Slewing bearing for medical manual mechanical arm

Abstract

The invention discloses a slewing bearing for a medical manual mechanical arm, and belongs to the technical field of slewing bearings, the slewing bearing comprises an inner ring, an outer ring, a rolling body and a sealing strip, the inner ring is arranged in the outer ring, the inner ring and the outer ring are rotatably connected through the rolling body, the sealing strip is arranged between the inner ring and the outer ring, an annular slewing bearing body is formed on the upper surface of the inner ring, and the outer ring is arranged on the outer surface of the annular slewing bearing body. An upper positioning block is fixedly arranged on the outer side of the slewing bearing body through a screw, and the lower surface of the inner ring is concaved inwards to form a damping groove. The upper end of the outer ring is concaved inwards to form a fixing ring, a plurality of threaded holes and pin holes are evenly distributed on the periphery of the fixing ring in an alternating mode, two lower positioning blocks are detachably arranged on the fixing ring, the inner ring rotates between the two lower positioning blocks on the outer ring through the upper positioning blocks, and the lower end of the outer ring extends outwards to form a square base. A damping plate is arranged at the bottom end of the square base; the rolling body is a ceramic ball; the slewing bearing is suitable for medical use, simple in structure, convenient to use, good in damping performance and adjustable in rotation angle.

Description

Technical Field

[0001] The invention relates to a slewing bearing, in particular to a slewing bearing for a medical manual mechanical arm, and belongs to the technical field of slewing bearings. Background Art

[0002] As an important basic component of engineering machinery and construction machinery, slewing bearing is an important force transmission component required for all machines that need to rotate relative to each other and bear axial force, radial force and overturning moment. It is widely used in real industry and is called "the joint of the machine". With the development of the industry, in addition to various engineering machinery, the application scope of slewing bearings has been gradually expanded. Sewage treatment, marine development, oil exploration, medicine and health, food industry, chemical industry, textile industry, filling equipment, electricity, robots, scientific research, national defense and military technology and many other industries have begun to use slewing bearings on a large scale. Various working environments have also put forward higher requirements on the load-bearing, transmission and structure of slewing bearings.

[0003] With the development of technology, the application field of slewing bearings is becoming more and more extensive; however, the domestic market for slewing bearings with high precision, high load capacity and controllable rotation angle is still very blank. For example, the rotation angle of slewing bearings used in medical robotic arms is generally controlled by sensors and detection devices, which has a complex structure and increases the structure of the overall device. The slewing bearings in medical applications have no damping when they are self-operated and cannot be braked in time. In addition, the suspension of general slewing bearings is not conducive to raceway lubrication. The existing slewing bearings used in medical robotic arms have many defects. At present, patent CN212004191U is a rotary reducer with mechanical limit, which is provided with a block on the outer ring and a limit block on the inner ring. The outer ring block and the inner ring limit plate rotate within a certain angle range. When the two are in contact, the rotation angle is limited. However, the limit fixing can only limit a certain angle range such as 5°-355°, which is not flexible to use, has a small angle range, has no damping when suspended, and cannot be braked in time; patent CN209277227U rotary limit mechanism, which has a block fixed on the upper frame and a stopper fixed on the lower frame The limit block can contact the buffer on the stop block to achieve the purpose of limiting the rotation angle of construction machinery such as excavators. By installing buffers on both sides of the mounting seat, the rotation angle in two directions of construction machinery such as excavators can be effectively controlled, and the size of the limited rotation angle can be changed by controlling the circumferential distance of the buffers on both sides, which effectively solves the problem of controlling the rotation angle due to limited space. However, the controllable range of the buffer is limited, resulting in a small rotation angle range. At the same time, it cannot meet the damping requirements of medical robotic arms. After suspension installation, it is inconvenient to lubricate the raceway, etc.

[0004] Therefore, developing a slewing bearing for a medical manual robotic arm that can overcome the above defects has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a slewing bearing for a medical manual robotic arm. The slewing bearing is suitable for medical use, has a simple structure, is easy to use, has good damping properties, and can adjust the rotation angle.

[0006] In order to solve the above technical problems, the present invention provides a slewing bearing for a medical manual mechanical arm, comprising an inner ring, an outer ring, a rolling body and a sealing strip, wherein the inner ring is arranged inside the outer ring, the inner ring and the outer ring are rotatably connected through the rolling body, and a sealing strip is arranged between the inner ring and the outer ring; The upper surface of the inner ring extends outward along its circumferential direction to form an annular slewing bearing body, an upper positioning block is fixed on the outer side of the slewing bearing body by screws, and the lower surface of the inner ring is concave to form a damping groove; The upper end of the outer ring is concave inward along the diameter direction of the outer ring to form a fixed ring. Several threaded holes and pin holes are evenly distributed around the fixed ring. The threaded holes and pin holes are arranged alternately. Two lower positioning blocks are detachably arranged on the fixed ring through the pin holes and the threaded holes. The upper positioning block is located between the two lower positioning blocks. The inner ring rotates between the two lower positioning blocks on the outer ring through the upper positioning block. The lower end of the outer ring extends outward to form a square base. A damping plate is arranged at the bottom end of the square base. The rolling elements are ceramic balls.

[0007] The technical solution further defined in the present invention is: Furthermore, in the aforementioned slewing bearing for the medical manual robotic arm, the outer ring is sleeved outside the inner ring, and raceways are respectively provided on the opposite sides of the outer ring and the inner ring, and a plurality of rolling bodies are provided in the raceways. An isolation block is provided between the two rolling bodies, and the outer ring is rotatably connected to the inner ring through the rolling bodies and connected as a whole. A threaded hole oil passage communicating with the raceway is transversely provided on one side of the outer ring, an oil cup is provided on the oil passage, a plugging hole is provided on the side of the outer ring away from the oil cup, a detachable plug is provided in the plugging hole, and the plug is connected to the outer ring through a conical pin, and a sealing strip groove is provided on the outer wall of the inner ring above the raceway, and a sealing strip is provided in the sealing strip groove for sealing between the outer ring and the inner ring.

[0008] In the aforementioned slewing bearing for a medical manual robotic arm, the upper positioning block includes an upper positioning block body of a cubic structure, a first fixing hole is opened on the upper positioning block body, one side of the lower end of the upper positioning body extends downward to form a limit plate, and the limit plate is located between the two lower positioning blocks, and the two lower positioning blocks limit the rotation range of the limit plate.

[0009] Technical effect: The present invention arranges an upper positioning block on the inner ring, and cooperates with the lower positioning block on the outer ring through a limit plate extending below the upper positioning block. The limit plate limits the rotation between the two lower positioning blocks, so that the distance between the two lower positioning blocks can be adjusted as needed to achieve the rotation angle of the inner ring. The adjustability is high and can be adjusted at any time according to needs. The rotation angle range is wide and the positioning block can be cancelled at most to achieve 360° rotation. It is also easy to install and disassemble.

[0010] In the aforementioned slewing bearing for a medical manual robotic arm, the lower positioning block includes a lower positioning block body with an arc-shaped structure, two cylindrical fixing blocks are symmetrically arranged on one side of the lower positioning block body connected to the fixing ring, a second fixing hole penetrating the lower positioning block body is provided between the two fixing blocks on the lower positioning block body, the fixing block is adapted to fit with the pin holes on the fixing ring and extend into the pin holes, and the lower positioning block is detachably arranged in the threaded hole of the fixing ring through screws and the second fixing hole.

[0011] Technical effect: the arc-shaped structure of the lower positioning block is to adapt to the barrel-shaped fixing ring, which is more close-fitting. The lower positioning block is fixed by inserting the fixing block protruding from the surface of the lower positioning block body into the pin hole, and then further tightened in the threaded hole with a screw, which has better stability and ensures stable work.

[0012] In the aforementioned slewing bearing for medical manual robotic arm, first fixing grooves are symmetrically provided on both sides of the slewing bearing body, and the first fixing grooves are formed by the downward concave sides of the slewing bearing body.

[0013] Technical effect: The present invention has first fixing grooves symmetrically arranged on both sides of the slewing bearing body of the inner ring, which is convenient for installing a protective cover, can prevent dust, ensure cleanliness, and is convenient for use in high-cleanliness medical requirements.

[0014] In the aforementioned slewing support for a medical manual robotic arm, a protective cover is detachably provided on the slewing support body through a first fixing groove.

[0015] Technical effect: the protective cover can be set as needed, can be easily installed and disassembled through the first fixing groove, is easy to prevent dust, and is more suitable for medical use.

[0016] In the aforementioned slewing support for the medical manual robotic arm, second fixing grooves are symmetrically provided on both sides of the base, and the second fixing grooves are formed by the downward concave sides of the base.

[0017] Technical effect: the inner ring or the entire slewing bearing can be protected and dustproof as needed, and it has wide applicability.

[0018] In the aforementioned slewing support for the medical manual robotic arm, a protective cover is detachably provided on the base through the second fixing groove.

[0019] Technical effect: the protective cover can be set as needed, is easy to install and disassemble through the second fixing groove, is dust-proof, and is more suitable for medical use.

[0020] In the aforementioned slewing bearing for medical manual robotic arm, positioning holes and base threaded holes are respectively provided on both sides of the base.

[0021] Technical effect: The present invention provides positioning holes and base threaded holes on both sides of the base, which is convenient for connection with the medical robot arm and easy to install and disassemble.

[0022] In the aforementioned slewing bearing for medical manual robotic arm, the slewing bearing for medical manual robotic arm is made of stainless steel.

[0023] Technical effect: the present invention is used for medical surgery and is used in a medical environment, which requires corrosion resistance and is made of stainless steel to extend its service life.

[0024] The beneficial effects of the present invention are: The present invention does not use sensors to adjust the angle, and has a simpler structure and is more convenient to use. A series of manual robotic arms are needed in medical operating rooms, and relatively flexible rotation is required. However, damping is required during the rotation process to ensure active braking and meet the use requirements. The present invention arranges a damping plate at the bottom end of the base, which increases the damping performance on the one hand, and at the same time, after installation, the damping plate has a certain elasticity and will be squeezed into the damping groove of the inner ring, so that the inner ring has a certain damping performance when rotating, which is convenient for braking and hovering, and does not require other power.

[0025] The rolling element of the present invention adopts ceramic balls, which have better sliding properties and are convenient for the rotation of the inner ring and the outer ring. Since the slewing bearing is arranged in the medical field and is installed in a suspended manner, it is not convenient for raceway lubrication. The ceramic balls have good lubricity and do not require maintenance and lubricant.

[0026] The present invention is provided with a fixing ring, and a pin hole and a threaded hole are provided around the fixing ring, so that the distance between the two lower positioning blocks can be adjusted according to the rotation angle to adjust the rotation angle, which is convenient and adjustable, and the lower positioning block is easy to install and disassemble.

[0027] The base of the present invention has a square cross-section, which is convenient for adapting to an existing medical surgical robot arm and for easy installation and disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic structural diagram of a slewing bearing for a medical manual robotic arm according to an embodiment of the present invention; Figure 2 for Figure 1 The cross-sectional view in the DD direction; Figure 3 for Figure 1 The cross-sectional view in the AA direction; Figure 4 for Figure 1Cross-sectional view in the BB direction; Figure 5 for Figure 1 The cross-sectional view in CC direction; Figure 6 Figure 1 A schematic diagram of the enlarged structure of part I; Figure 7 Figure 1 A schematic diagram of the enlarged structure of part II; Figure 8 for Figure 5 A schematic diagram of the enlarged structure of part III; Fig. 9 for Figure 1 Structural diagram of the middle and upper positioning block; Fig.10 for Figure 1 Structural diagram of the middle and lower positioning blocks; In the figure: 1-inner ring, 2-outer ring, 3-rolling element, 4-sealing strip, 5-slewing bearing body, 51-first fixed groove, 6-upper positioning block, 61-upper positioning block body, 62-first fixed hole, 63-limiting plate, 7-damping groove, 8-fixing ring, 9-threaded hole, 10-pin hole, 11-lower positioning block, 111-lower positioning block body, 112-fixed block, 113-second fixed hole, 12-base, 121-second fixed groove, 13-damping plate, 15-oil cup, 16-plug, 17-taper pin. DETAILED DESCRIPTION Example 1

[0029] This embodiment provides a slewing bearing for a medical manual robotic arm, see Figure 2 , including an inner ring 1, an outer ring 2, rolling elements 3 and a sealing strip 4. The outer ring 2 is sleeved outside the inner ring 1. The outer ring 2 and the inner ring 1 are provided with raceways on opposite sides thereof. A plurality of rolling elements 3 are provided in the raceways. An isolation block 14 is provided between the two rolling elements 3. The outer ring 2 is rotatably connected with the inner ring 1 through the rolling elements 3 and connected as a whole. A threaded hole oil passage communicating with the raceway is transversely provided on one side of the outer ring 2. An oil cup 15 is provided on the oil passage. A plugging hole is provided on the side of the outer ring 2 away from the oil cup 15. A plugging hole 16 is detachably provided in the plugging hole. The plugging hole 16 is connected to the outer ring 2 through a conical pin 17. A sealing strip groove is provided on the outer wall of the inner ring 1 above the raceway. A sealing strip 4 is provided in the sealing strip groove for sealing between the outer ring 2 and the inner ring 1. See also Figure 1 , 3 9 The upper surface of the inner ring 1 extends outward along its circumferential direction to form an annular slewing bearing body 5. An upper positioning block 6 is fixed to the outer side of the slewing bearing body 5 by screws. The lower surface of the inner ring 1 is concave to form a damping groove 7. Figure 5 and 8 ; See also Figure 1 , 4 The upper end of the outer ring 2 is concave inward along the outer ring diameter direction to form a fixed ring 8. Several threaded holes 9 and pin holes 10 are evenly distributed around the fixed ring 8. The threaded holes 9 and the pin holes 10 are arranged alternately. Two lower positioning blocks 11 are detachably arranged on the fixed ring 8 through the pin holes 10 and the threaded holes 9. The upper positioning block 6 is located between the two lower positioning blocks 11. The inner ring 1 rotates between the two lower positioning blocks 11 on the outer ring 2 through the upper positioning block 6. The lower end of the outer ring 2 extends outward to form a square base 12. The bottom end of the square base 12 is provided with a damping plate 13; The rolling element 3 is a ceramic ball.

[0030] The present invention is specific, see Fig. 9 The upper positioning block 6 includes an upper positioning block body 61 of a cubic structure, a first fixing hole 62 is opened on the upper positioning block body 61, and one side of the lower end of the upper positioning body 61 extends downward to form a limit plate 63, which is located between the two lower positioning blocks 11, and the two lower positioning blocks 11 limit the rotation range of the limit plate 63.

[0031] The present invention is specific, see Fig.10 The lower positioning block 11 includes a lower positioning block body 111 with an arc-shaped structure. Two cylindrical fixing blocks 112 are symmetrically arranged on one side of the lower positioning block body 111 connected to the fixing ring 8. A second fixing hole 113 is provided on the lower positioning block body 111 between the two fixing blocks 112, and penetrates the lower positioning block body 111. The fixing block 112 is adapted to fit the pin hole 10 on the fixing ring 8 and extends into the pin hole 10. The lower positioning block 11 is detachably arranged in the threaded hole 9 of the fixing ring 8 through screws and the second fixing hole 113.

[0032] The present invention is specific, see Figure 1 and 6 The first fixing grooves 51 are symmetrically arranged on both sides of the slewing support body 5. The first fixing grooves 51 are formed by the downward concave sides of the slewing support body 5. The outer side of the first fixing groove is higher than the inner side, which is convenient for the installation and removal of the dust cover. The protective cover is detachably arranged on the slewing support body 5 through the first fixing grooves 51.

[0033] The present invention is specific, see Figure 1 and 7 Second fixing grooves 121 are symmetrically provided on both sides of the base 12 . The second fixing grooves 121 are formed by the two sides of the base 12 being concave downwards. A protective cover is detachably provided on the base 12 through the second fixing grooves 121 .

[0034] The present invention is specific, see Figure 1 Positioning holes and base threaded holes are respectively provided on two sides of the base 12 .

[0035] Technical effect: The present invention provides positioning holes and base threaded holes on both sides of the base, which is convenient for connection with the medical robot arm and easy to install and disassemble.

[0036] Specifically, the slewing support for the medical manual mechanical arm is made of stainless steel and is used in a medical environment, which requires corrosion resistance. The use of stainless steel prolongs its service life.

[0037] In addition to the above embodiments, the present invention may also have other implementation modes. Any technical solution formed by equivalent replacement or equivalent transformation falls within the protection scope required by the present invention.

Claims

1. A slewing bearing for a medical manual mechanical arm, comprising an inner ring (1), an outer ring (2), a rolling element (3) and a sealing strip (4), wherein the inner ring (1) is arranged inside the outer ring (2), the inner ring (1) and the outer ring (2) are rotatably connected via the rolling element (3), and the sealing strip (4) is arranged between the inner ring (1) and the outer ring (2), characterized in that: The upper surface of the inner ring (1) extends outwardly along its circumferential direction to form an annular slewing bearing body (5); an upper positioning block (6) is fixed on the outer side of the slewing bearing body (5) by screws; and the lower surface of the inner ring (1) is concave to form a damping groove (7); The upper end of the outer ring (2) is concave inward along the diameter direction of the outer ring to form a fixed ring (8), a plurality of threaded holes (9) and pin holes (10) are evenly distributed around the fixed ring (8), the threaded holes (9) and pin holes (10) are arranged alternately, two lower positioning blocks (11) are detachably arranged on the fixed ring (8) through the pin holes (10) and the threaded holes (9), the upper positioning block (6) is located between the two lower positioning blocks (11), the inner ring (1) rotates between the two lower positioning blocks (11) on the outer ring (2) through the upper positioning block (6), the lower end of the outer ring (2) extends outward to form a square base (12), and a damping plate (13) is provided at the bottom end of the square base (12); The rolling body (3) is a ceramic ball.

2. The slewing bearing for a medical manual robotic arm according to claim 1, characterized in that: The outer ring (2) is sleeved outside the inner ring (1), and the opposite sides of the outer ring (2) and the inner ring (1) are respectively provided with raceways, and a plurality of rolling elements (3) are provided in the raceways. An isolation block (14) is provided between two rolling elements (3). The outer ring (2) is rotatably connected to the inner ring (1) through the rolling elements (3) and connected as a whole. A threaded hole oil passage communicating with the raceway is transversely provided on one side of the outer ring (2), and an oil cup (15) is provided on the oil passage. A plugging hole is provided on the side of the outer ring (2) away from the oil cup (15), and a plug (16) is detachably provided in the plugging hole. The plug (16) is connected to the outer ring (2) through the conical pin (17). A sealing strip groove is provided on the outer wall of the inner ring (1) above the raceway, and a sealing strip (4) is provided in the sealing strip groove for sealing between the outer ring (2) and the inner ring (1).

3. The slewing bearing for a medical manual robotic arm according to claim 1, characterized in that: The upper positioning block (6) comprises an upper positioning block body (61) of a cubic structure, a first fixing hole (62) being formed on the upper positioning block body (61), and a limit plate (63) extending downward from one side of the lower end of the upper positioning body (61). The limit plate (63) is located between two lower positioning blocks (11), and the two lower positioning blocks (11) limit the rotation range of the limit plate (63).

4. The slewing bearing for a medical manual robotic arm according to claim 1, characterized in that: The lower positioning block (11) comprises a lower positioning block body (111) of an arc-shaped structure, two cylindrical fixing blocks (112) are symmetrically arranged on one side of the lower positioning block body (111) connected to the fixing ring (8), a second fixing hole (113) penetrating the lower positioning block body (111) is arranged between the two fixing blocks (112) on the lower positioning block body (111), the fixing block (112) is adapted to fit the pin hole (10) on the fixing ring (8) and extends into the pin hole (10), and the lower positioning block (11) is detachably arranged in the threaded hole (9) of the fixing ring (8) by means of a screw and the second fixing hole (113).

5. The slewing bearing for a medical manual robotic arm according to claim 1, characterized in that: First fixing grooves (51) are symmetrically provided on both sides of the slewing support body (5), and the first fixing grooves (51) are formed by the downward concavities on both sides of the slewing support body (5).

6. The slewing bearing for a medical manual robotic arm according to claim 5, characterized in that: The slewing support body (5) is detachably provided with a protective cover via a first fixing groove (51).

7. The slewing bearing for a medical manual robotic arm according to claim 1, characterized in that: Second fixing grooves (121) are symmetrically provided on both sides of the base (12), and the second fixing grooves (121) are formed by the downward inward concavities of both sides of the base (12).

8. The slewing bearing for a medical manual robotic arm according to claim 7, characterized in that: The base (12) is detachably provided with a protective cover via a second fixing groove (121).

9. The slewing bearing for a medical manual robotic arm according to claim 1, characterized in that: Positioning holes and base threaded holes are respectively provided on two sides of the base (12).

10. The slewing bearing for a medical manual robotic arm according to claim 1, characterized in that: The slewing bearing for the medical manual robotic arm is made of stainless steel.

Images