Transmission mechanism for surgical robot

Abstract

The utility model relates to the technical field of mechanical transmission, in particular to a transmission mechanism for a surgical robot, which comprises an inner gear ring, an output component, a transmission component and an input component. The output assembly comprises a bearing seat, a first bearing, a second bearing and an output shaft, the bearing seat is connected with the inner gear ring and located in the inner gear ring, the first bearing is rotationally connected with the bearing seat and located in the bearing seat, the second bearing is rotationally connected with the bearing seat and located in the bearing seat, and the output shaft is connected with the first bearing and the second bearing. And the transmission assembly is connected with the output shaft and the input assembly is connected with the inner gear ring, so that the phenomena of blockage, tooth clamping and instability in the original design are solved, the assembly is simple and easy to operate, and the assembly and debugging speed is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical transmission, in particular to a transmission mechanism for a surgical robot. Background Art

[0002] A small reducer is needed in the transmission mechanism of the robot. The existing planetary gear reducer is generally divided into two stages. The two-stage planetary gear is used to achieve the purpose of deceleration.

[0003] The transmission mechanism for surgical robots has high requirements for design and manufacturing. Products with existing technologies have obvious jams after assembly, posing huge challenges to assembly, debugging and design. Utility Model Content

[0004] The utility model aims to provide a transmission mechanism for a surgical robot, which solves the problems of jamming and tooth jamming and instability in the original design, makes assembly simple and easy to operate, and greatly improves the speed of assembly and debugging.

[0005] To achieve the above-mentioned purpose, the utility model provides a transmission mechanism for a surgical robot, including an inner gear ring, an output assembly, a transmission assembly and an input assembly; the output assembly includes a bearing seat, a No. 1 bearing, a No. 2 bearing and an output shaft, the bearing seat is connected to the inner gear ring and is located inside the inner gear ring, the No. 1 bearing is rotatably connected to the bearing seat and is located inside the bearing seat, the No. 2 bearing is rotatably connected to the bearing seat and is located inside the bearing seat, the output shaft is connected to the No. 1 bearing and the No. 2 bearing and passes through the No. 1 bearing and the No. 2 bearing, the transmission assembly is connected to the output shaft, and the input assembly is connected to the inner gear ring.

[0006] Wherein, the output component also includes an output interface and an E-type retaining spring, the output interface is connected to the output shaft and is located on the outside of the inner gear ring, and the E-type retaining spring is connected to the output shaft and is located between the output shaft and the inner gear ring.

[0007] Among them, the transmission assembly includes a secondary frame pin, a secondary washer, a secondary bearing, a secondary planetary gear and a secondary sun gear. The number of the secondary frame pins is three. The three secondary frame pins are respectively detachably connected to the output shaft and are located at the end of the output shaft away from the output interface. A secondary washer is respectively arranged on the outer side of each secondary frame pin. A secondary bearing is respectively connected to the outer side of each secondary frame pin. A secondary planetary gear is rotatably connected to the outer side of each secondary bearing. The secondary sun gear is meshed with the secondary planetary gear and is located at the center of the secondary planetary gear.

[0008] In which, the transmission assembly also includes a primary planetary carrier, a primary carrier pin, a primary washer, a primary bearing, a primary planetary gear and a primary sun gear. The primary planetary carrier is detachably connected to the secondary sun gear and is located on the outside of the secondary sun gear. The number of the primary carrier pins is three. The three primary carrier pins are respectively detachably connected to the primary planetary carrier and pass through the primary planetary carrier respectively. A primary washer is respectively arranged on the outside of each primary carrier pin. A primary bearing is detachably connected to the outside of each primary carrier pin. A primary planetary gear is rotatably connected to the outside of each primary bearing. The primary sun gear is meshed with the primary planetary gear and is located at the center of the primary planetary gear.

[0009] Wherein, the input assembly includes an input shaft, an input gasket and an input retaining spring, the input shaft is fixedly connected to the first-stage sun gear and is located on the outside of the first-stage sun gear, the input gasket is connected to the inner gear ring and is located at the end of the inner gear ring away from the output interface, and the input retaining spring is detachably connected to the inner gear ring and is located between the input gasket and the inner gear ring.

[0010] The utility model discloses a transmission mechanism for a surgical robot, wherein the inner gear ring provides support for the mechanism, the bearing seat provides support and limiting functions for the output component, the output shaft is used to connect with an external output end, the No. 1 bearing and the No. 2 bearing provide a rotation effect for the output shaft, thereby reducing the friction between the output shaft and the inner gear ring and extending the service life of the output shaft. When assembling the device, the bearing seat is installed in the inner gear ring, and then the No. 1 bearing and the No. 2 bearing are installed in the bearing seat, so that the assembly of the output component is relatively simple and easy, and the problems of jamming and instability in the original design are solved, so that the assembly is simple and easy to operate, and the speed of assembly and debugging is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0012] Figure 1 It is a schematic diagram of the overall structure of a transmission mechanism for a surgical robot according to the first embodiment of the utility model.

[0013] Figure 2 It is a structural schematic diagram of the output component of the first embodiment of the utility model.

[0014] Figure 3 It is a structural schematic diagram of the second stage transmission assembly in the transmission assembly of the first embodiment of the utility model.

[0015] Figure 4 It is a structural schematic diagram of the first-stage transmission assembly in the transmission assembly of the first embodiment of the utility model.

[0016] Figure 5 It is a structural schematic diagram of the input component of the second embodiment of the utility model.

[0017] In the figure: 101-inner gear ring, 102-bearing seat, 103-bearing No. 1, 104-bearing No. 2, 105-output shaft, 106-output interface, 107-E-type retaining spring, 108-secondary frame pin, 109-secondary gasket, 110-secondary bearing, 111-secondary planetary gear, 112-secondary sun gear, 113-first-stage planetary carrier, 114-first-stage frame pin, 115-first-stage gasket, 116-first-stage bearing, 117-first-stage planetary gear, 118-first-stage sun gear, 201-input shaft, 202-input gasket, 203-input retaining spring. DETAILED DESCRIPTION

[0018] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0019] The first embodiment of the present application is:

[0020] See also Figures 1 to 4 ,in, Figure 1 This is a schematic diagram of the overall structure of a transmission mechanism for a surgical robot according to the first embodiment of the utility model. Figure 2 is a schematic diagram of the structure of the output assembly of the first embodiment of the utility model, Figure 3 It is a structural schematic diagram of the second stage transmission assembly in the transmission assembly of the first embodiment of the utility model, Figure 4 It is a structural schematic diagram of the first-stage transmission component in the transmission component of the first embodiment of the utility model. The utility model provides a transmission mechanism for a surgical robot, including an inner gear ring 101, an output component and a transmission component. The output component includes a bearing seat 102, a No. 1 bearing 103, a No. 2 bearing 104, an output shaft 105, an output interface 106 and an E-type retaining spring 107. The transmission component includes a secondary frame pin 108, a secondary gasket 109, a secondary bearing 110, a secondary planetary gear 111, a secondary sun gear 112, a primary planetary frame 113, a primary frame pin 114, a primary gasket 115, a primary bearing 116, a primary planetary gear 117 and a primary sun gear 118. The above-mentioned solution solves the problems of stuck teeth and instability in the original design, makes assembly simple and easy to operate, and greatly improves the speed of assembly and debugging.

[0021] According to this specific embodiment, the bearing seat 102 is connected to the inner gear ring 101 and is located inside the inner gear ring 101, the No. 1 bearing 103 is rotatably connected to the bearing seat 102 and is located inside the bearing seat 102, the No. 2 bearing 104 is rotatably connected to the bearing seat 102 and is located inside the bearing seat 102, the output shaft 105 is connected to the No. 1 bearing 103 and the No. 2 bearing 104 and passes through the No. 1 bearing 103 and the No. 2 bearing 104, the transmission assembly is connected to the output shaft 105, the input assembly is connected to the inner gear ring 101, and the inner gear ring 101 provides support for the mechanism, the bearing seat 102 provides support and limiting function for the output assembly, the output shaft 105 is used to connect with the external output end, the No. 1 bearing 103 and the No. 2 bearing 104 provide rotation effect for the output shaft 105, reduce the friction between the output shaft 105 and the inner gear ring 101, and extend the service life of the output shaft 105. When assembling the device, the bearing seat 102 is installed in the inner gear ring 101, and then the No. 1 bearing 103 and the No. 2 bearing 104 are installed in the bearing seat 102, so that the assembly of the output assembly is simpler and easier.

[0022] Among them, the output interface 106 is connected to the output shaft 105 and is located on the outside of the inner ring gear 101. The E-type retaining spring 107 is connected to the output shaft 105 and is located between the output shaft 105 and the inner ring gear 101. The output interface 106 is used to connect to an external device to be transmitted. The E-type retaining spring 107 provides a limiting effect for the output shaft 105, fixing the output shaft 105 inside the inner ring gear 101.

[0023] Secondly, there are three secondary frame pins 108, which are detachably connected to the output shaft 105 and located at one end of the output shaft 105 away from the output interface 106. A secondary washer 109 is provided on the outer side of each secondary frame pin 108, and a secondary bearing 110 is connected to the outer side of each secondary frame pin 108. A secondary planetary gear 111 is rotatably connected to the outer side of each secondary bearing 110. The secondary sun gear 112 is meshed with the secondary planetary gear 111 and is located at the center of the secondary planetary gear 111. 108 provides support for the secondary bearing 110 and the secondary planetary gear 111. The secondary gasket 109 reduces the friction between the secondary bearing 110 and the output shaft 105, thereby extending the service life of the equipment. When the mechanism is in use, the secondary sun gear 112 rotates with the primary planetary carrier 113. The rotation of the secondary sun gear 112 also drives the secondary planetary gear 111 to rotate, so that the secondary planetary gear 111 rotates along the secondary bearing 110 inside the inner gear ring 101, and at the same time drives the secondary carrier pin 108 and the output shaft 105 to rotate, thereby achieving the purpose of decelerating the power at the input end.

[0024] Again, the first-stage planet carrier 113 is detachably connected to the second-stage sun gear 112 and is located on the outside of the second-stage sun gear 112. The number of the first-stage carrier pins 114 is three. The three first-stage carrier pins 114 are detachably connected to the first-stage planet carrier 113 and pass through the first-stage planet carrier 113 respectively. A first-stage gasket 115 is provided on the outside of each first-stage carrier pin 114. A first-stage bearing 116 is detachably connected to the outside of each first-stage carrier pin 114. A first-stage planet gear 117 is rotatably connected to the outside of each first-stage bearing 116. The first-stage sun gear 118 is detachably connected to the first-stage planet carrier 113 and is located on the outside of the second-stage sun gear 118. The first-stage planetary gears 117 are meshed with each other and are located at the center of the first-stage planetary gears 117. The first-stage sun gear 118 is connected to the external input end. The first-stage frame pin 114 provides support for the first-stage bearing 116 and the first-stage planetary gear 117. The first-stage gasket 115 avoids the friction between the first-stage bearing 116 and the first-stage planetary frame 113, thereby extending the service life of the device. The first-stage sun gear 118 rotates, driving the three first-stage planetary gears 117 to rotate along the first-stage bearing 116 inside the inner gear ring 101, and at the same time driving the first-stage planetary frame 113 to rotate, thereby achieving the purpose of first-stage deceleration of the power.

[0025] A transmission mechanism for a surgical robot is used using the present embodiment, wherein the inner gear ring 101 provides support for the mechanism, the bearing seat 102 provides support and limiting functions for the output component, the output shaft 105 is used to connect with an external output end, the No. 1 bearing 103 and the No. 2 bearing 104 provide a rotation effect for the output shaft 105, thereby reducing the friction between the output shaft 105 and the inner gear ring 101 and extending the service life of the output shaft 105. When assembling the device, the bearing seat 102 is installed in the inner gear ring 101, and then the No. 1 bearing 103 and the No. 2 bearing 104 are installed in the bearing seat 102, so that the assembly of the output component is relatively simple and easy, and the problems of jamming and instability in the original design are solved, so that the assembly is simple and easy to operate, and the speed of assembly and debugging is greatly improved.

[0026] The second embodiment of the present application is:

[0027] Based on the first embodiment, please refer to Figure 5 ,in, Figure 5 It is a structural schematic diagram of the input component of the second embodiment of the utility model.

[0028] The transmission mechanism for a surgical robot in this embodiment further includes an input component, and the input component includes an input shaft 201 , an input gasket 202 and an input retaining spring 203 .

[0029] According to this specific embodiment, the input shaft 201 is fixedly connected to the primary sun gear 118 and is located on the outside of the primary sun gear 118. The input gasket 202 is connected to the inner gear ring 101 and is located at the end of the inner gear ring 101 away from the output interface 106. The input retaining spring 203 is detachably connected to the inner gear ring 101 and is located between the input gasket 202 and the inner gear ring 101. The input shaft 201 transmits the input power to the primary sun gear 118. The input gasket 202 provides protection for the primary sun gear 118. The input retaining spring 203 provides a limiting function for the input gasket 202, so that the input gasket 202 is stuck inside the inner gear ring 101.

[0030] A transmission mechanism for a surgical robot using this embodiment, the input gasket 202 provides protection for the primary sun gear 118, and the input retaining spring 203 provides a limiting function for the input gasket 202, so that the input gasket 202 is stuck inside the inner gear ring 101.

[0031] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A transmission mechanism for a surgical robot, comprising an inner gear ring, characterized in that: Also includes an output assembly, a transmission assembly and an input assembly; The output assembly includes a bearing seat, a No. 1 bearing, a No. 2 bearing and an output shaft. The bearing seat is connected to the inner gear ring and is located inside the inner gear ring. The No. 1 bearing is rotatably connected to the bearing seat and is located inside the bearing seat. The No. 2 bearing is rotatably connected to the bearing seat and is located inside the bearing seat. The output shaft is connected to the No. 1 bearing and the No. 2 bearing and passes through the No. 1 bearing and the No. 2 bearing. The transmission assembly is connected to the output shaft, and the input assembly is connected to the inner gear ring.

2. A transmission mechanism for a surgical robot as claimed in claim 1, characterized in that: The output assembly also includes an output interface and an E-type retaining spring. The output interface is connected to the output shaft and is located outside the inner gear ring. The E-type retaining spring is connected to the output shaft and is located between the output shaft and the inner gear ring.

3. A transmission mechanism for a surgical robot as claimed in claim 2, characterized in that: The transmission assembly includes a secondary frame pin, a secondary washer, a secondary bearing, a secondary planetary gear and a secondary sun gear. The number of the secondary frame pins is three. The three secondary frame pins are respectively detachably connected to the output shaft and are located at the end of the output shaft away from the output interface. A secondary washer is respectively arranged on the outer side of each secondary frame pin. A secondary bearing is respectively connected to the outer side of each secondary frame pin. A secondary planetary gear is rotatably connected to the outer side of each secondary bearing. The secondary sun gear is meshed with the secondary planetary gear and is located at the center of the secondary planetary gear.

4. A transmission mechanism for a surgical robot as claimed in claim 3, characterized in that: The transmission assembly also includes a primary planetary carrier, a primary carrier pin, a primary washer, a primary bearing, a primary planetary gear and a primary sun gear. The primary planetary carrier is detachably connected to the secondary sun gear and is located on the outside of the secondary sun gear. There are three primary carrier pins, and the three primary carrier pins are respectively detachably connected to the primary planetary carrier and pass through the primary planetary carrier respectively. A primary washer is respectively arranged on the outside of each primary carrier pin, and a primary bearing is detachably connected to the outside of each primary carrier pin. A primary planetary gear is rotatably connected to the outside of each primary bearing, and the primary sun gear is meshed with the primary planetary gears and is located at the center of the primary planetary gears.

5. A transmission mechanism for a surgical robot as claimed in claim 4, characterized in that: The input assembly includes an input shaft, an input gasket and an input retaining spring. The input shaft is fixedly connected to the first-stage sun gear and is located on the outside of the first-stage sun gear. The input gasket is connected to the inner gear ring and is located at an end of the inner gear ring away from the output interface. The input retaining spring is detachably connected to the inner gear ring and is located between the input gasket and the inner gear ring.

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