Positioning arm assembly of medical robot

Abstract

The invention is applicable to the technical field of medical robots, and provides a positioning arm assembly of a medical robot, which comprises a mounting column, a first swing arm rotationally connected to the upper part of the mounting column, and a connecting column rotationally connected to the lower end of the first swing arm, a second swing arm is fixed to the tail end of the connecting column, and a rotating column is rotationally connected to the lower end of the second swing arm; a rotating bent arm is rotationally connected to the side wall of the rotating column; a first gas circuit shell is fixed to the inner bottom of the first swing arm, and a second gas circuit shell is fixed to the inner top of the second swing arm. An air blower blows air into one pipeline, outside air enters the first air path shell and the second air path shell from one connecting pipe, air in the second air path shell enters the second swing arm and the first swing arm through heat dissipation openings, and air in the first swing arm is exhausted from the other connecting pipe and the other pipeline; the tail ends of the two pipelines and the air blower are far away from the working site of the end effector, so that heat generated by the driving mechanism is discharged and far away from the operation site.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical robots, and in particular relates to a positioning arm assembly of a medical robot. Background Art

[0002] A medical robot is an intelligent service robot that can perform medical operations and is widely used in scenarios such as surgery, rehabilitation, and diagnosis and treatment.

[0003] The positioning arm assembly on the medical robot can be connected to the required end effector according to different needs. The end effector can be set in the working position through the positioning arm assembly. The driving motor of the positioning arm assembly will generate heat when working. If the heat generated by the motor is transmitted to the part of the positioning arm that contacts the patient (such as the end of the robotic arm or the parts close to the patient's body surface), it may cause the local tissue temperature to rise, causing burns or thermal damage, especially in long-term surgery. The risk is higher; such as heart surgery or certain neurosurgery operations require the patient to maintain a low temperature, the heat dissipation of the equipment may interfere with body temperature management, and poor heat dissipation may cause the surface temperature of the equipment to rise, and the operator may be distracted or restricted in operation when in contact. Therefore, the positioning arm assemblies on existing medical robots mostly use human-driven positioning arm assembly posture adjustment.

[0004] While existing medical robot positioning arm assemblies use manual control to adjust their posture, which can prevent heat generation during operation and potentially affect surgery, these adjustments often require precise operation and complex setup. Manual adjustment is not only time-consuming and labor-intensive, but can also lead to inaccurate positioning due to improper operation, increasing surgical risks. Furthermore, limited accuracy is a significant issue. Manual adjustment can prolong surgical preparation time, reduce operating room utilization, and increase hospital operating costs. Summary of the Invention

[0005] An embodiment of the present invention aims to provide a positioning arm assembly for a medical robot, aiming to solve the problem that heat is generated when the positioning arm assembly of the medical robot is working, thereby affecting surgery.

[0006] The present invention is implemented as follows: a positioning arm assembly of a medical robot includes a mounting column, and further includes: a swing arm 1 rotatably connected to the upper part of the mounting column, and a connecting column rotatably connected to the lower end of the swing arm, the end of the connecting column is fixed with a swing arm 2, the lower end of the swing arm 2 is rotatably connected to the rotating column, and the side wall of the rotating column is rotatably connected to a rotating bent arm; an air circuit housing 1 is fixed to the bottom of the swing arm 1, and an air circuit housing 2 is fixed to the top of the swing arm 2, and a heat dissipation port is provided at the lower end of the air circuit housing 2, the middle part of the connecting column is hollow, and the two ends of the connecting column respectively pass through the air circuit housing 1 and the air circuit housing 2. Shell 2, at least one concave pipeline is provided on the side wall of the connecting column, one end of the concave pipeline extends into the gas circuit shell 1, and the other end of the concave pipeline extends into the gas circuit shell 2, two connecting pipes are installed on the side of the swing arm 1 close to the mounting column, one of the connecting pipes extends into the gas circuit shell 1, both connecting pipes are connected to pipelines, and one of the pipelines is connected to a blower; it also includes a driving mechanism, which is used to drive the swing arm 1 to rotate relative to the mounting column, the connecting column to rotate relative to the swing arm 1, the rotating column to rotate relative to the swing arm 2, and the rotating bent arm to rotate relative to the rotating column.

[0007] A further technical solution is that an aviation socket is installed near one end of the rotating bending arm of the second swing arm, the end of the circuit of the end effector is connected to the aviation plug, and the end effector is connected to the aviation socket through the aviation plug. The circuit connected to the aviation socket is stored in the second swing arm, the connecting column and the first swing arm.

[0008] A further technical solution is that the driving mechanism includes a driving shaft rotatably connected in a rotating column, an avoidance groove is provided in the rotating column, one end of the rotating bent arm extending into the avoidance groove is fixed with bevel gear 2, one end of the driving shaft extending into the avoidance groove is fixed with bevel gear 1, the bevel gear 1 is engaged with bevel gear 2, and one end of the driving shaft extending into the air path housing 2 is fixed with a disc-shaped frame, two rotating structures are provided in the swing arm 1, and two rotating structures are provided in the swing arm 2, and the four two rotating structures are respectively used for the rotation of the swing arm 1 relative to the mounting column, the rotation of the connecting column relative to the swing arm 1, the rotation of the rotating column relative to the swing arm 2 and the rotation of the disc-shaped frame relative to the rotating column.

[0009] A further technical solution is that the rotating structure includes a motor and a fixed ring, a gear is fixed to the rotating end of the motor, the fixed ring is fixed on the mounting column, the connecting column, the rotating column or the disc frame, and an outer gear ring is connected to the side wall of the fixed ring through a pressure connection assembly, and the outer gear ring is engaged with the gear.

[0010] A further technical solution is that the pressure connection assembly includes a connecting groove provided on the inner wall of the outer gear ring, and a mounting block 1 fixed in the fixed ring, a concave guide block being horizontally slidably connected to the mounting block 1, a connecting block being fixed at one end of the concave guide block, the connecting block cooperating with the connecting groove, a valve being installed on the connecting pipe, and a pneumatic drive component being provided in the fixed ring, the pneumatic drive component controlling the connection block to cooperate with the connecting groove through pressure changes in the swing arm 1 and the swing arm 2.

[0011] A further technical solution is that the pneumatic drive component includes an annular piston groove arranged in a fixed ring, the mounting block 1 is fixed in the annular piston groove, one end of the annular piston groove is open, an annular piston is slidably connected in the annular piston groove, the annular piston is connected to a connecting frame, an oblique push groove is provided on the connecting frame, a compression spring 1 is fixed at the end of the connecting frame, one end of the compression spring 1 is fixed in the annular piston groove, a through groove is provided on the mounting block 1, the connecting frame passes through the through groove, a transmission slide shaft is fixed on the inner wall of the concave guide block, and the transmission slide shaft is slidably connected in the oblique push groove.

[0012] A further technical solution is that two electromagnetic limit assemblies are provided on the air circuit housing 1, an electromagnetic limit assembly is provided on the air circuit housing 2, and an electromagnetic limit assembly is provided in the swing arm 2. The four electromagnetic limit assemblies respectively limit the rotation of the swing arm 1 relative to the mounting column, the rotation of the connecting column relative to the swing arm 1, the rotation of the rotating column relative to the swing arm 2, and the rotation of the rotating bending arm relative to the rotating column through friction force.

[0013] A further technical solution is that the electromagnetic limit assembly includes a friction ring and a mounting block 2, the friction ring is fixed on a mounting column, a connecting column, a rotating column or a disc-shaped frame, the mounting block 2 is fixed on an air circuit housing 1, an air circuit housing 2 or a swing arm 2, a guide groove is provided in the mounting block 2, a friction block is slidably connected in the guide groove, one end of the friction block passes through the mounting block 2 and cooperates with the friction ring, the other end of the friction block is fixed with a compression spring 2 and an armature, the end of the compression spring 2 is fixed in the guide groove, and an electromagnet is fixed on the end of the mounting block 2 away from the friction ring.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The driving mechanism drives the swing arm 1 to rotate relative to the mounting column, the connecting column to rotate relative to the swing arm 1, the rotating column to rotate relative to the swing arm 2, and the rotating arm to rotate relative to the rotating column. The end effector fully adjusts the working posture of the end effector to facilitate the operation of the end effector;

[0016] 2. The blower blows air into one of the pipes, and the outside air enters air circuit housing 1 and air circuit housing 2 through one of the connecting pipes. The air in air circuit housing 2 enters swing arm 2 and swing arm 1 through the heat dissipation vents. The air in swing arm 1 is discharged through the other connecting pipe and another pipe. The ends of the two pipes and the blower are far away from the end effector working area, thereby dissipating the heat generated by the drive mechanism and away from the surgical site, preventing the heat generated by the positioning arm assembly drive components from affecting the surgical process;

[0017] 3. The circuit is set inside the second swing arm, the connecting column and the first swing arm. The heat generated by the circuit can be discharged through the connecting pipe and pipeline, avoiding the influence of the heat generated by the circuit on the operation. In addition, the circuit is stored inside the second swing arm, the connecting column and the first swing arm, which can improve the aesthetics of the positioning arm and make the positioning arm more neat.

[0018] 4. When the posture of the positioning arm assembly of the medical robot needs to be manually changed, the valve on the air outlet connecting pipe is closed, the pressure inside the swing arm 1 and the swing arm 2 increases, the concave guide block drives the connecting block to disengage the connecting groove, and the fixed ring is slidably connected with the outer gear ring. When the positioning arm assembly of the medical robot is manually driven to change its posture, the rotating end of the motor will not rotate accordingly. Therefore, when the posture of the positioning arm assembly of the medical robot is manually adjusted to change, the force of manually adjusting the posture of the positioning arm assembly of the medical robot is reduced, thereby facilitating manual adjustment of the posture of the positioning arm assembly of the medical robot;

[0019] 5. After the posture of the positioning arm assembly is adjusted, the electromagnet is powered off, and the second compression spring pushes the friction block to move, so that the friction block rests on the side wall of the friction ring, thereby hindering the rotation of the friction ring through friction force, and thus hindering the posture change of the positioning arm assembly, avoiding the posture change of the positioning arm assembly due to accidental contact or power failure after the posture change of the positioning arm assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic structural diagram of a positioning arm assembly of a medical robot provided by the present invention;

[0021] Figure 2 The present invention provides Figure 1 Schematic diagram of the internal structure of the middle swing arm 1 and swing arm 2;

[0022] Figure 3 The present invention provides Figure 2 Schematic diagram of the structure when looking up at the tilt angle;

[0023] Figure 4 The present invention provides Figure 2 Schematic diagram of the internal structure of gas circuit housing 1 and gas circuit housing 2;

[0024] Figure 5 The present invention provides Figure 4Schematic diagram of the enlarged structure of A in the middle;

[0025] Figure 6 The present invention provides Figure 2 Schematic diagram of the structure of the middle installation column;

[0026] Figure 7 The present invention provides Figure 2 Schematic diagram of the structure of the middle connecting column;

[0027] Figure 8 The present invention provides Figure 2 Schematic diagram of the structure of the middle rotating column;

[0028] Figure 9 The present invention provides Figure 2 Structural diagram of the rotating structure;

[0029] Figure 10 The present invention provides Figure 9 Schematic diagram of the structure of the middle and outer gear rings;

[0030] Figure 11 The present invention provides Figure 9 Schematic diagram of the structure of the middle fixed ring;

[0031] Figure 12 The present invention provides Figure 11 Schematic diagram of the internal structure of the middle fixing ring;

[0032] Figure 13 The present invention provides Figure 12 Schematic diagram of the enlarged structure of B;

[0033] Figure 14 The present invention provides Figure 13 Structural diagram of the installation block;

[0034] Figure 15 The present invention provides Figure 13 Schematic diagram of the structure of the concave guide block;

[0035] Figure 16 The present invention provides Figure 13 Schematic diagram of the structure of the middle annular piston and the connecting frame;

[0036] Figure 17 The present invention provides Figure 2 Schematic diagram of the structure of the electromagnetic limit assembly.

[0037] In the accompanying drawings: 101, mounting column; 102, swing arm 1; 103, connecting column; 104, swing arm 2; 105, rotating column; 106, rotating bending arm; 107, gas circuit housing 1; 108, gas circuit housing 2; 109, heat dissipation vent; 110, concave pipe; 111, connecting pipe; 112, aviation socket;

[0038] 201, drive shaft; 202, bevel gear 1; 203, bevel gear 2; 204, disc frame; 3, rotating structure; 301, motor; 302, gear; 303, fixed ring; 304, outer gear ring;

[0039] 4. Pressure connection assembly; 401. Connection groove; 402. Mounting block 1; 403. Concave guide block; 404. Connection block; 5. Pneumatic drive component; 501. Annular piston groove; 502. Annular piston; 503. Connecting frame; 504. Compression spring 1; 505. Oblique thrust groove; 506. Transmission slide shaft; 507. Through groove;

[0040] 6. Electromagnetic limit assembly; 601. Friction ring; 602. Mounting block 2; 603. Guide groove; 604. Friction block; 605. Compression spring 2; 606. Electromagnet; 607. Armature. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0042] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0043] like Figure 1-Figure 4As shown, a positioning arm assembly of a medical robot provided by an embodiment of the present invention includes a mounting column 101, and also includes: a swing arm 102 rotatably connected to the upper part of the mounting column 101, and a connecting column 103 rotatably connected to the lower end of the swing arm 102, the end of the connecting column 103 is fixed with a swing arm 104, the lower end of the swing arm 104 is rotatably connected to a rotating column 105, and a rotating bent arm 106 is rotatably connected to the side wall of the rotating column 105, the end of the rotating bent arm 106 and the lower end of the mounting column 101 are both installed with flanges, the rotating bent arm 106 is connected to the end effector through the flange, and the mounting column 101 is connected to the lifting part of the medical robot through the flange; an air circuit housing 107 is fixed to the bottom of the swing arm 102, and an air circuit housing 2 108 is fixed to the top of the swing arm 2 104, and a heat dissipation port 109 is provided at the lower end of the air circuit housing 2 108. The connecting column 103 is hollow in the middle, and the two ends of the connecting column 103 pass through the air circuit housing 107 and the air circuit housing 2 108 respectively. At least one concave pipeline 110 is provided on the side wall of the connecting column 103, one end of the concave pipeline 110 extends into the air circuit housing 107, and the other end of the concave pipeline 110 extends into the air circuit housing 2 108. Two connecting pipes 111 are installed on the side of the swing arm 102 close to the mounting column 101, one of the connecting pipes 111 extends into the air circuit housing 107, and both connecting pipes 111 are connected to pipelines, and one of the pipelines is connected to a blower; it also includes a driving mechanism, which is used to drive the swing arm 102 to rotate relative to the mounting column 101, the connecting column 103 to rotate relative to the swing arm 102, the rotating column 105 to rotate relative to the swing arm 2 104, and the rotating bent arm 106 to rotate relative to the rotating column 105.

[0044] In the embodiment of the present invention, when in use, the lifting portion of the medical robot adjusts the height of the movable swing arm 102 to adjust the height of the end effector. The driving mechanism drives the swing arm 102 to rotate relative to the mounting column 101, and drives the connecting column 103 to rotate relative to the swing arm 102 to adjust the horizontal position of the end effector. The driving mechanism drives the rotating column 105 to rotate relative to the swing arm 2 104 to adjust the horizontal angle of the end effector. The driving mechanism drives the rotating bending arm 106 to rotate relative to the rotating column 105 to adjust the tilt angle of the end effector, thereby adjusting the working posture of the end effector in all directions.

[0045] The blower blows air into one of the pipes, and the outside air enters the air circuit housing 107 from one of the connecting pipes 111. The air in the air circuit housing 107 enters the air circuit housing 2 108 through the concave pipe 110. The air in the air circuit housing 2 108 enters the end of the swing arm 2 104 away from the connecting column 103 through the heat dissipation port 109. The air in the swing arm 2 104 flows toward the connecting column 103 and enters the swing arm 1 102 through the through hole in the middle of the connecting column 103. The air in the swing arm 102 is discharged from the other connecting pipe 111 and the other pipe. The ends of the two pipes and the blower are away from the working site of the end effector, thereby discharging the heat generated by the drive mechanism and away from the operating site, so as to avoid the heat generated by the driving components of the positioning arm assembly affecting the progress of the operation. Both the swing arm 102 and the swing arm 2 104 are provided with a sound insulation layer to reduce the noise impact generated by the drive components. The drive mechanism is installed in the swing arm 102 or the swing arm 2 104.

[0046] like Figure 1 As shown, as a preferred embodiment of the present invention, the second swing arm 104 is equipped with an aviation socket 112 at one end close to the rotating bent arm 106, and the end of the line of the end effector is connected to the aviation plug, and the end effector is connected to the aviation socket 112 through the aviation plug. The line connected to the aviation socket 112 is housed in the second swing arm 104, the connecting column 103 and the first swing arm 102. A cable sealing connector is installed on the first swing arm 102 to facilitate pulling out the line.

[0047] In an embodiment of the present invention, the circuit is set in the swing arm 2 104, the connecting column 103 and the swing arm 1 102, so that the heat generated by the circuit can be discharged through the connecting tube 111 and the pipeline, avoiding the influence of the heat generated by the circuit on the operation. In addition, the circuit is stored inside the swing arm 2 104, the connecting column 103 and the swing arm 1 102, which can improve the aesthetics of the positioning arm and make the positioning arm more tidy.

[0048] like Figure 2-Figure 5 As shown, as a preferred embodiment of the present invention, the driving mechanism includes a driving shaft 201 rotatably connected in the rotating column 105, an avoidance groove is provided in the rotating column 105, and the rotating bent arm 106 extends into the avoidance groove at one end and is fixed with a bevel gear 203, and the driving shaft 201 extends into the avoidance groove at one end and is fixed with a bevel gear 1 202, the bevel gear 1 202 is meshed with the bevel gear 2 203, and the driving shaft 201 extends into the air circuit housing 2 108 at one end and is fixed with a disc-shaped frame 204, two rotating structures 3 are provided in the swing arm 102, and two rotating structures 3 are provided in the swing arm 2 104, and the four two rotating structures 3 are respectively used for the rotation of the swing arm 102 relative to the mounting column 101, the rotation of the connecting column 103 relative to the swing arm 102, the rotation of the rotating column 105 relative to the swing arm 2 104 and the rotation of the disc-shaped frame 204 relative to the rotating column 105.

[0049] In the embodiment of the present invention, when the two rotating structures 3 drive the swing arm 102 to rotate relative to the mounting column 101 and the connecting column 103 to rotate relative to the swing arm 102, the horizontal position of the end effector can be adjusted. When the rotating structure 3 drives the rotating column 105 to rotate relative to the swing arm 2 104, the horizontal angle of the end effector can be adjusted. When the rotating structure 3 drives the disc-shaped frame 204 to rotate relative to the rotating column 105, the disc-shaped frame 204 drives the drive shaft 201 to rotate, the drive shaft 201 drives the bevel gear 1 202 to rotate, the bevel gear 1 202 drives the bevel gear 2 203 to rotate, and the bevel gear 203 drives the rotating bending arm 106 to rotate, so as to adjust the tilt angle of the end effector, thereby adjusting the working posture of the end effector in all directions.

[0050] like Figure 2-Figure 9 As shown, as a preferred embodiment of the present invention, the rotating structure 3 includes a motor 301 and a fixed ring 303. A gear 302 is fixed to the rotating end of the motor 301. The fixed ring 303 is fixed on the mounting column 101, the connecting column 103, the rotating column 105 or the disc-shaped frame 204. The side wall of the fixed ring 303 is connected to an outer gear ring 304 through a pressure connection component 4, and the outer gear ring 304 is engaged with the gear 302.

[0051] In the embodiment of the present invention, the first and second motors 301 are fixed to the inner wall of the swing arm 102. When the first motor 301 drives the gear 302 to rotate, the gear 302 drives the outer gear ring 304 to rotate, and the outer gear ring 304 drives the fixed ring 303. The fixed ring 303 can drive the swing arm 102 to rotate relative to the mounting column 101. When the second motor 301 drives the gear 302 to rotate, the gear 302 drives the outer gear ring 304 to rotate, and the outer gear ring 304 drives the fixed ring 303. The fixed ring 303 can drive the connecting column 103 to rotate relative to the swing arm 102. The third motor 301 is fixed to the inner wall of the swing arm 2 104. When the third motor 301 drives the gear 302 to rotate, the gear 302 drives the outer gear ring 304. Rotate, the outer gear ring 304 drives the fixed ring 303, and the fixed ring 303 can drive the rotating column 105 to rotate relative to the swing arm 2 104. The fourth motor 301 is fixed on the air circuit housing 2 108. When the fourth motor 301 drives the gear 302 to rotate, the gear 302 drives the outer gear ring 304 to rotate, and the outer gear ring 304 drives the fixed ring 303. The fixed ring 303 can drive the disc frame 204 to rotate relative to the rotating column 105. The disc frame 204 drives the drive shaft 201 to rotate, and the drive shaft 201 drives the bevel gear 1 202 to rotate, and the bevel gear 1 202 drives the bevel gear 2 203 to rotate, and the bevel gear 203 drives the rotating bending arm 106 to rotate, which can adjust the tilt angle of the end effector, and thus adjust the working posture of the end effector in all directions.

[0052] like Figure 1、 Figure 2 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 and Figure 16 As shown, as a preferred embodiment of the present invention, the pressure connection assembly 4 includes a connection groove 401 provided on the inner wall of the outer gear ring 304, and a mounting block 1 402 fixed in the fixed ring 303, wherein the mounting block 1 402 is horizontally slidably connected with a concave guide block 403, and one end of the concave guide block 403 is fixed with a connection block 404, and the connection block 404 cooperates with the connection groove 401, and a valve is installed on the connecting pipe 111, and a pneumatic drive component 5 is provided in the fixed ring 303, and the pneumatic drive component 5 controls the connection block 404 to cooperate with the connection groove 401 through the pressure change in the swing arm 102 and the swing arm 2 104, and the pneumatic drive component 5 includes a fixed ring 303 provided in the fixed ring 303. The annular piston groove 501, the mounting block 402 is fixed in the annular piston groove 501, one end of the annular piston groove 501 is open, the annular piston 502 is slidably connected in the annular piston groove 501, the annular piston 502 is connected to a connecting frame 503, the connecting frame 503 is provided with an oblique push groove 505, the end of the connecting frame 503 is fixed with a compression spring 504, the end of the compression spring 504 is fixed in the annular piston groove 501, the mounting block 402 is provided with a through groove 507, the connecting frame 503 penetrates the through groove 507, and a transmission slide shaft 506 is fixed on the inner wall of the concave guide block 403, and the transmission slide shaft 506 is slidably connected in the oblique push groove 505.

[0053] In the embodiment of the present invention, the electromagnetic radiation generated by the medical robot during surgery may also interfere with surrounding electronic equipment and even affect the normal operation of electronic equipment in the operating room. Therefore, according to different usage scenarios, the positioning arm assembly needs to be able to switch between manual drive and electric drive;

[0054] When the positioning arm assembly of the medical robot is electrically changed in posture, the valve on the connecting pipe 111 is in the open state, the air pressure in the swing arm 102 and the swing arm 2 104 is constant, the compression spring 1 504 pushes the connecting frame 503, and the connecting frame 503 drives the annular piston 502 to approach the open end of the annular piston groove 501. The concave guide block 403 drives the connecting block 404 to be inserted into the connecting groove 401. At this time, the fixing ring 303 is fixedly connected to the outer gear ring 304, and the positioning arm assembly of the medical robot is in the state driven by the motor 301;

[0055] When the posture of the positioning arm assembly of the medical robot needs to be manually changed, the rotating end of the motor 301 will also rotate. When the rotating end of the motor 301 rotates passively, there is resistance, which increases the force required to manually change the posture of the positioning arm assembly of the medical robot. Therefore, it is inconvenient to manually change the posture of the positioning arm assembly of the medical robot.

[0056] When the posture of the positioning arm assembly of the medical robot is manually changed, the valve on the air outlet connecting pipe 111 is closed, so that the gas in the swing arm 102 and the swing arm 2 104 cannot be discharged, the pressure in the swing arm 102 and the swing arm 2 104 increases, and a pressure difference is generated inside and outside the annular piston groove 501. The high pressure in the swing arm 102 and the swing arm 2 104 overcomes the elastic force of the compression spring 1 504 and pushes the annular piston 502 to slide inside the annular piston groove 501. The air in the annular piston groove 501 is compressed, and the annular piston 502 drives the connecting frame 503 to move, and the inclined push groove 503 on the connecting frame 503 is pressed. 05 drives the transmission slide shaft 506 to move, the transmission slide shaft 506 drives the concave guide block 403 to move, the concave guide block 403 drives the connecting block 404 to disengage from the connecting groove 401, and the fixing ring 303 is slidingly connected with the outer gear ring 304. When the positioning arm assembly of the medical robot is manually driven to change its posture, the rotating end of the motor 301 will not rotate accordingly, and thus when the posture of the positioning arm assembly of the medical robot is manually adjusted to change, the force of manually adjusting the posture of the positioning arm assembly of the medical robot is reduced, thereby facilitating manual adjustment of the posture of the positioning arm assembly of the medical robot.

[0057] like Figure 2 、 Figure 3 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 17As shown, as a preferred embodiment of the present invention, two electromagnetic limit assemblies 6 are provided on the gas circuit housing 107, an electromagnetic limit assembly 6 is provided on the gas circuit housing 2 108, and an electromagnetic limit assembly 6 is provided in the swing arm 2 104. The four electromagnetic limit assemblies 6 respectively limit the rotation of the swing arm 102 relative to the mounting column 101, the rotation of the connecting column 103 relative to the swing arm 102, the rotation of the rotating column 105 relative to the swing arm 2 104, and the rotation of the rotating bent arm 106 relative to the rotating column 105 through friction force. The electromagnetic limit assembly 6 includes a friction ring 601 and a mounting block 2 602. The friction ring 601 is fixed on The second mounting block 602 is mounted on the mounting column 101, the connecting column 103, the rotating column 105 or the disc-shaped frame 204, and is fixed on the air circuit housing 1 107, the air circuit housing 2 108 or the swing arm 2 104. A guide groove 603 is provided in the second mounting block 602, and a friction block 604 is slidably connected in the guide groove 603. One end of the friction block 604 passes through the second mounting block 602 and cooperates with the friction ring 601. The other end of the friction block 604 is fixed with a second compression spring 605 and an armature 607. The end of the second compression spring 605 is fixed in the guide groove 603. An electromagnet 606 is fixed to the end of the second mounting block 602 away from the friction ring 601.

[0058] In the embodiment of the present invention, before the positioning arm assembly posture is adjusted, the electromagnet 606 is energized, and the electromagnet 606 drives the armature 607 to move through the magnetic force. The armature 607 overcomes the elastic force of the second compression spring 605 and drives the friction block 604 away from the friction ring 601.

[0059] After the posture of the positioning arm assembly is adjusted, the electromagnet 606 is powered off, and the compression spring 2 605 pushes the friction block 604 to move, so that the friction block 604 rests on the side wall of the friction ring 601, and then hinders the rotation of the friction ring 601 through friction force, thereby hindering the posture change of the positioning arm assembly, avoiding the posture change of the positioning arm assembly due to accidental contact or power failure after the posture change of the positioning arm assembly.

[0060] The above embodiment of the present invention provides a positioning arm assembly of a medical robot. When in use, the blower blows air into one of the pipelines, and the outside air enters the air circuit housing 1 107 from one of the connecting pipes 111. The air in the air circuit housing 1 107 enters the air circuit housing 2 108 through the concave pipeline 110. The air in the air circuit housing 2 108 enters the end of the swing arm 2 104 away from the connecting column 103 through the heat dissipation port 109. The air in the swing arm 2 104 flows toward the connecting column 103 and enters the swing arm 1 102 through the through hole in the middle of the connecting column 103. The air in the swing arm 102 is discharged from the other connecting pipe 111 and the other pipeline. The ends of the two pipelines and the blower are away from the working site of the end effector, thereby discharging the heat generated by the motor 301 and the circuit in the swing arm 102 and the swing arm 2 104 away from the operating site, thereby preventing the heat generated by the motor 301 and the circuit from affecting the progress of the operation.

[0061] When adjusting the posture of the positioning arm assembly, the electromagnet 606 is energized, and the electromagnet 606 drives the armature 607 to move through the magnetic force. The armature 607 overcomes the elastic force of the second compression spring 605 and drives the friction block 604 away from the friction ring 601;

[0062] When the positioning arm assembly is adjusted in posture by the motor 301, the valve on the connecting pipe 111 is in the open state, the air pressure in the swing arm 102 and the swing arm 2 104 is constant, the compression spring 1 504 pushes the connecting frame 503, and the connecting frame 503 drives the annular piston 502 to approach the open end of the annular piston groove 501. The concave guide block 403 drives the connecting block 404 to be inserted into the connecting groove 401. At this time, the fixing ring 303 is fixedly connected to the outer gear ring 304, and the positioning arm assembly of the medical robot is in the state driven by the motor 301;

[0063] When it is necessary to manually change the posture of the positioning arm assembly of the medical robot, the valve on the air outlet connecting pipe 111 is closed, so that the gas in the swing arm 102 and the swing arm 2 104 cannot be discharged, the pressure in the swing arm 102 and the swing arm 2 104 increases, and a pressure difference is generated inside and outside the annular piston groove 501. The high pressure in the swing arm 102 and the swing arm 2 104 overcomes the elastic force of the compression spring 1 504 and pushes the annular piston 502 to slide inside the annular piston groove 501. The air in the annular piston groove 501 is compressed, and the annular piston 502 drives the connecting frame 503 to move, and the oblique push groove on the connecting frame 503 505 drives the transmission slide shaft 506 to move, the transmission slide shaft 506 drives the concave guide block 403 to move, the concave guide block 403 drives the connecting block 404 to disengage from the connecting groove 401, and the fixing ring 303 is slidingly connected to the outer gear ring 304. When the positioning arm assembly of the medical robot is manually driven to change its posture, the rotating end of the motor 301 will not rotate accordingly, and thus when the posture of the positioning arm assembly of the medical robot is manually adjusted to change, the force of manually adjusting the posture of the positioning arm assembly of the medical robot is reduced, thereby facilitating manual adjustment of the posture of the positioning arm assembly of the medical robot.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A positioning arm assembly of a medical robot, comprising a mounting post, characterized in that: Also includes: The upper part of the mounting column is rotatably connected to the swing arm 1, and the lower end of the swing arm is rotatably connected to the connecting column, the end of the connecting column is fixed with the swing arm 2, the lower end of the swing arm 2 is rotatably connected to the rotating column, and the side wall of the rotating column is rotatably connected to the rotating bent arm; An air circuit housing 1 is fixed to the bottom of the swing arm 1, and an air circuit housing 2 is fixed to the top of the swing arm 2. A heat dissipation port is provided at the lower end of the air circuit housing 2. The middle part of the connecting column is hollow, and the two ends of the connecting column respectively pass through the air circuit housing 1 and the air circuit housing 2. At least one concave pipeline is provided on the side wall of the connecting column, one end of the concave pipeline extends into the air circuit housing 1, and the other end of the concave pipeline extends into the air circuit housing 2. Two connecting pipes are installed on the side of the swing arm 1 close to the mounting column, one of which extends into the air circuit housing 1. Both connecting pipes are connected to pipelines, and one of the pipelines is connected to a blower. It also includes a driving mechanism, which is used to drive the swing arm 1 to rotate relative to the installation column, the connecting column to rotate relative to the swing arm 1, the rotating column to rotate relative to the swing arm 2, and the rotating bent arm to rotate relative to the rotating column.

2. The positioning arm assembly of the medical robot according to claim 1, characterized in that: An aviation socket is installed at one end of the swing arm 2 near the rotating bending arm. The end of the line of the end effector is connected to the aviation plug. The end effector is connected to the aviation socket through the aviation plug. The line connected to the aviation socket is stored in the swing arm 2, the connecting column and the swing arm 1.

3. The positioning arm assembly of the medical robot according to claim 2, characterized in that: The driving mechanism includes a driving shaft rotatably connected in the rotating column, an avoidance groove is provided in the rotating column, one end of the rotating bent arm extending into the avoidance groove is fixed with bevel gear 2, one end of the driving shaft extending into the avoidance groove is fixed with bevel gear 1, bevel gear 1 is engaged with bevel gear 2, and one end of the driving shaft extending into the air path housing 2 is fixed with a disc-shaped frame, two rotating structures are provided in the swing arm 1, and two rotating structures are provided in the swing arm 2. The four rotating structures are respectively used for the rotation of the swing arm 1 relative to the mounting column, the rotation of the connecting column relative to the swing arm 1, the rotation of the rotating column relative to the swing arm 2 and the rotation of the disc-shaped frame relative to the rotating column.

4. The positioning arm assembly of the medical robot according to claim 3, characterized in that: The rotating structure includes a motor and a fixed ring. A gear is fixed to the rotating end of the motor. The fixed ring is fixed to the mounting column, connecting column, rotating column or disc frame. An outer gear ring is connected to the side wall of the fixed ring through a pressure connection assembly, and the outer gear ring is engaged with the gear.

5. The positioning arm assembly of the medical robot according to claim 4, characterized in that: The pressure connection assembly includes a connecting groove set on the inner wall of the outer gear ring, and a mounting block 1 fixed in the fixed ring, a concave guide block is horizontally slidably connected to the mounting block 1, a connecting block is fixed to one end of the concave guide block, the connecting block cooperates with the connecting groove, a valve is installed on the connecting pipe, and an air pressure drive component is set in the fixed ring, and the air pressure drive component controls the cooperation between the connecting block and the connecting groove through the pressure change in the swing arm 1 and the swing arm 2.

6. The positioning arm assembly of the medical robot according to claim 5, characterized in that: The pneumatic drive component includes an annular piston groove arranged in a fixed ring, a mounting block 1 fixed in the annular piston groove, one end of the annular piston groove is open, an annular piston is slidably connected in the annular piston groove, a connecting frame is connected to the annular piston, an oblique push groove is arranged on the connecting frame, a compression spring 1 is fixed at the end of the connecting frame, an end of the compression spring 1 is fixed in the annular piston groove, a through groove is arranged on the mounting block 1, the connecting frame passes through the through groove, a transmission slide shaft is fixed on the inner wall of the concave guide block, and the transmission slide shaft is slidably connected in the oblique push groove.

7. The positioning arm assembly of the medical robot according to claim 3, characterized in that: Two electromagnetic limit assemblies are provided on the gas circuit housing 1, one electromagnetic limit assembly is provided on the gas circuit housing 2, and one electromagnetic limit assembly is provided in the swing arm 2. The four electromagnetic limit assemblies respectively limit the rotation of the swing arm 1 relative to the mounting column, the rotation of the connecting column relative to the swing arm 1, the rotation of the rotating column relative to the swing arm 2, and the rotation of the rotating bent arm relative to the rotating column through friction force.

8. The positioning arm assembly of the medical robot according to claim 7, characterized in that: The electromagnetic limit assembly includes a friction ring and a second mounting block. The friction ring is fixed on a mounting column, a connecting column, a rotating column or a disc-shaped frame. The second mounting block is fixed on an air circuit housing one, an air circuit housing two or a swing arm two. A guide groove is provided in the second mounting block. A friction block is slidably connected in the guide groove. One end of the friction block passes through the second mounting block and cooperates with the friction ring. The other end of the friction block is fixed with a second compression spring and an armature. The end of the second compression spring is fixed in the guide groove. An electromagnet is fixed on the end of the second mounting block away from the friction ring.

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