Main operating mechanism and medical auxiliary system

Abstract

The invention discloses a main operating mechanism, which comprises a base part, a first swing arm, a second swing arm and a third swing arm, and is characterized in that the first swing arm is rotatably connected with the base part, the first swing arm is connected with a first driving device, and the first driving device drives the first swing arm to rotate around a first axis relative to the base part; the second swing arm is rotationally connected with the first swing arm, the second swing arm is connected with a second driving device, the second driving device drives the second swing arm to rotate around a second axis relative to the first swing arm, and the first driving device and the second driving device are arranged on the base part; the third swing arm is rotationally connected with the second swing arm, the third swing arm is connected with a third driving device, the third driving device drives the third swing arm to rotate around a third axis relative to the second swing arm, and the third driving device is arranged on the second swing arm and is close to the second axis. The respective driving devices for driving the second joint, the third joint and the fourth joint are arranged close to the axis of the previous joint, the rotational inertia of the previous joint can be effectively reduced, and then the rotational inertia of the whole mechanism is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a master operating mechanism and a medical auxiliary system. BACKGROUND

[0002] With the application and development of robot technology, the role of surgical robots in the clinic is increasingly valued by people. The surgeon console is the control center of the surgical robot, and a master hand for the surgeon to operate is arranged thereon. Generally, two master hands, i.e. a left master hand and a right master hand, are arranged, and each master hand has a plurality of joints with multiple degrees of freedom, which can cause a problem of large rotational inertia. SUMMARY

[0003] A series of simplified concepts are introduced in the summary part of the application, which will be further described in detail in the specific embodiment part. The summary part of the application does not mean to try to limit the key features and necessary technical features of the claimed technical solution, nor does it mean to try to determine the protection scope of the claimed technical solution.

[0004] To at least partially solve the above problems, the present application provides a master operating mechanism, which comprises:

[0005] a base;

[0006] a first swing arm, which is rotationally connected with the base, and is connected with a first driving device capable of driving the first swing arm to rotate relative to the base about a first axis, the first driving device being arranged on the base;

[0007] a second swing arm, which is rotationally connected with the first swing arm, and is connected with a second driving device capable of driving the second swing arm to rotate relative to the first swing arm about a second axis, the second axis having a span with the first axis, the second driving device being arranged on the base;

[0008] a third swing arm, which is rotationally connected with the second swing arm, and is connected with a third driving device capable of driving the third swing arm to rotate relative to the second swing arm about a third axis, the third axis having a span with the second axis, the third driving device being arranged on the second swing arm and close to the second axis.

[0009] Optionally, the first axis is parallel to the horizontal direction, the second axis is parallel to the horizontal direction, and the third axis is perpendicular to the second axis.

[0010] Optionally, the first axis and the second axis are parallel, and the third axis is perpendicular to both the first axis and the second axis.

[0011] Optionally, the second drive device is disposed at the end of the second swing arm away from the end where the second swing arm is connected to the third swing arm.

[0012] Optionally, the second swing arm has a first position, a second position, and a third position, and the first swing arm is connected to the first position, the third swing arm is connected to the second position, and the third driving device is disposed at the third position, wherein the first position is located between the second position and the third position.

[0013] Optionally, the second swing arm is constructed as an integral tubular structure.

[0014] Optionally, the main operating mechanism further includes a first transmission mechanism, which includes a flexible transmission element extending along the cavity of the second swing arm and an output end. The flexible transmission element is connected between the driving end of the third driving device and the output end, and the output end is connected to the third swing arm.

[0015] Optionally, the third driving device includes a motor, a drive wheel, and a reducer. The reducer is connected to the motor, and the output component of the reducer is connected to the drive wheel, which is the driving end.

[0016] Optionally, the reducer is a harmonic reducer, and the flexible transmission wheel of the harmonic reducer is the output component.

[0017] Optionally, the third driving device includes a motor and a second transmission mechanism, the driving end is located in the second transmission mechanism, and the rotation axis of the driving end is parallel to the rotation axis of the motor's drive shaft.

[0018] Optionally, a synchronous belt is connected between the drive shaft of the motor and the drive end.

[0019] Optionally, the drive shaft of the motor is connected to a first transmission wheel, and the second transmission mechanism includes a second transmission wheel and a third transmission wheel coaxially arranged with the second transmission wheel. The first transmission wheel is connected to the second transmission wheel in a transmission manner, and the third transmission wheel is the drive end.

[0020] Optionally, the third driving device includes a motor and a drive wheel, the drive wheel being coaxially fixed with the drive shaft of the motor, and the drive wheel being the driving end.

[0021] Optionally, the flexible transmission component can be configured as a metal rope, toothed chain, synchronous belt, or belt.

[0022] Optionally, the main operating mechanism further includes an output device, which includes an output shaft as an output end and a transmission wheel fixedly coaxially with the output shaft. The transmission wheel includes an output wheel and a locking wheel coaxially arranged and connected. The locking wheel rotates relative to the output wheel around the axis of the output shaft to change the position of the locking wheel.

[0023] Optionally, the transmission wheel is provided with an upward-facing receiving groove, and the output device further includes a support frame with a cylindrical section and a first bearing and a second bearing located inside the cylindrical section. The first bearing is located at the upper part of the cylindrical section and supports the output shaft upward, and the second bearing is located at the lower part of the cylindrical section and supports the output shaft downward. The cylindrical section, the first bearing, and the second bearing are located inside the receiving groove.

[0024] Optionally, the third drive device includes a motor, the motor being equipped with an encoder, the encoder being coaxially arranged with the drive shaft of the motor. The main operating mechanism further includes an output device, the output device being equipped with an encoder, the encoder being coaxially arranged with the output shaft of the output device.

[0025] Optionally, the second swing arm includes an arm tube, a drive end housing, and an output end housing. The third drive device is located inside the drive end housing. The main operating mechanism also includes an output device located inside the output end housing. The arm tube is an independent component and is connected to both the drive end housing and the output end housing.

[0026] According to another aspect of this application, a medical assistance system is provided, which includes a master operating mechanism as described in any of the foregoing aspects.

[0027] According to the main operating mechanism and medical auxiliary system of this application, the first, second, and third swing arms of the main operating mechanism all have length, resulting in a large span between any two adjacent joints in the second, third, and fourth joints. By arranging the first drive device for driving the second joint, the second drive device for driving the third joint, and the third drive device for driving the fourth joint close to the axis of the preceding joint, the rotational inertia of the preceding joint can be effectively reduced, thereby reducing the rotational inertia of the entire mechanism. Attached Figure Description

[0028] The following drawings, which are incorporated herein by reference and used to understand this application, illustrate embodiments of the application and their descriptions, thereby explaining the principles of the application.

[0029] In the attached image:

[0030] Figure 1 This is a schematic diagram of the surgical robot according to this application;

[0031] Figure 2 for Figure 1 The diagram shows the structure of the control system.

[0032] Figure 3 for Figure 1 A schematic diagram of the robotic arm system shown in the figure;

[0033] Figure 4 for Figure 3 A perspective view of the main operating mechanism shown in the figure;

[0034] Figure 5 for Figure 3 A three-dimensional view of the second swing arm;

[0035] Figure 6 for Figure 3 A cross-sectional view of a first preferred embodiment of the second swing arm and its internal structure;

[0036] Figure 7 for Figure 6 A schematic diagram of the third drive unit shown;

[0037] Figure 8 for Figure 6 A schematic diagram of the output device shown;

[0038] Figure 9 for Figure 3 A schematic diagram of the third drive device in a second preferred embodiment of the second swing arm and its internal structure;

[0039] Figure 10 for Figure 9 A schematic diagram of the output device shown;

[0040] Figure 11 for Figure 3 A schematic diagram of the third driving device in a third preferred embodiment of the second swing arm and its internal structure;

[0041] Figure 12 for Figure 10 The diagram shows the structure of the output device.

[0042] Explanation of reference numerals in the attached figures:

[0043] 1. Surgical robot 2. Control system

[0044] 3 Imaging System 4 Robotic Arm System

[0045] 5 Display unit 6 Main operating mechanism

[0046] 6a Left main operating mechanism 6b Right main operating mechanism

[0047] 7 Armrests 8 First Base

[0048] 9 First column 10 Base

[0049] 11 Robotic Arm 12 Connecting Arm

[0050] 13 Instrument support frame 14 Surgical instruments

[0051] 15 Second base 16 Second column

[0052] 17 Handle 18 Adjusting Arm Section

[0053] 19. Manipulator arm section; 20. Instrument drive module

[0054] 21 Main Hand Tools 22 Base

[0055] 23 First swing arm 24 Second swing arm

[0056] 25 Third swing arm 26 First drive unit

[0057] 27 Second drive unit 28 Linkage arm

[0058] 29-arm tube

[0059] 30 Drive end 31 Third drive device

[0060] 32 Drive shaft 33 Drive end housing

[0061] 34 motors, 35 drive wheels

[0062] 36 Reducer 37 Motor Housing

[0063] 38 motor stator 39 motor rotor

[0064] 40 Motor Bearing 41 Wave Generator

[0065] 42 Rigid transmission wheel 43 Flexible transmission wheel

[0066] 44 Flexible bearing 45 Support bearing

[0067] 50 Output terminal 51 Output device

[0068] 52 Output shaft 53 Output end housing

[0069] 54 Drive wheel 55 Support frame

[0070] 56. Cylinder section 57. First bearing

[0071] 58 Second bearing 59 Receiving slot

[0072] 60 Output wheel 61 Locking wheel

[0073] 62 through hole 70 encoder

[0074] 71 Code wheel 72 PCB board

[0075] 100 First transmission mechanism 101 Flexible transmission component

[0076] 111 Second transmission mechanism 112 Synchronous belt

[0077] 113 First transmission wheel 114 Second transmission wheel

[0078] 115 Third drive wheel 116 Housing bracket

[0079] 235 drive wheels Detailed Implementation

[0080] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0081] To fully understand this application, a detailed description will be provided below. It is obvious that the implementation of embodiments of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, other embodiments may also be available in addition to these detailed descriptions.

[0082] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0083] Ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0084] It should be noted that the terms “up,” “down,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used in this article are for illustrative purposes only and are not intended to be restrictive.

[0085] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0086] like Figures 1 to 3 As shown, this application provides a surgical robot 1 for remotely controlling and performing surgery. The surgical robot 1 may include a control system 2, an imaging system 3, and a robotic arm system 4, which can communicate with each other.

[0087] Control system 2 is also known as the doctor's console. For example... Figure 2 As shown, the control system 2 includes a display unit 5 for displaying the surgical instrument 14 or the endoscopic environment, a main operating mechanism 6 for the doctor to operate, and a handrail 7. The display unit 5 has an observation window for the doctor to observe. The main operating mechanism 6 is configured to perform various actions corresponding to the actions of the surgical instrument 14 or the endoscope. The handrail 7 is used to support the doctor's arm. As an example, the control system 2 also includes a first base 8, a first column 9 supported on the first base 8, and a base 10 supported on the first column 9. The main operating mechanism 6 is rotatably mounted to the base 10 from the underside, and a main hand tool 21 is provided at the end of the main operating mechanism 6. The main operating mechanism 6 includes a left main operating mechanism 6a and a right main operating mechanism 6b. In addition, the doctor's console also has other control switches that are convenient to touch or press with the hand or foot for performing various functions and completing human-computer interaction.

[0088] The imaging system 3 includes a display screen, endoscope controller, system electronics, and image processor. This allows the operator to see the patient's internal organs more clearly.

[0089] The robotic arm system 4 is positioned next to the patient, with a surgical instrument 14 or endoscope at its distal end for performing various surgical procedures on the patient. The robotic arm system 4 may include at least one robotic arm 11, for example... Figure 1 The diagram schematically shows four robotic arms 11. Each robotic arm 11 has several connecting arms 12, with adjacent connecting arms 12 pivotally connected and moving relative to each other with specific degrees of freedom, allowing the end effector or distal end of the robotic arm 11 to achieve multiple degrees of freedom of movement, such as seven degrees of freedom. An instrument support frame 13, also known as a holding arm, is mounted at the end effector of each robotic arm 11. Surgical instruments 14 or endoscopes are detachably mounted on the instrument support frame 13.

[0090] In one example, refer toFigure 3 The robotic arm system 4 includes a second base 15. The second base 15 is provided with a second column 16 and a handle 17. The second column 16 is provided with at least one robotic arm 11 that can be raised and lowered relative to the second base 15; for example, the figure schematically shows one robotic arm 11. An operator can assist in moving the second base 15 using the handle 17.

[0091] The robotic arm 11 typically includes an adjusting arm portion 18 and an operating arm portion 19. The adjusting arm portion 18 includes two or more pivotally connected connecting arms 12, and the operating arm portion 19 includes two or more pivotally connected connecting arms 12. The connecting arms 12 of the adjusting arm portion 18 and the connecting arms 12 of the operating arm portion 19 may differ in size and arrangement. The end of the operating arm portion 19 is used to mount the aforementioned instrument support frame 13, which is used to mount surgical instruments 14 or endoscopes. The instrument support frame 13 may also be equipped with an instrument drive module 20 to drive the surgical instruments 14 to perform actions such as insertion, clamping, hooking, cutting, and scraping. Before operating the surgical robot 1 to perform surgery, the adjusting arm portion 18 needs to be operated to move the surgical instruments 14 and endoscopes mounted at the end of the operating arm portion 19 to their respective designated positions, and then the rotation joints of the adjusting arm portion 18 are locked. During the surgery, the surgical procedure is performed by remotely controlling the operating arm 19, while keeping the rotation joint of the adjusting arm 18 locked to prevent relative rotation between the connecting arms 12 of the adjusting arm 18 during the surgery, which could cause the surgical instruments 14 or endoscope to shift.

[0092] like Figure 4 As shown, the main operating mechanism 6 includes a base 22, a first swing arm 23, a second swing arm 24, and a third swing arm 25 connected in sequence. The base 22 is rotatably connected to the base 10, and the base 22 rotates relative to the base 10, especially about the direction of gravity, so that the base 22 and the base 10 form a first joint Q1. The first swing arm 23 is rotatably connected to the base 22, forming a second joint Q2. The second swing arm 24 is rotatably connected to the first swing arm 23, forming a third joint Q3. The third swing arm 25 is rotatably connected to the second swing arm 24, forming a fourth joint Q4.

[0093] The first swing arm 23 is connected to the first drive device 26. Figure 4 The approximate position of the first drive device 26 within the base 22 is schematically shown using dashed lines. The first drive device 26 is capable of driving the first swing arm 23 to rotate relative to the base 22 about a first axis Ax1, and the first drive device 26 can be disposed within the base 22. The second swing arm 24 is connected to the second drive device 27. Figure 4The approximate position of the second drive unit 27 within the base 22 is schematically shown using dashed lines. The second drive unit is capable of driving the second swing arm to rotate relative to the first swing arm 23 about a second axis Ax2, which spans a distance from the first axis Ax1. The second drive unit 27 is located in the base 22. The third swing arm 25 is connected to the third drive unit 31. Figure 4 The approximate position of the third drive unit 31 within the second swing arm 24 is schematically shown using dashed lines. The third drive unit 31 is capable of driving the third swing arm 25 to rotate relative to the second swing arm 24 about a third axis Ax3, which has a span between the third axis Ax3 and the second axis Ax2. The third drive unit 31 is located on the second swing arm 24 and close to the second axis Ax2.

[0094] In the above scheme, since the first swing arm 23, the second swing arm 24, and the third swing arm 25 all have length, the span between any two adjacent joints in the second joint Q2, the third joint Q3, and the fourth joint Q4 is relatively large. By positioning the first drive device 26 for driving the second joint Q2, the second drive device 27 for driving the third joint Q3, and the third drive device 31 for driving the fourth joint Q4 close to the axis of the preceding joint, the rotational inertia of the preceding joint can be effectively reduced, thereby reducing the rotational inertia of the entire mechanism.

[0095] In order for the second drive device 27 to drive the second swing arm 24 to rotate, a linkage arm 28 is also connected between the second drive device 27 and the second swing arm 24. The linkage arm 28 is driven by the second drive device 27 to drive the second swing arm 24 to rotate around the second axis Ax2.

[0096] In this embodiment, the first axis Ax1 is parallel to the horizontal direction, the second axis Ax2 is parallel to the horizontal direction, and the third axis Ax3 is perpendicular to the second axis Ax2. Thus, the second axis Ax2 spans or is spaced apart from the first axis Ax1 in the vertical direction; the third axis Ax3 spans or is spaced apart from the second axis Ax2 in the horizontal direction. The first swing arm 23 is capable of rotating in a vertical plane, the second swing arm 24 is capable of rotating in a vertical plane different from the first swing arm 23, and the third swing arm 25 rotates in a plane perpendicular to the third axis Ax3.

[0097] Furthermore, the first axis Ax1 and the second axis Ax2 are parallel, and the third axis Ax3 is perpendicular to both the first axis Ax1 and the second axis Ax2. Therefore, the plane in which the first swing arm 23 rotates is parallel to the plane in which the second swing arm 24 rotates; the plane in which the third swing arm 25 rotates is perpendicular to the planes in which the first swing arm 23 and the second swing arm 24 each rotate.

[0098] In one embodiment, the second drive device 27 is located at the end of the second swing arm 24 away from the end where the second swing arm 24 is connected to the third swing arm 25, so as to reduce the rotational inertia of the third joint Q3.

[0099] Furthermore, such as Figure 5 As shown, the second swing arm 24 has a first position P1, a second position P2, and a third position P3. The first swing arm 23 is connected to the first position P1, the third swing arm 25 is connected to the second position P2, and the third drive device 31 is disposed at the third position P3. The first position P1 is located between the second position P2 and the third position P3. This further reduces the rotational inertia of the third joint Q3. Optionally, the second position P2 is located at one end of the second swing arm 24, and the third position P3 is located at the other end of the second swing arm 24, with the first position P1 closer to the third position P3. Additionally, the second swing arm 24 also includes a fourth position P4, located between the second position P2 and the third position P3, with the linkage arm 28 connected to this fourth position P4. Optionally, the fourth position P4 is located between the first position P1 and the second position P2, and is closer to the first position P1.

[0100] The second swing arm 24 is constructed as a single tubular structure. Figure 5 and Figure 6 The second swing arm 24 is shown to be an elongated tubular structure with an elongated cavity. The main operating mechanism 6 also includes a first transmission mechanism 100 for transmitting the driving force generated by the third drive device 31 to the third swing arm 25, thereby causing the third swing arm 25 to move. The first transmission mechanism 100 may include a flexible transmission member 101 extending along the cavity of the second swing arm 24 and an output end 50. The flexible transmission member 101 is connected between the drive end 30 and the output end 50 of the third drive device 31, with the output end 50 located at a second position P2 and capable of connecting to the third swing arm 25. This solution utilizes the flexible transmission member 101 to transmit the driving force generated by the third drive device 31 to the output end 50, and then to the third swing arm 25 connected to the output end 50.

[0101] The flexible transmission element 101 can be a metal rope, a toothed chain, a timing belt, or a belt. For example, the flexible transmission element 101 is a steel wire rope.

[0102] The main operating mechanism 6 also includes an output device 51. The drive end 30 of the third drive device 31 is connected to the output end 50 of the output device 51 via a flexible transmission member 101. The third drive device 31 drives the flexible transmission member 101 to move, thereby causing the third swing arm 25 connected to the output end 50 to rotate around the third axis Ax3.

[0103] According to this scheme, the third drive device 31 is arranged inside the current joint without passing through other joints, thus avoiding motion coupling; the flexible transmission component 101 is arranged in the space inside the second swing arm 24, which can improve the space utilization rate, and the tubular second swing arm 24 can make the main operating mechanism 6 lighter overall.

[0104] In this embodiment, the output shaft 52 of the output device 51 is the output end 50. The third drive device 31 includes a motor 34, the drive shaft 32 of the motor 34 is parallel to the output shaft 52 of the output device 51, and both are perpendicular to the length direction of the second swing arm 24. Parallel arrangement of the drive shaft 32 and the output shaft 52 makes the arrangement of the third drive device 31 and the output device 51 easier, simplifies the internal transmission structure, and improves the transmission effect.

[0105] Figures 6 to 8 The second swing arm 24 and its internal structure according to a first preferred embodiment of this application are schematically shown. Figure 7 It shows Figure 6 The structure of the third drive unit 31 in the middle, Figure 8 It shows Figure 6 The structure of the output device 51.

[0106] like Figure 7 and Figure 8 As shown, the second swing arm 24 includes an arm tube 29, a drive end housing 33, and an output end housing 53. A third drive device 31 is located within the drive end housing 33, and an output device 51 is located within the output end housing 53. The arm tube 29 is an independent component and is connected to both the drive end housing 33 and the output end housing 53 to form an integrated tubular structure. The connection method between the drive end housing 33 and the arm tube 29 is not limited; for example, it can be achieved through gluing, fastener connection such as screws, welding, interference fit, or other suitable methods. The connection method between the output end housing 53 and the arm tube 29 is also not limited; for example, it can be achieved through gluing, fastener connection such as screws, welding, interference fit, or other suitable methods.

[0107] For example, the drive end housing 33 includes a housing body, a top housing, and a bottom housing. The housing body has a cylindrical portion with a top opening at the top of the cylindrical portion and a bottom opening at the bottom of the cylindrical portion. The top housing covers the top opening, and the bottom housing covers the bottom opening. The output end housing 53 is similar to the drive end housing 33, and will not be described in detail for the sake of simplicity.

[0108] The third drive unit 31 also includes a drive wheel 35 and a reducer 36. The drive wheel 35 is the drive end 30. The drive wheel 35 is connected to the output component of the reducer 36. The flexible transmission member 101 is wound around the drive wheel 35, which is the drive end 30. The reducer 36 is connected to the motor 34, for example, to the drive shaft 32 of the motor 34. Exemplarily, the motor 34 is located below the reducer 36, and its drive shaft 32 extends into the reducer 36 to connect with the rotating part of the reducer 36. With this configuration, the reducer 36 has a larger speed ratio, which allows for a larger output torque. This enables a smaller motor 34 to be used in the main operating mechanism 6, reducing the weight of the main operating mechanism 6 and lowering the power consumption of the motor 34.

[0109] The motor 34 includes a motor housing 37, and a motor stator 38, a motor rotor 39, and motor bearings 40 within the motor housing 37. The motor stator 38 is fitted onto the motor rotor 39 and does not rotate with the motor rotor 39. The motor stator 38 can be fixedly connected to the motor housing 37 by adhesive bonding. The motor rotor 39 is fitted onto the drive shaft 32 and can be fixedly connected to the drive shaft 32 by adhesive bonding. There are two motor bearings 40, located at the upper and lower parts of the motor 34, respectively. The motor bearings 40 are fitted onto the drive shaft 32 and disposed between the motor housing 37 and the drive shaft 32. Exemplarily, the motor housing 37 includes a housing body and an end cap, with an end opening at the axial end of the housing body, and the end cap covering the end opening.

[0110] Preferably, the reducer 36 is a harmonic reducer 36. Both the harmonic reducer 36 and the flexible transmission component 101 can achieve backlash-free transmission; and compared with a general reducer 36, the harmonic reducer 36 has a larger speed ratio. When outputting the same torque, a smaller motor 34 can be selected, thereby further reducing the weight of the main operating mechanism 6 and reducing the power consumption of the motor 34.

[0111] Specifically, the harmonic reducer 36 includes a wave generator 41, a rigid transmission wheel 42, a flexible transmission wheel 43, and a flexible bearing 44, wherein the flexible transmission wheel 43 is the output component of the harmonic reducer 36. A drive shaft 32 extends into and is fixedly connected to the wave generator 41, and the flexible bearing 44 is located between the rigid transmission wheel 42 and the flexible transmission wheel 43. The rigid transmission wheel 42 is connected to the motor housing 37, for example, by fasteners such as screws. The drive wheel 35 is connected to the upper end of the flexible transmission wheel 43, for example, by fasteners such as screws. Specifically, the drive wheel 35 has a receiving space with an open bottom end, within which the harmonic reducer 36 is located. A support bearing 45 is provided on the cylindrical portion of the drive end housing 33, and the drive wheel 35 is rotatably connected to the drive end housing 33 via the support bearing 45. A helical groove is arranged on the outer circumferential surface of the drive wheel 35, and the flexible transmission member 101 is helically wound along the helical groove. Optionally, the flexible bearing 44 is a four-point contact ball bearing.

[0112] like Figure 8 As shown, the output device 51 includes a drive wheel 54 sleeved on the output shaft 52, a support frame 55 with a cylindrical portion 56, and a first bearing 57 and a second bearing 58 located within the cylindrical portion 56. The first bearing 57 is located at the upper part of the cylindrical portion 56 and supports the output shaft 52 upwards, while the second bearing 58 is located at the lower part of the cylindrical portion 56 and supports the output shaft 52 downwards. The drive wheel 54 has an upward-opening receiving groove 59, within which the cylindrical portion 56, the first bearing 57, and the second bearing 58 are located. The drive wheel 54 is rotatable around the output shaft 52, while the support frame 55, as a support structure, does not rotate with the drive wheel 54. A portion of the support frame 55 forms the output end housing 53. This restricts the vertical movement of the output shaft 52, preventing it from shifting vertically and ensuring stable rotation of the output shaft 52.

[0113] The transmission wheel 54 may include an output wheel 60 and a locking wheel 61 coaxially arranged and connected. The locking wheel 61 rotates relative to the output wheel 60 about the axis of the output shaft 52 to change the position of the locking wheel 61. By adjusting the rotation angle between the locking wheel 61 and the output wheel 60, the preload of the flexible transmission member 101 can be adjusted to prevent the flexible transmission member 101 from being too loose or too tight. The output shaft 52 has a through hole 62 extending axially, through which wiring can be routed, simplifying the structure of the output device 51.

[0114] Both the motor 34 and the output device 51 are equipped with encoders 70. The encoder 70 located in the motor 34 is coaxially aligned with the drive shaft 32, and the encoder 70 located in the output device 51 is coaxially aligned with the output shaft 52. Specifically, the encoder 70 includes a code disk 71 and a PCB board 72. For the motor 34, the code disk 71 is located at the bottom end of the drive shaft 32 and is coaxially aligned with the drive shaft 32, allowing it to rotate with the drive shaft 32; the PCB board 72 is located below the code disk 71 and is connected to the motor housing 37. The encoder 70 employs principles such as magnetism or optics; for the magnetic principle scheme, the code disk 71 is a magnet. A dedicated chip is mounted on the PCB board 72 for detecting the rotation angle of the drive shaft 32. For the output device 51, the code disk 71 is fitted onto the output shaft 52 and located above the support frame 55, allowing it to rotate with the output shaft 52; the PCB board 72 is located above the code disk 71 and is connected to the support frame 55 via fasteners such as screws. A dedicated chip is installed on the PCB board 72 to detect the rotation angle of the output shaft 52. Both the motor 34 and the output device 51 are equipped with encoders 70, which helps to improve the control accuracy and operational safety of the main operating mechanism 6.

[0115] In the first preferred embodiment, the flexible transmission element 101 can be a metal rope, such as a steel wire rope. Alternatively, the flexible transmission element 101 can be a toothed chain. Alternatively, the reducer 36 can be a planetary transmission, i.e., a planetary gear reducer; or the reducer 36 can be a cycloidal transmission, i.e., a cycloidal reducer.

[0116] Figure 9 and Figure 10 The second swing arm 24 and its internal structure according to a second preferred embodiment of this application are schematically shown. For example... Figure 9 As shown, the third drive unit 31 includes a motor 34 but not a reducer. The structure of the motor is largely the same as that of the motor in the first preferred embodiment, also including a motor housing 37, a motor stator 38, a motor rotor 39, and a motor bearing 40. The difference is that the motor 34 is an external rotor motor 34; for the sake of simplicity, the same parts will not be described again.

[0117] The third drive unit 31 also includes a second transmission mechanism 111, which is located on the side of the motor 34 facing the output device 51. In other words, the second transmission mechanism 111 is located between the motor 34 and the output device 51. The drive end 30 is located in the second transmission mechanism 111. The rotation axis of the drive end 30 is parallel to the rotation axis of the drive shaft 32 of the motor 34. The drive shaft 32 of the motor 34 is connected to the second transmission mechanism 111, and the flexible transmission member 101 is wound around the drive end 30 on the second transmission mechanism 111. With this configuration, the rotational motion of the motor 34 is first transmitted through the transmission structure between the drive shaft 32 and the second transmission mechanism 111, and then transmitted through the flexible transmission member 101, which enables backlash-free transmission.

[0118] A synchronous belt 112 connects the drive shaft 32 and the drive end 30. The rotational motion of the motor 34 is first transmitted via the synchronous belt 112, and then via the flexible transmission component 101. Both the synchronous belt 112 and the flexible transmission component 101 can achieve backlash-free transmission and low friction.

[0119] Specifically, the drive shaft 32 is fitted with a first transmission wheel 113. The second transmission mechanism 111 includes a second transmission wheel 114 and a third transmission wheel 115 coaxially arranged with the second transmission wheel 114. The first transmission wheel 113 is connected to the second transmission wheel 114 via a synchronous belt 112 to drive the second transmission wheel 114 to rotate. The third transmission wheel 115 is the driving end 30, around which a flexible transmission member 101 is wound. The third transmission wheel 115 rotates together with the second transmission wheel 114 to drive the flexible transmission member 101 to move. Through the transmission wheels 54 at different positions, the transmission between the drive shaft 32 and the flexible transmission member 101 can be realized. This has advantages such as simple transmission structure, easier assembly, and small space occupation. The preload of the synchronous belt 112 can be adjusted by adjusting the center distance between the first transmission wheel 113 and the second transmission wheel 114 to avoid the synchronous belt 112 being too loose or too tight. Both the first drive wheel 113 and the second drive wheel 114 are equipped with baffles to restrict the movement of the synchronous belt 112, so as to prevent the synchronous belt 112 from moving axially.

[0120] In this embodiment, the second swing arm 24 further includes a housing support 116, which provides support for the entire structure. A portion of the housing support 116 forms the drive end housing 33, while the other portion is located inside. The motor 34 and the second transmission mechanism 111 are both supported by the housing support 116. The drive shaft 32 can be arranged downwards, and the third transmission wheel 115 is located above the second transmission wheel 114. The PCB board 72...

[0121] Located on the lower side of the code disk 71, specifically between the code disk 71 and the first drive wheel 113. The PCB board 72 has a central hole for fitting onto the drive shaft 32 or the first drive wheel 113, and can be connected to the housing bracket 116.

[0122] like Figure 10 As shown, the structure of the output device in the second preferred embodiment is basically the same as that in the first preferred embodiment, and will not be described again for the sake of simplicity.

[0123] In the second preferred embodiment, the flexible transmission member 101 can be a metal rope, such as a steel wire rope. Alternatively, the flexible transmission member 101 can be a toothed chain. Alternatively, the transmission method between the drive shaft 32 and the second transmission mechanism 111 is gear transmission.

[0124] Figure 11 and Figure 12 The second swing arm 24 and its internal structure according to the third preferred embodiment of this application are schematically shown. Figure 11As shown, the third drive unit 31 includes a motor 34 but not a reducer. The structure of the motor 34 is substantially the same as that of the motor 34 in the first preferred embodiment, also including a motor housing 37, a motor stator 38, a motor rotor 39, and a motor bearing 40. For the sake of simplicity, the identical parts will not be described again. Figure 12 As shown, the structure of the output device in the third preferred embodiment is basically the same as that in the first preferred embodiment, and will not be described again for the sake of simplicity.

[0125] The third drive device 31 includes a motor 34 and a drive wheel 235. The drive wheel 235 is coaxially fixed to the drive shaft 32 of the motor 34. In this embodiment, the drive wheel 235 is sleeved on the drive shaft 32 of the motor 34. The drive wheel 235 is the drive end 30, and the flexible transmission member 101 is wound around the drive wheel 235. Thus, the drive wheel 235 is connected to the transmission wheel 54 of the output device 51 via the flexible transmission member 101. The diameter ratio of the drive wheel 235 to the transmission wheel 54 is the speed ratio, which can be configured to 1 or other values. Generally, a speed ratio greater than 1 is advantageous. With this configuration, the rotational motion of the motor 34 is transmitted to the output shaft 52 via the flexible transmission member 101. The internal structure is simple, and manufacturing and assembly are easier.

[0126] In this embodiment, the drive shaft 32 can be arranged downwards, the code disk 71 is located at the top of the drive shaft 32, and the PCB board 72 is located on the upper side of the code disk 71 and connected to the drive end housing 33.

[0127] In the third preferred embodiment, the flexible transmission member 101 can be a metal rope, such as a steel wire rope. Alternatively, the flexible transmission member 101 can be a timing belt 112 or a belt; or the drive shaft 32 and the transmission wheel 54 can be driven by a series of gears.

[0128] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0129] This application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative purposes. This application is not limited to the above embodiments. Many variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A master operating mechanism characterized by comprising: The main operating mechanism comprises: a base; a first swing arm rotatably connected to the base, the first swing arm being connected to a first driving device capable of driving the first swing arm to rotate relative to the base about a first axis, the first driving device being arranged on the base; a second swing arm rotatably connected to the first swing arm, the second swing arm being connected to a second driving device capable of driving the second swing arm to rotate relative to the first swing arm about a second axis, the second axis having a span from the first axis, the second driving device being arranged on the base; a third swing arm rotatably connected to the second swing arm, the third swing arm being connected to a third driving device capable of driving the third swing arm to rotate relative to the second swing arm about a third axis, the third axis having a span from the second axis, the third driving device being arranged on the second swing arm and close to the second axis.

2. The master operating mechanism according to claim 1, characterized in that The first axis is parallel to the horizontal direction, the second axis is parallel to the horizontal direction, and the third axis is perpendicular to the second axis.

3. The master operating mechanism according to claim 2, characterized in that The first axis and the second axis are parallel, and the third axis is perpendicular to the first axis and the second axis.

4. The master operating mechanism according to claim 1 or 2, characterized in that The second driving device is arranged on the second swing arm away from an end of the second swing arm connected to the third swing arm.

5. The master operating mechanism according to claim 4, characterized in that The second swing arm has a first position, a second position and a third position, and the first swing arm is connected to the first position, the third swing arm is connected to the second position, and the third driving device is arranged on the third position. The first position is between the second position and the third position.

6. The master operating mechanism of claim 1, wherein The second swing arm is configured as an integrated tubular structure.

7. The master operating mechanism of claim 1, wherein The main operating mechanism further comprises a first transmission mechanism, the first transmission mechanism comprising a flexible transmission member extending in a cavity of the second swing arm and an output end portion, the flexible transmission member being connected between a driving end portion of the third driving device and the output end portion, and the output end portion being connected to the third swing arm.

8. The master operating mechanism according to claim 7, characterized in that The third driving device comprises a motor, a driving wheel and a speed reducer, the speed reducer being connected to the motor, an output component of the speed reducer being connected to the driving wheel, and the driving wheel being the driving end portion.

9. The master operating mechanism according to claim 8, characterized in that The speed reducer is a harmonic reducer, and a flexible transmission wheel of the harmonic reducer is the output component.

10. The master operating mechanism of claim 7, wherein, The third driving device comprises a motor and a second transmission mechanism, the driving end portion being located in the second transmission mechanism, and a rotation axis of the driving end portion being parallel to a rotation axis of a driving shaft of the motor.

11. The master operating mechanism of claim 10, wherein, A synchronous belt is connected between the driving shaft of the motor and the driving end portion.

12. The master operating mechanism of claim 10, wherein, The driving shaft of the motor is connected to a first transmission wheel, the second transmission mechanism comprising a second transmission wheel and a third transmission wheel coaxially arranged with the second transmission wheel, the first transmission wheel being in transmission connection with the second transmission wheel, and the third transmission wheel being the driving end portion.

13. The master operating mechanism of claim 7, wherein, The third driving device comprises a motor and a driving wheel, the driving wheel being coaxially and fixedly arranged with a driving shaft of the motor, and the driving wheel being the driving end portion.

14. The master operating mechanism of claim 7, wherein, The flexible transmission member is configured as a metal rope, a toothed chain, a synchronous belt or a belt.

15. The master operating mechanism of claim 7, wherein, The main operating mechanism further comprises an output device, the output device comprises an output shaft as an output end and a transmission wheel coaxially fixed with the output shaft, the transmission wheel comprises an output wheel and a locking wheel coaxially arranged and connected, the locking wheel rotates relative to the output wheel around the axis of the output shaft to change the position of the locking wheel.

16. The master operating mechanism of claim 15, wherein, The transmission wheel is provided with a receiving groove with an opening upward, the output device further comprises a support frame with a barrel portion and a first bearing and a second bearing located in the barrel portion, the first bearing is arranged at the upper portion of the barrel portion and supports the output shaft upward, the second bearing is located at the lower portion of the barrel portion and supports the output shaft downward, the barrel portion, the first bearing and the second bearing are located in the receiving groove.

17. The main operating mechanism according to claim 7, wherein, The third driving device comprises a motor, the motor is provided with an encoder, the encoder is coaxially arranged with the driving shaft of the motor; and / or The main operating mechanism further comprises an output device, the output device is provided with an encoder, the encoder is coaxially arranged with the output shaft of the output device.

18. The master operating mechanism of claim 7, wherein, The second swing arm comprises an arm tube, a driving end shell and an output end shell, the third driving device is located in the driving end shell, the main operating mechanism further comprises an output device, the output device is located in the output end shell, the arm tube is an independent component and is connected with both the driving end shell and the output end shell.

19. A medical assistance system, characterized by The main operating mechanism comprises any one of claims 1-18.

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