Brake device and central control wheel device for puncture surgery robot

Abstract

The utility model discloses a brake device and a central control wheel device for a puncture surgery robot. The brake device is used for independently controlling each central control wheel mounted at the bottom of a carrying vehicle of the puncture surgery robot. The brake device comprises a bearing mounting seat, a skirting, a first transmission shaft, a first bevel gear, a second bevel gear and a second transmission shaft; the first bevel gear and the second bevel gear are mutually meshed and transmitted in the bearing mounting seat, and the gear number ratio of the first bevel gear to the second bevel gear is 1: 2; the first transmission shaft is pivotally connected with the bearing mounting seat, one end of the first transmission shaft is fixedly connected with the first bevel gear, and the other end of the first transmission shaft is fixedly connected with the skirting; one end of the second transmission shaft is in driving connection with the center control wheel, and the other end of the second transmission shaft is fixedly connected with the second bevel gear.

Description

Technical Field

[0001] The utility model relates to the field of brake control, in particular to a brake device and a central control wheel device for a puncture surgical robot. Background Art

[0002] Chinese Patent Application No. 2020220830059 discloses a central control wheel, which is widely used in medical equipment because a cam mechanism with a locking function is provided inside the central control wheel. Chinese Patent Application No. 2022103105194 discloses a central control wheel brake device, which uses a brake lever to drive the brake shaft of the central control wheel, synchronously drives the interior of the central control wheel and the cam mechanism, and realizes the problem of synchronous braking and releasing of multiple central control wheels.

[0003] During the development process, the puncture surgical robot also uses the central control wheel as a mobile device for the vehicle body. However, the total weight of the vehicle body for the puncture surgical robot is over 200 kg. In order to increase the stability of the vehicle body, the height of the vehicle body chassis from the ground is limited. Therefore, it is necessary to brake or release all (four) central control wheels in a limited space. However, the brake device commonly used for central control wheels in medical devices cannot be used in puncture surgical robots, and the braking and release functions cannot be achieved in the limited space at the bottom of the vehicle body. Utility Model Content

[0004] The purpose of the utility model is to provide a brake device and a central control wheel device for a puncture surgical robot, which can achieve effective and independent control of each central control wheel in a very limited space, and can lock or open the central control wheel with very little effort.

[0005] The braking device for the puncture surgical robot in the utility model is used to independently control each central control wheel installed at the bottom of the puncture surgical robot carrier, and includes a bearing mounting seat, a kicking foot, a first transmission shaft, a first bevel gear, a second bevel gear, and a second transmission shaft; the first bevel gear and the second bevel gear are meshed and transmitted with each other inside the bearing mounting seat, and the gear number ratio of the first bevel gear and the second bevel gear is 1 to 2; the first transmission shaft is pivotally connected to the bearing mounting seat, one end is fixedly connected to the first bevel gear, and the other end is fixedly connected to the kicking foot; one end of the second transmission shaft is drivingly connected to the central control wheel, and the other end of the second transmission shaft is fixedly connected to the second bevel gear.

[0006] Preferably, one end of the second transmission shaft fixedly connected to the second bevel gear is a 12-axis prism shaft, and the rotation angle of the kicking foot is 60 degrees.

[0007] Preferably, the first transmission shaft includes a pivoting section located in the middle portion and transmission ends located at both ends, and the transmission ends are provided with planes cooperating with the kicking foot for limiting the rotation angle of the kicking foot.

[0008] Preferably, the bearing mounting seat is L-shaped.

[0009] Preferably, the braking device further includes a manual brake wheel, an outer wheel of the manual brake wheel, four rotating wheels, and a rocker arm that rotates coaxially with the four rotating wheels. Each rotating wheel is equipped with one end of two brake lines, and the other end of the two brake lines installed in each rotating wheel is fixedly connected to the kickboard.

[0010] The central control wheel device for a puncture surgical robot in the utility model comprises a central control wheel, and is characterized in that it further comprises a central control wheel connecting plate for connecting the central control wheel and a lifting assembly.

[0011] Preferably, the central control wheel connecting plate is formed into a special shape by a metal plate and is provided with two mounting holes which are not in the same straight line.

[0012] The central control wheel device in the utility model is independently installed in the very limited space at the bottom of the four corners of the puncture surgery robot vehicle body, and is driven to rise or fall by the lifting device. When the puncture surgery robot vehicle needs to be moved, the lifting device drives the central control wheel device to descend as a whole, and the kicking foot is gently moved to release the lock of the brake device to achieve free movement. After moving to a fixed position, the kicking foot is gently moved (in the opposite direction) to lock the brake device, so that the vehicle is fixed in a specific position, and then the central control wheel device is driven by the lifting device to be retracted upwards, and the vehicle body is lowered to the ground as a whole, and surgery or storage can be performed. It has the advantages of simple structure, light use, and easy assembly in a small space. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional structural schematic diagram of the puncture surgery robot carrier in the utility model.

[0014] Figure 2 It is a three-dimensional exploded view of the central control wheel device of the utility model.

[0015] Figure 3 It is a top view schematic diagram of the central control wheel device of the utility model after installation.

[0016] Figure 4 It is a bottom view schematic diagram of the central control wheel device of the utility model after installation.

[0017] Figure 5 It is a cross-sectional schematic diagram of the central control wheel device after installation in the utility model.

[0018] Figure 6 yes Figure 5Schematic diagram of the enlarged structure at point A in the middle.

[0019] Figure 7 It is a three-dimensional structural schematic diagram of the manual brake wheel in the second embodiment of the utility model.

[0020] Figure 8 It is a schematic diagram of the installation of the brake line in the second embodiment of the present utility model. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the utility model clearer, the utility model is further described in detail below in combination with specific implementation methods and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the utility model. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the utility model. At the same time, regarding the relational terms such as "first" and "second", there is no substantial sequential relationship, and they are only used to distinguish different components. In addition, the fixed installation connection or fixed connection mentioned in this application refers to the connection method using bolts, nuts or self-locking screws, and the specific connection method will not be described in detail.

[0022] Embodiment 1

[0023] like Figure 1 As shown, the utility model installs four sets of central control wheel devices 2 via a lifting device 3 in a very small limited space at the bottom of the puncture surgical robot vehicle 1, and the lifting device 3 drives the four sets of central control wheel devices 2 to rise or fall synchronously, and the lifting range is between 0-120mm. Each central control wheel device is equipped with a set of brake devices, and each set of central control wheel devices 2 is independently controlled by the brake device. During the actual movement of the puncture surgical robot, as long as any one set of central control devices 2 is locked, the movement can be stopped, and all four sets of central control wheel devices 2 can also be locked.

[0024] like Figure 2 , Figure 5 and Figure 6 As shown, the central wheel control device 2 includes a central wheel control 20, a first transmission shaft 21, a first bevel gear 22, a second bevel gear 23, a second transmission shaft 24, a kicking foot 25, an outer cover 26, a bearing mounting seat 27 and a central wheel connection plate 28. Among them, the first transmission shaft 21, the first bevel gear 22, the second bevel gear 23, the second transmission shaft 24, the bearing mounting seat 27 and the kicking foot 25 constitute a brake device for independently controlling the central wheel control 20.

[0025] The central control wheel 20 is a mature product available on the market, and is provided with a cam brake mechanism, which will not be described in detail here.

[0026] The bearing mounting seat 27 is integrally formed of a metal plate and is L-shaped. Two side walls in a vertical state are respectively provided with bearing mounting holes 270 that are perpendicular to each other. An accommodating space for the first bevel gear 22 and the second bevel gear 23 to be driven and installed is formed in the L-shaped bearing mounting seat 27.

[0027] The first transmission shaft 21 is formed of metal material in one piece, and includes a pivot shaft 210 located in the middle, a first transmission end shaft 211 and a second transmission end shaft 212 located at both ends, and the first transmission end shaft 211 is provided with a plane 213 that cooperates with the kicking foot 25 and is used to limit the rotation of the kicking foot 25. The first transmission end shaft 211 is directly inserted into the special-shaped through hole 250 provided at one end of the kicking foot 25 in a tight fit manner, and the first transmission shaft 21 can be synchronously driven to rotate when the kicking foot 25 is rotated by means of the setting of the plane 213. The pivot shaft 210 of the first transmission shaft 21 penetrates into the bearing mounting hole 270 from the bottom of the bearing mounting seat 27, so that the pivot shaft 210 is rotatably connected to the bearing 29, and the second transmission end shaft 212 extends out of the bearing mounting hole 270 and is fixedly connected to the first bevel gear 22.

[0028] The second transmission shaft 24 is integrally formed of metal material, and includes a pivot section 240 for pivotally connecting to the bearing 29 in the bearing mounting seat 27 . One end is a 12-degree prism shaft 241 that can penetrate into the driving through hole 201 at the top end of the center control wheel 20 , and the other end is a third transmission end shaft 242 fixedly connected to the second bevel gear 23 .

[0029] like Figure 2 , Figure 5 and Figure 6 As shown, the gear ratio of the first bevel gear 22 and the second bevel gear 23 is 1 to 2; they mesh and transmit with each other in the L-shaped bearing mounting seat 27. With the help of the gear transmission ratio, when the first bevel gear 22 rotates by 60 degrees, the second bevel gear 23 rotates by 30 degrees. After the 12-prism shaft 241 of the second transmission shaft 24 rotates by 30 degrees, the central control wheel 20 can be driven to achieve the locking or opening function.

[0030] like Figure 2 As shown, the central control wheel connecting plate 28 is formed of a metal plate in an integral shape and is provided with two mounting holes that are not in the same straight line. The first mounting hole 280 is used for fixed installation with the central control wheel 20, and a semicircular through hole 282 for the 12-prism shaft 241 to pass through is provided perpendicular to the first mounting hole 280, so as to facilitate the connection between the 12-prism shaft 241 and the driving through hole 201 at the top of the hollow wheel 20. The second mounting hole 281 is provided for fixed connection with the push rod extension end (not shown in the figure) of the lifting device 3 fixedly installed on the body of the puncture surgery robot carrier, as shown in FIG. Figure 3 and Figure 4 As shown, sufficient accommodation space is provided for the installation of the brake device.

[0031] like Figure 2 and Figure 4 As shown, a limit screw 271 is installed on the lower surface of the L-shaped bearing mounting seat 27. When the kicking foot 25 rotates 60 degrees, it fits with the central control wheel wall 202. With the help of the limit screw 271 and the central control wheel wall 202, the kicking foot 25 can rotate back and forth at an angle of 60 degrees. That is, the kicking foot 25 is moved by foot, and the angle of the movement is 60 degrees, which drives the first transmission shaft 21 and the first bevel gear 22 to rotate 60 degrees, and drives the second bevel gear 23 to rotate 30 degrees, and then the second transmission shaft 24 drives the central control wheel 24 to complete the locking and opening, which has many advantages such as small size and labor saving.

[0032] Embodiment 2

[0033] like Figure 7 and Figure 8 As shown, the central control wheel device of the second embodiment adds a manual brake wheel 4 on the basis of the first embodiment, and the manual brake wheel 4 is directly installed on the handle (not shown in the figure) above the vehicle body. The locking and opening of the central control wheel 20 are achieved by rotating the rocker rod 40 of the manual brake wheel 4, which is convenient for manual operation by medical personnel.

[0034] The manual brake wheel 4 includes an outer wheel 41 that is convenient for connection with the handle, four rotating wheels 43 located inside the outer wheel 41 for fixing the brake wires 42, and a swing rod 40 that rotates coaxially with the four rotating wheels 43. Two brake wires 42 are correspondingly provided for each central control wheel 20, one end of the two brake wires 42 is connected and fixed to one of the corresponding rotating wheels 43, and the other ends are respectively fixedly connected to the kicking feet 25 and are located on both sides of the first transmission shaft 21 in the kicking feet 25. One of the brake wires 42 is used for braking, and the other is used for releasing the brake. By rotating the swing rod 40, the four rotating wheels 43 are rotated synchronously, and the brake wires 42 are pulled synchronously, the four kicking feet 25 can be rotated synchronously, so that the linkage braking of the four central control wheels can be realized. The specific connection and installation of the brake wires 42 are easy to implement for those skilled in the art, and will not be described in detail here.

Claims

1. A brake device for a puncture surgical robot, used to independently control each central control wheel installed at the bottom of the puncture surgical robot vehicle, characterized in that: The braking device includes a bearing mounting seat, a kicking foot, a first transmission shaft, a first bevel gear, a second bevel gear, and a second transmission shaft; the first bevel gear and the second bevel gear are meshed and transmitted with each other inside the bearing mounting seat, and the gear ratio of the first bevel gear and the second bevel gear is 1 to 2; the first transmission shaft is pivotally connected to the bearing mounting seat, one end is fixedly connected to the first bevel gear, and the other end is fixedly connected to the kicking foot; one end of the second transmission shaft is drivingly connected to the central control wheel, and the other end of the second transmission shaft is fixedly connected to the second bevel gear.

2. The braking device for a puncture surgical robot according to claim 1, characterized in that: One end of the second transmission shaft fixedly connected to the second bevel gear is a 12-axis prism shaft, and the rotation angle of the kicking foot is 60 degrees.

3. The braking device for a puncture surgical robot according to claim 1, characterized in that: The first transmission shaft includes a pivoting section located in the middle portion and transmission ends located at both ends, and the transmission ends are provided with planes that cooperate with the kicking foot to limit the rotation angle of the kicking foot.

4. The braking device for a puncture surgical robot according to claim 1, characterized in that: The bearing mounting seat is L-shaped.

5. The braking device for a puncture surgical robot according to claim 1, characterized in that: The braking device further includes a manual brake wheel, an outer wheel of the manual brake wheel, four rotating wheels, and a rocker arm that coaxially rotates with the four rotating wheels. Each rotating wheel is equipped with one end of two brake lines, and the other end of the two brake lines installed in each rotating wheel is fixedly connected to the kicking foot.

6. A central control wheel device for a puncture surgical robot using the brake device according to any one of claims 1 to 5, comprising a central control wheel, characterized in that: It further includes a center control wheel connecting plate for connecting the center control wheel and the lifting assembly.

7. The central control wheel device for a puncture surgical robot according to claim 6, characterized in that: The central control wheel connecting plate is formed into a special shape by a metal plate and is provided with two mounting holes which are not in the same straight line.

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