third fixed shaft; the terminal assembly is rotatably sleeved on the third fixed shaft and detachably fixedly connected to the output end of the third transmission assembly;

[0031] The third preload member is detachably mounted on the third fixed shaft and abuts against the third transmission assembly; the third preload member is used to apply a preload force to the third transmission assembly so that the third transmission assembly is fixed relative to the third fixed shaft along the axial direction of the third fixed shaft.

[0032] In one embodiment, the telecentric mechanism further includes a first driving member, a driving end of which is transmission-connected to the first connecting rod, and the first driving member is used to drive the first connecting rod to rotate around a first virtual straight line, and the first virtual straight line passes through a fixed reference point of the telecentric mechanism.

[0033] In one embodiment, the telecentric mechanism further comprises a base, and the first driving member is disposed on the base;

[0034] Wherein, the base is connected to one side of the first connecting rod along a first direction; the first direction intersects with the axis line of the first connecting rod; and the axis line of the first connecting rod intersects with the first virtual straight line.

[0035] In a second aspect, an embodiment of the present application provides a surgical robot, comprising the telecentric mechanism described in any embodiment of the first aspect.

[0036] The telecentric mechanism and surgical robot provided in the embodiment of the present application are provided with a detachable first pre-tightening member on the first fixed axis, and the first pre-tightening member is used to apply a pre-tightening force to pre-tighten the first transmission component. Compared with the method of pre-tightening through a key transmission structure in the prior art, the embodiment of the present application directly pre-tightens the first transmission component through the first pre-tightening member, which can reduce or even eliminate the backlash in the passive structure, thereby improving the transmission accuracy of the telecentric mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A schematic structural diagram of a telecentric mechanism provided in one embodiment of the present application.

[0039] Figure 2 for Figure 1 Top view of the telecentric mechanism shown.

[0040] Figure 3 for Figure 1 Schematic diagram of the structure of some components of the telecentric mechanism shown.

[0041] Figure 4 for Figure 1 Schematic diagram of the local structure of the telecentric mechanism shown.

[0042] Figure 5 for Figure 4 Enlarged view of part I.

[0043] Figure 6 for Figure 4 Enlarged view of part II.

[0044] Figure 7 for Figure 3 Schematic diagram of the assembly of the first main pulley and the first transmission belt shown in .

[0045] Figure 8 for Figure 1 Schematic diagram of the assembly of the third connecting rod, the end assembly and the third passive joint shown in .

[0046] Fig. 9 for Figure 5 The structural schematic diagram of the first fixed axis is shown in .

[0047] Fig.10 for Figure 7A schematic structural diagram of the first wheel body of the first primary pulley is shown in .

[0048] Fig.11 for Figure 7 A schematic structural diagram of the second wheel body of the first main pulley is shown in FIG.

[0049] Fig.12 for Figure 5 The structural schematic diagram of the first slave pulley is shown in .

[0050] Fig.13 5 is a schematic diagram of the structure of the first preload member.

[0051] Description of reference numerals:

[0052] 10. telecentric mechanism; 11. first connecting rod; 11a. reinforcement; 12. second connecting rod; 13. first passive joint; 131. first fixed axis; 1311. flange; 132. first transmission assembly; 1321. first bearing group; 1322. first main pulley; 13221. first wheel body; 132211. adjustment part; 13222. second wheel body; 132221. first assembly hole; 132222. adjustment surface; 13223. first adjustment member; 13224. third fastener; 13225. fourth fastener; 1323. first slave pulley; 13231. third assembly hole; 1324. first transmission belt; 13241. first belt body; 13242. second belt body; 133. The first preload member; 1331, preload groove; 14, second drive member; 141, output shaft; 151, first fastener; 152, second fastener; 153, fifth fastener; 154, deep groove ball bearing; 155, sixth fastener; 156, seventh fastener; 16, third connecting rod; 17, second passive joint; 171, second fixed shaft; 172, second transmission assembly; 1721, second main pulley; 1722, second slave pulley; 1723, second transmission belt; 18, terminal assembly; 19, third passive joint; 191, third fixed shaft; 192, third transmission assembly; 193, third preload member; 110, terminal assembly; 111, base; 112, first drive member; 113, enabling button. DETAILED DESCRIPTION

[0053] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0054] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0055] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0056] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0057] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0058] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0059] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, in this specification, the term "and / or" includes any and all combinations of the relevant listed items.

[0060] In the related telecentric mechanism technology, the assembly bearing of the passive joint is preloaded through the key transmission structure. However, the key transmission structure has the following disadvantages: on the one hand, the over-win fit required by the key transmission structure is difficult to assemble; on the other hand, after the key transmission structure is assembled, it cannot be fully preloaded, resulting in backlash in the passive joint, and the small backlash of the passive joint will be magnified at the telecentric point, making it difficult to ensure the position accuracy of the telecentric point, resulting in shaking of the connecting rod arm, and the telecentric mechanism has the problem of insufficient transmission stability.

[0061] In view of the above problems, the embodiment of the present application provides a telecentric mechanism and a surgical robot, wherein a detachable first pre-tightening member is provided on the first fixed axis, and the first pre-tightening member is used to apply a pre-tightening force to pre-tighten the first transmission assembly. Compared with the method of pre-tightening through a key transmission structure in the prior art, the embodiment of the present application directly pre-tightens the first transmission assembly through the first pre-tightening member, which can reduce or even eliminate the backlash in the passive structure, thereby improving the transmission accuracy of the telecentric mechanism.

[0062] First, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the embodiment of the present application provides a telecentric mechanism 10, which includes a first connecting rod 11, a second connecting rod 12 and a first passive joint 13. The first passive joint 13 connects the first connecting rod 11 and the second connecting rod 12.

[0063] Specifically, the first passive joint 13 includes a first fixed shaft 131, a first transmission assembly 132 and a first preload 133. The first fixed shaft 131 is detachably fixedly connected to one end of the first connecting rod 11. The first transmission assembly 132 is disposed on the first connecting rod 11. The output end of the first transmission assembly 132 is rotatably sleeved on the first fixed shaft 131. One end of the second connecting rod 12 is rotatably sleeved on the first fixed shaft 131, and is detachably fixedly connected to the output end of the first transmission assembly 132. The first preload 133 is detachably assembled on the first fixed shaft 131. The first preload 133 is used to apply a preload force to the first transmission assembly 132 so that the first transmission assembly 132 is fixed relative to the first fixed shaft 131 along the axial direction of the first fixed shaft 131.

[0064] In one example, referring to Figure 5 and Fig. 9 As shown, a flange portion 1311 is provided on the first fixed shaft 131, and a fastening hole (not shown) is provided on the flange portion 1311. The first connecting rod 11 is connected to the first fixed shaft 131 through a first fastener 151, wherein the first fastener 151 is assembled in the fastening hole.

[0065] In the embodiment of the present application, the first preload member 133 is in contact with the first transmission assembly 132 to apply a preload force to the first transmission assembly 132. It should be noted that the input end of the first transmission assembly 132 serves as the power input end of the first passive joint 13, and the power source of the first transmission assembly 132 can be a driving motor. The working principle of the first passive joint 13 is as follows: the driving force is input from the input end of the first transmission assembly 132, and then transmitted to the output end of the first transmission assembly 132, and the output end of the first transmission assembly 132 rotates, driving the second connecting rod 12 to rotate. Since the first transmission assembly 132 is applied with a preload force, the first transmission assembly 132 is fixed relative to the first fixed shaft 131 in the axial direction of the first fixed shaft 131, so that the first transmission assembly 132 will not move along the axial direction of the first fixed shaft 131 during the transmission process, and since the second connecting rod 12 is fixedly connected to the output end of the first transmission assembly 132, the second connecting rod 12 will not shake during the rotation process.

[0066] The telecentric mechanism 10 provided in the embodiment of the present application adopts the first preload member 133 to directly preload the first transmission component 132. Compared with the indirect preload method through the key transmission structure in the prior art, it can reduce or even eliminate the backlash of the first transmission component 132 in the axial direction of the first fixed shaft 131 and the backlash of the second connecting rod 12 in the axial direction of the first fixed shaft 131, thereby improving the transmission accuracy of the telecentric mechanism 10.

[0067] In one embodiment, referring to Figure 3 and Figure 5 As shown, the telecentric mechanism 10 further includes a third link 16 and a second passive joint 17 , and the second passive joint 17 connects the third link 16 and the second link 12 .

[0068] Specifically, the second passive joint 17 includes a second fixed shaft 171, a second transmission assembly 172 and a second preload (not shown). The second fixed shaft 171 is detachably fixedly connected to one end of the second connecting rod 12 away from the first fixed shaft 131. The second transmission assembly 172 is arranged on the second connecting rod 12. The input end of the second transmission assembly 172 is detachably fixedly connected to the first fixed shaft 131. The output end of the second transmission assembly 172 is rotatably sleeved on the second fixed shaft 171. One end of the third connecting rod 16 is rotatably sleeved on the second fixed shaft 171, and is detachably fixedly connected to the output end of the second transmission assembly 172. The second preload is detachably assembled on the second fixed shaft 171. The second preload is used to apply a preload force to the second transmission assembly 172 so that the second transmission assembly 172 is fixed relative to the second fixed shaft 171 along the axial direction of the second fixed shaft 171.

[0069] Exemplarily, the input end of the second transmission assembly 172 and the first fixed shaft 131 may be fixedly connected via a fastener.

[0070] In the embodiment of the present application, since the second transmission component 172 is applied with a preload, the second transmission component 172 is fixed relative to the second fixed shaft 171 in the axial direction of the second fixed shaft 171, so that the second transmission component 172 will not move along the axial direction of the second fixed shaft 171 during the transmission process. Since the third connecting rod 16 is fixedly connected to the output end of the second transmission component 172, the third connecting rod 16 will not shake during the rotation process, thereby improving the transmission accuracy of the telecentric mechanism 10.

[0071] In one embodiment, the first pre-tightening member 133 is assembled between the output end of the first transmission assembly 132 and the input end of the second transmission assembly 172 .

[0072] It should be noted that, since the output end of the first transmission assembly 132, the input end of the second transmission assembly 172 and the first pre-tightening member 133 are all assembled on the first fixed shaft 131, by arranging the first pre-tightening member 133 between the output end of the first transmission assembly 132 and the input end of the second transmission assembly 172, it is convenient to make the first pre-tightening member 133 directly abut against the output end of the first transmission assembly 132, thereby applying a pre-tightening force to the output end of the first transmission assembly 132, so that the pre-tightening reliability is higher. In addition, during assembly, the first pre-tightening member 133 is assembled first, and then the input end of the second transmission assembly 172 is assembled.

[0073] In one embodiment, referring to Figure 3, Figure 5 and Figure 6 As shown, the first transmission assembly 132 includes a first bearing group 1321 , a first main pulley 1322 , a first secondary pulley 1323 and a first transmission belt 1324 .

[0074] The first bearing group 1321 is sleeved on the first fixed shaft 131. The first preload member 133 abuts against the first bearing group 1321 to apply a preload force to the first bearing group 1321. The first main pulley 1322 is rotatably mounted on the first connecting rod 11. The first secondary pulley 1323 is mounted on the first bearing group 1321, and the first secondary pulley 1323 can rotate around the first fixed shaft 131. The second connecting rod 12 is detachably fixedly connected to the first secondary pulley 1323, specifically, refer to Fig.12 As shown, the first secondary pulley 1323 is provided with a third assembly hole 13231. When assembling the second connecting rod 12 and the first secondary pulley 1323, the second fastener 152 can be screwed into the third assembly hole 13231 to connect the second connecting rod 12 and the first secondary pulley 1323. The first transmission belt 1324 is stretched on the first main pulley 1322 and the first secondary pulley 1323.

[0075] In the embodiment of the present application, the first main pulley 1322 and the first bearing group 1321 are collectively referred to as the input end of the first transmission assembly 132. Further, the first main pulley 1322 drives the first slave pulley 1323 mounted on the first bearing group 1321 to rotate through the first transmission belt 1324, thereby driving the second connecting rod 12 to rotate.

[0076] In the embodiment of the present application, the first preload member 133 is brought into contact with the first bearing group 1321, so that the first bearing group 1321 can be firmly assembled on the first fixed shaft 131, thereby firmly assembling the first slave pulley 1323 and further firmly assembling the second connecting rod 12, thereby preventing the second connecting rod 12 from shaking during rotation.

[0077] It can be understood that the first bearing group 1321 may include a plurality of bearings, and the plurality of bearings may be arranged at intervals along the axial direction of the first fixed shaft 131 .

[0078] In one embodiment, referring to Figure 5 , Figure 6 and Figure 7 As shown, the first main pulley 1322 includes a first wheel body 13221, a second wheel body 13222 and a first adjusting member 13223. The first wheel body 13221 and the second wheel body 13222 are coaxially arranged. The second wheel body 13222 is adjustably arranged on one axial side of the first wheel body 13221. The first adjusting member 13223 is arranged on the first wheel body 13221. The first adjusting member 13223 is used to adjust the rotation angle of the second wheel body 13222 around its own axis relative to the first wheel body 13221.

[0079] The first transmission belt 1324 includes a first belt body 13241 and a second belt body 13242 that are arranged in a staggered manner. It should be noted that, "staggered arrangement" means that the assembly position of the first belt body 13241 on the first main pulley 1322 is different from the assembly position of the second belt body 13242 on the first main pulley 1322, and the assembly position of the first belt body 13241 on the first slave pulley 1323 is different from the assembly position of the second belt body 13242 on the first slave pulley 1323. Specifically, one end of the first belt body 13241 is connected to the first wheel body 13221, and the other end is connected to the first slave pulley 1323. One end of the second belt body 13242 is connected to the second wheel body 13222, and the other end is connected to the first slave pulley 1323.

[0080] The above arrangement can adjust the tension of the first transmission belt 1324 by adjusting the rotation angle of the second wheel body 13222 relative to the first wheel body 13221. It is understandable that the structure of the first secondary pulley 1323 can be the same as that of the first primary pulley 1322, that is, the first secondary pulley 1323 also includes two wheels, and the relative rotation angle of the two wheels is adjustable. In this way, the tension of the first transmission belt 1324 can also be adjusted by the first secondary pulley 1323.

[0081] In one embodiment, the first transmission belt 1324 can be a steel belt. In order to make the steel belt transmission more reasonable, increase the friction of the steel belt on the pulley, and reduce the influence of the steel belt tension on the connection strength between the steel belt and the pulley, the wrap angle of the steel belt on the pulley should be increased. Furthermore, the lengths of the first belt body 13241 and the second belt body 13242 can be made equal, which can reduce the types of steel belts and reduce the production and processing costs.

[0082] Furthermore, in actual operation, the wrap angle of the steel belt on the first main pulley 1322 decreases or increases, and the wrap angle on the first slave pulley 1323 should also increase or decrease, but the sum of the wrap angle on the first main pulley 1322 and the wrap angle on the first slave pulley 1323 should remain unchanged. This is conducive to ensuring the connection stability and transmission stability of the steel belt and the pulley.

[0083] In one embodiment, referring to Figure 6 As shown, the telecentric mechanism 10 also includes a second driving member 14, which is arranged on the first connecting rod 11, and the driving end of the second driving member 14 is transmission-connected to the first main pulley 1322, the second driving member 14 drives the first main pulley 1322 to rotate, and the first main pulley 1322 drives the first slave pulley 1323 to rotate through the first transmission belt 1324.

[0084] In an example, the output shaft 141 of the second driving member 14 is the output end of the second driving member 14 , and the first primary pulley 1322 is sleeved on the output shaft 141 of the second driving member 14 .

[0085] Furthermore, a flange is provided on the output shaft 141 of the second driving member 14, and the flange and the output shaft 141 are an integral component. The flange is constructed as the first wheel body 13221 of the first primary pulley 1322, and is assembled with the second wheel body 13222. In this way, on the one hand, the assembly process can be reduced and the assembly difficulty can be reduced; on the other hand, one component is reduced, which is conducive to a more compact structure and smaller size of the telecentric mechanism 10.

[0086] In the embodiment of the present application, the second driving member 14 is assembled with the first connecting rod 11 by a fifth fastener 153. A deep groove ball bearing 154 is provided on the first connecting rod 11, and the output shaft 141 of the second driving member 14 is assembled on the deep groove ball bearing 154, so that the deep groove ball bearing 154 can bear part of the load on the flange, reduce the load borne by the output shaft 141 of the second driving member 14, and improve the service life of the second driving member 14.

[0087] In one embodiment, referring to Figure 7 , Fig.10 and Fig.11 As shown, the first wheel body 13221 is provided with a first adjusting portion 132211, the first adjusting portion 132211 is provided with an adjusting hole (not shown in the figure), the second wheel body 13222 is provided with an adjusting surface 132222, the first adjusting member 13223 is inserted into the adjusting hole, and the end of the first adjusting member 13223 abuts against the adjusting surface 132222. By adjusting the position of the first adjusting member 13223 in the adjusting hole, the end of the first adjusting member 13223 applies a force to the adjusting surface 132222, pushing the second wheel body 13222 to rotate. Further, the second wheel body 13222 is provided with a first assembly hole 132221, the first wheel body 13221 is provided with a second assembly hole (not shown in the figure), and the third fastener 13224 is inserted into the first assembly hole 132221 and the second assembly hole. Specifically, after the first adjusting member 13223 is adjusted, the third fastener 13224 can be assembled in the first assembly hole 132221 and the second assembly hole to keep the first wheel body 13221 and the second wheel body 13222 fixed. Further, after the first wheel body 13221 and the second wheel body 13222 are assembled, the first main pulley 1322 can be assembled on the corresponding fixed shaft through the fourth fastener 13225.

[0088] Reference Figure 3 and Figure 5As shown, the second transmission assembly 172 includes a second bearing group (not shown), a first main pulley 1322 , a first secondary pulley 1323 and a first transmission belt 1324 .

[0089] The second bearing group is sleeved on the second fixed shaft 171. The second preload member abuts against the second bearing group to apply a preload force to the second bearing group. The second main pulley 1721 is fixedly mounted on the first fixed shaft 131. Specifically, the second main pulley 1721 can be mounted on the first fixed shaft 131 by a fastener. The second secondary pulley 1722 is mounted on the second bearing group, and the second secondary pulley 1722 can rotate around the second fixed shaft 171. The third connecting rod 16 is detachably fixedly connected to the second secondary pulley 1722. Specifically, the third connecting rod 16 can be connected to the second secondary pulley 1722 by a fastener. The second transmission belt 1723 is stretched on the second main pulley 1721 and the second secondary pulley 1722.

[0090] In the embodiment of the present application, the first slave pulley 1323 of the first transmission assembly 132 drives the second connecting rod 12 to rotate. While the second connecting rod 12 is rotating, since the second main pulley 1721 remains stationary, the second slave pulley 1722 moves relative to the second main pulley 1721 under the drive of the second connecting rod 12. Since the wrap angle between the second transmission belt 1723 and the second main pulley 1721 changes, the second transmission belt 1723 drives the second slave pulley 1722 to rotate, thereby driving the third connecting rod 16 to rotate. In the embodiment of the present application, the second main pulley 1721 is referred to as the input end of the second transmission assembly 172.

[0091] It should be noted that the structure of the second transmission assembly 172 may be the same as that of the first transmission assembly 132 , and the specific structure of the second transmission assembly 172 will not be described in detail in the embodiment of the present application.

[0092] In one embodiment, referring to Figure 8 As shown, the telecentric mechanism 10 further includes an end assembly 110 and a third passive joint 19 , and the third passive joint 19 connects the end assembly 110 and the third link 16 .

[0093] Specifically, the third passive joint 19 includes a third fixed shaft 191, a third transmission assembly 192 and a third preload 193. The third fixed shaft 191 is detachably fixedly connected to an end of the third connecting rod 16 away from the second fixed shaft 171. The third transmission assembly 192 is disposed on the third connecting rod 16. The input end of the third transmission assembly 192 is detachably fixedly connected to the third fixed shaft 191. The output end of the third transmission assembly 192 is rotatably sleeved on the third fixed shaft 191. The terminal assembly 110 is rotatably sleeved on the third fixed shaft 191 and is detachably fixedly connected to the output end of the third transmission assembly 192. The third preload 193 is detachably assembled on the third fixed shaft 191 and abuts against the third transmission assembly 192. The third preload 193 is used to apply a preload force to the third transmission assembly 192 so that the third transmission assembly 192 is fixed relative to the third fixed shaft 191 along the axial direction of the third fixed shaft 191. Exemplarily, the third fixed shaft 191 and the third connecting rod 16 may be connected via a sixth fastener 155 , and the end assembly 110 and the third transmission assembly 192 may be connected via a seventh fastener 156 .

[0094] In the embodiment of the present application, since the third transmission component 192 is applied with a preload, the third transmission component 192 is fixed relative to the third fixed shaft 191 in the axial direction of the third fixed shaft 191, so that the third transmission component 192 will not move along the axial direction of the third fixed shaft 191 during the transmission process. Since the end component 110 is fixedly connected to the output end of the third transmission component 192, the end component 110 will not shake during the rotation process, thereby improving the transmission accuracy of the telecentric mechanism 10.

[0095] It should be noted that the structure of the third transmission assembly 192 may be the same as that of the first transmission assembly 132 , and the specific structure of the third transmission assembly 192 will not be described in detail in the embodiment of the present application.

[0096] In one embodiment, referring to Fig.13 As shown, the first pre-tightening member 133 includes a pre-tightening ring, and a thread pair is provided between the inner ring of the pre-tightening ring and the outer periphery of the first fixed shaft 131. A pre-tightening groove 1331 is provided on the end surface of the pre-tightening ring away from the first transmission assembly 132. In this way, when assembling the first pre-tightening member 133, a tool can be inserted into the pre-tightening groove 1331 to rotate the first pre-tightening member 133, so that the first pre-tightening member 133 can be tightened more conveniently and assembled easily.

[0097] In one embodiment, referring to Figure 1 , Figure 2 and Figure 3As shown, the telecentric mechanism 10 further includes a first driving member 112, a driving end of the first driving member 112 is transmission-connected to the first connecting rod 11, and the first driving member 112 is used to drive the first connecting rod 11 to rotate around a first virtual straight line a, and the first virtual straight line a passes through a fixed reference point RC of the telecentric mechanism 10. Further, the first driving member 112 is used to drive the first connecting rod 11, the second connecting rod 12, the third connecting rod 16 and the end assembly 110 to rotate around the first virtual straight line a as a whole.

[0098] In one embodiment, the telecentric mechanism 10 further includes a base 111, and a first driving member 112 is disposed on the base 111. The first connecting rod 11 is also assembled on the base 111. The base 111 is connected to one side of the first connecting rod 11 along the first direction X. The first direction X intersects with the axis b of the first connecting rod 11, and the axis b of the first connecting rod 11 intersects with the first virtual straight line a. In one example, the first direction X is perpendicular to the axis b of the first connecting rod 11.

[0099] The above arrangement is equivalent to connecting the side of the first connecting rod 11 to the base 111, that is, offsetting the base 111 and the first driving member 112. This arrangement can shorten the distance between the fixed reference point RC and the base 111 without affecting the motion range of the telecentric mechanism 10 and the stroke of each connecting rod, making the configuration of the telecentric mechanism 10 more compact and at the same time conducive to improving the rigidity of the telecentric mechanism 10.

[0100] In one of the embodiments, an enable button 113 is also provided on the base 111. Combined with the control of the current monitoring and control system of the first driving member 112, after pressing the enable button 113, the telecentric mechanism 10 can be manually dragged to adjust the position of the fixed reference point and the posture of the telecentric mechanism 10.

[0101] In one embodiment, reference Figure 5 As shown, a reinforcing member 11a is also provided on the first connecting rod 11, which can enhance the strength and rigidity of the first connecting rod 11 and improve the stability of the telecentric mechanism.

[0102] In a second aspect, an embodiment of the present application provides a surgical robot, comprising the telecentric mechanism 10 of any embodiment in the first aspect.

[0103] The telecentric mechanism 10 and the surgical robot provided in the embodiment of the present application are provided with a detachable first pre-tightening member 133 on the first fixed shaft 131, and the first pre-tightening member 133 is used to apply a pre-tightening force to pre-tighten the first transmission assembly 132. Compared with the method of pre-tightening by a key transmission structure in the prior art, the embodiment of the present application directly pre-tightens the first transmission assembly 132 by the first pre-tightening member 133, which can reduce or even eliminate the backlash in the passive structure, thereby improving the transmission accuracy of the telecentric mechanism 10.

[0104] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, mechanisms, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0105] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features of the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A telecentric mechanism, characterized in that: include: A first connecting rod (11) and a second connecting rod (12); A first passive joint (13) connecting the first connecting rod (11) and the second connecting rod (12); Wherein, the first passive joint (13) comprises: A first fixed shaft (131) is detachably fixedly connected to one end of the first connecting rod (11); A first transmission assembly (132) is arranged on the first connecting rod (11); the output end of the first transmission assembly (132) is rotatably sleeved on the first fixed shaft (131); one end of the second connecting rod (12) is rotatably sleeved on the first fixed shaft (131) and is detachably fixedly connected to the output end of the first transmission assembly (132); A first pre-tightening member (133) is detachably mounted on the first fixed shaft (131); the first pre-tightening member (133) is used to apply a pre-tightening force to the first transmission assembly (132) so that the first transmission assembly (132) is fixed relative to the first fixed shaft (131) along the axial direction of the first fixed shaft (131).

2. The telecentric mechanism according to claim 1, characterized in that: The first transmission assembly (132) comprises: A first bearing group (1321) is sleeved on the first fixed shaft (131); the first preload member (133) is in contact with the first bearing group (1321) to apply a preload force to the first bearing group (1321); A first main pulley (1322) rotatably mounted on the first connecting rod (11); The first secondary pulley (1323) is assembled on the first bearing group (1321); the second connecting rod (12) is detachably fixedly connected to the first secondary pulley (1323); The first transmission belt (1324) is stretched on the first main pulley (1322) and the first slave pulley (1323).

3. The telecentric mechanism according to claim 2, characterized in that: The first main pulley (1322) comprises a first wheel body (13221), a second wheel body (13222) and a first adjusting member (13223); the first wheel body (13221) and the second wheel body (13222) are coaxially arranged; the second wheel body (13222) is adjustably arranged on one axial side of the first wheel body (13221); the first adjusting member (13223) is arranged on the first wheel body (13221); the first adjusting member (13223) is used to adjust the rotation angle of the second wheel body (13222) relative to the first wheel body (13221) around its own axis; The first transmission belt (1324) includes a first belt body (13241) and a second belt body (13242) which are staggered. One end of the first belt body (13241) is connected to the first wheel body (13221), and the other end is connected to the first slave pulley (1323). One end of the second belt body (13242) is connected to the second wheel body (13222), and the other end is connected to the first slave pulley (1323).

4. The telecentric mechanism according to claim 1, characterized in that: The first pre-tightening member (133) comprises a pre-tightening ring, and a threaded pair is arranged between the inner ring of the pre-tightening ring and the outer periphery of the first fixed shaft (131); A pre-tightening groove (1331) is provided on an end surface of the pre-tightening ring away from the first transmission assembly (132).

5. The telecentric mechanism according to claim 1, characterized in that: The telecentric mechanism (10) further comprises a third connecting rod (16) and a second passive joint (17), wherein the second passive joint (17) connects the third connecting rod (16) and the second connecting rod (12); The second passive joint (17) comprises: A second fixed shaft (171) is detachably fixedly connected to an end of the second connecting rod (12) away from the first fixed shaft (131); A second transmission assembly (172) is arranged on the second connecting rod (12); the input end of the second transmission assembly (172) is detachably fixedly connected to the first fixed shaft (131); the output end of the second transmission assembly (172) is rotatably sleeved on the second fixed shaft (171); one end of the third connecting rod (16) is rotatably sleeved on the second fixed shaft (171) and is detachably fixedly connected to the output end of the second transmission assembly (172); A second preload member (173) is detachably mounted on the second fixed shaft (171); the second preload member (173) is used to apply a preload force to the second transmission assembly (172) so that the second transmission assembly (172) is fixed relative to the second fixed shaft (171) along the axial direction of the second fixed shaft (171).

6. The telecentric mechanism according to claim 5, characterized in that: The first pre-tightening member (133) is assembled between the output end of the first transmission assembly (132) and the input end of the second transmission assembly (172).

7. The telecentric mechanism (10) according to claim 5, characterized in that: The telecentric mechanism (10) further comprises an end assembly (110) and a third passive joint (19), wherein the third passive joint (19) connects the end assembly (110) and the third connecting rod (16); The third passive joint (19) comprises: A third fixed shaft (191) is detachably fixedly connected to an end of the third connecting rod (16) away from the second fixed shaft (171); A third transmission assembly (192) is arranged on the third connecting rod (16); the input end of the third transmission assembly (192) is detachably fixedly connected to the third fixed shaft (191); the output end of the third transmission assembly (192) is rotatably sleeved on the third fixed shaft (191); the terminal assembly (110) is rotatably sleeved on the third fixed shaft (191) and is detachably fixedly connected to the output end of the third transmission assembly (192); A third preload member (193) is detachably mounted on the third fixed shaft (191) and abuts against the third transmission assembly (192); the third preload member (193) is used to apply a preload force to the third transmission assembly (192) so that the third transmission assembly (192) is fixed relative to the third fixed shaft (191) along the axial direction of the third fixed shaft (191).

8. The telecentric mechanism according to claim 1, characterized in that: The telecentric mechanism (10) further comprises a first driving member (112), a driving end of the first driving member (112) being in transmission connection with the first connecting rod (11), the first driving member (112) being used to drive the first connecting rod (11) to rotate around a first virtual straight line, and the first virtual straight line passes through a fixed reference point of the telecentric mechanism (10).

9. The telecentric mechanism according to claim 8, characterized in that: The telecentric mechanism (10) further comprises a base (111), and the first driving member (112) is arranged on the base (111); Wherein, the base (111) is connected to one side of the first connecting rod (11) along a first direction; the first direction intersects with the axis of the first connecting rod (11); and the axis of the first connecting rod (11) intersects with the first virtual straight line.

10. A surgical robot, characterized in that: It comprises a telecentric mechanism (10) as claimed in any one of claims 1 to 9.

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