Steel belt pre-tightening device and surgical robot

Abstract

The utility model relates to the technical field of medical instruments, in particular to a steel belt pre-tightening device and a surgical robot, the steel belt pre-tightening device is suitable for pre-tightening a steel belt wound on a rotating shaft, and comprises a pre-tightening piece connected with the steel belt and a positioning structure arranged on the pre-tightening piece and the rotating shaft; the pre-tightening piece is arranged on the rotating shaft in a position-adjustable mode so as to adjust the pre-tightening force of the steel belt. After the pre-tightening force of the steel belt is adjusted, the positioning structure can achieve positioning of the pre-tightening piece on the rotating shaft in the axial direction of the rotating shaft. The surgical robot comprises the steel belt pre-tightening device. Through the structure in the application, the positioning structure can act together with the rotating shaft so as to limit the pre-tightening piece in the axial direction of the rotating shaft. The pre-tightening piece can be fixed in two directions at the same time under the cooperation of the positioning structure and the adjusting screw, and the stability of the position of the pre-tightening piece in the mounting groove can be better improved, so that the pre-tightening force of the steel belt is kept constant.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a steel belt pre-tightening device and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of the size of the incision, the difficulty of minimally invasive instruments in minimally invasive surgery is greatly increased, and the fatigue and trembling of doctors during long operations will be magnified, which has become a key factor restricting the development of minimally invasive surgical technology. With the development of robotics technology, a new technology in the field of minimally invasive medicine that can overcome shortcomings and inherit advantages has emerged - minimally invasive surgical robot technology.

[0003] A common minimally invasive surgical robot consists of a doctor's console, a patient surgical platform and a display device. The surgeon operates an input device on the doctor's console and transmits the input to the patient surgical platform connected to the remotely operated surgical instrument.

[0004] The robot arm consists of several joints, which are linked by steel belts. However, with the long-term use of the equipment, the steel belts may become loose, so they need to be re-tightened, which makes the maintenance cost of the overall equipment high. Generally, the linkage of the joints is achieved by double-layer steel belts. How to connect the double-layer steel belts is a difficult technical problem to overcome.

[0005] The technical solution of Chinese invention patent CN115929857A has the following problems: the fixed end of the steel belt is subjected to tension during long-term use, and the fixed seat is easy to move, resulting in insufficient adjustment of the preload force. Utility Model Content

[0006] In view of the above problems existing in the prior art, the utility model provides a steel belt pre-tightening device and a surgical robot.

[0007] In order to solve the above technical problems, the utility model is solved by the following technical solutions:

[0008] In a first aspect, a steel strip pre-tensioning device is provided, which is suitable for pre-tensioning a steel strip wound on a rotating shaft, and comprises a pre-tensioning member connected to the steel strip and a positioning structure arranged on the pre-tensioning member and the rotating shaft;

[0009] The pre-tightening member is adjustably arranged on the rotating shaft to adjust the pre-tightening force of the steel belt;

[0010] After the pre-tightening force of the steel belt is adjusted, the positioning structure can realize the positioning of the pre-tightening member on the rotating shaft in the axial direction of the rotating shaft.

[0011] Through the structure of the present application, the positioning structure can work together with the rotating shaft to limit the preload member in the axial direction of the rotating shaft. With the cooperation of the positioning structure and the adjusting screw, the preload member can be fixed in two directions at the same time, which can better improve the stability of the position of the preload member in the installation groove to keep the preload force of the steel belt constant.

[0012] Preferably, the positioning structure comprises a positioning rod arranged at the preload member and a positioning hole arranged on the rotating shaft;

[0013] The positioning rod can move relative to the preload member in a position adjustment direction of the preload member;

[0014] The first end of the positioning rod is inserted and fixed in the positioning hole, and the second end limits the position of the preload member in the axial direction of the rotating shaft.

[0015] Through the structure in the present application, the setting of the positioning rod will not affect the adjustment of the position of the preloaded member by the adjusting screw on the one hand, and on the other hand it can also maintain the limiting effect on the preloaded member, which can better improve the stability of the position of the preloaded member and thereby maintain the preload force of the steel belt.

[0016] Preferably, the positioning structure comprises a strip-shaped hole penetrating through the pre-tightening member;

[0017] The length direction of the strip-shaped hole is consistent with the position adjustment direction of the preload member;

[0018] The first end of the positioning rod is inserted and fixed in the positioning hole through the strip hole.

[0019] Through the structure in the present application, when the preload member is driven to move by the adjusting screw, the positioning rod will synchronously move in the strip hole along the length direction of the strip hole, thereby realizing the relative movement between the positioning rod and the preload member, so that the positioning rod will not affect the position adjustment of the preload member, but can also play a role in improving the position stability of the preload member.

[0020] Preferably, an extrusion block is provided on the second end of the positioning rod;

[0021] When the first end of the positioning rod is inserted and fixed in the positioning hole, the extrusion block is located at a side of the pre-tightening member away from the positioning hole, and the extrusion block presses the pre-tightening member onto the rotating shaft.

[0022] Through the structure in the present application, in the installed state, the extrusion block can press the preload member in the installation groove in the axial direction of the rotating shaft, thereby fixing the preload member and improving the position stability of the preload member.

[0023] Preferably, the positioning hole and the positioning rod are connected by a snap connection or a threaded connection.

[0024] Through the structure of the present application, when the positioning hole and the first end of the positioning rod are snap-connected, the positioning rod can be better fixedly connected in the positioning hole, and the extrusion block can extrude the preloaded member.

[0025] When the positioning hole and the first end of the positioning rod are threadedly connected, while achieving a fixed connection of the positioning rod in the positioning hole, the depth of the first end of the positioning rod extending into the positioning hole can be adjusted by rotating the positioning rod, thereby adjusting the extrusion force of the extrusion block on the preload member, thereby achieving the effect of adjusting the limiting effect on the preload member.

[0026] Preferably, a mounting groove is provided on one side of the rotating shaft in the axial direction, and the mounting groove opens on the circumferential side wall of the rotating shaft;

[0027] The mounting groove forms a stop seat on one side along the circumferential direction of the rotating shaft;

[0028] The pre-tightening member is arranged in the installation groove, and the pre-tightening member is connected to the stop seat via an adjusting screw, so that the position of the pre-tightening member can be adjusted;

[0029] The positioning hole is arranged on a side wall of the mounting groove along the axial direction of the rotating shaft.

[0030] Through the structure in the present application, the setting of the installation groove can better realize the installation of the preload member on the rotating shaft; and the formation of the stop seat can better cooperate with the adjusting screw to adjust the position of the preload member, so as to achieve the effect of adjusting the preload force of the steel belt.

[0031] Preferably, a chamfer is provided between the side wall of the mounting groove relative to the stop and the circumferential side wall of the rotating shaft.

[0032] Through the structure of the present application, a smooth transition between the side wall of the mounting groove relative to the stop and the circumferential side wall of the rotating shaft can be achieved, thereby providing a certain degree of protection for the steel belt and improving the stability of the steel belt.

[0033] Preferably, a gasket is provided between the side wall of the mounting groove relative to the stop and the preload member.

[0034] Through the structure in the present application, the fixing of the preload member by the adjusting screw can be better assisted, and the gasket can resist the preload member in the direction of the pulling force of the steel belt on the preload member, thereby improving the stability of the position of the preload member.

[0035] Preferably, the steel belt has a steel belt joint, and the pre-tightening member is provided with a protruding rib abutting against the steel belt joint;

[0036] The steel belt is connected to the pre-tightening member via the steel belt joint;

[0037] When the steel belt joint is connected to the pre-tightening member, the protruding rib abuts against the side wall of the steel belt joint away from the abutment.

[0038] Through the structure in the present application, the protruding ribs on the preload member can abut against the steel belt joint, so that the preload member can resist the steel belt joint in the tensile direction of the steel belt, and the stability of the fixed connection between the steel belt and the preload member through the steel belt joint can be improved.

[0039] In a second aspect, a surgical robot is provided, comprising a mechanical arm composed of a plurality of joint components, wherein the joint components are provided with rotating shafts, and the rotating shafts are linked by steel belts;

[0040] The above-mentioned steel belt pre-tightening device is arranged between the rotating shaft and the steel belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of a mechanical arm in some embodiments of the present application is shown;

[0042] Figure 2 A schematic diagram of the internal structure of a joint component in some embodiments of the present application is shown;

[0043] Figure 3 Shows Figure 2 A partial enlarged view of the middle A;

[0044] Figure 4 A schematic diagram showing the connection between the steel belt and the rotating shaft in some embodiments of the present application is shown;

[0045] Figure 5 A schematic diagram of a rotating shaft in some embodiments of the present application is shown;

[0046] Figure 6 A schematic diagram showing a steel belt connected to a pre-tightening member through a steel belt joint in some embodiments of the present application is shown;

[0047] Figure 7 A schematic diagram of a pre-tightening member in some embodiments of the present application is shown;

[0048] Figure 8 A schematic diagram of a positioning rod and an extrusion block in some embodiments of the present application is shown.

[0049] The parts indicated by the numbers in the accompanying drawings are as follows:

[0050] 10. Robotic arm; 11. Joint component; 100. Steel belt; 110. Steel belt joint; 111. Fastening screw; 200. Rotating shaft; 210. Mounting slot; 211. Positioning hole; 220. Backing seat; 221. Connecting hole; 300. Preload member; 310. Threaded hole; 320. Positioning rod; 321. Extrusion block; 330. Strip hole; 340. Protruding rib; 400. Adjusting screw; 500. Chamfer; 600. Gasket. DETAILED DESCRIPTION

[0051] In order to further understand the content of the utility model, the utility model is described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments are only used to explain the utility model but not to limit it.

[0052] First, as Figure 2-8 As shown, this embodiment provides a steel belt pre-tightening device, which is suitable for pre-tightening the steel belt 100 wound around the rotating shaft 200.

[0053] The steel belt pretensioning device includes a mounting groove 210 and a pretensioning member 300; the mounting groove 210 is arranged on one side of the axial direction of the rotating shaft 200, and the mounting groove 210 is open on the side wall of the rotating shaft 200 in the circumferential direction, wherein the mounting groove 210 forms a stop 220 along one side wall of the rotating shaft 200 in the circumferential direction, and a connecting hole 221 is arranged on the stop 220; the pretensioning member 300 can be movably placed in the mounting groove 210, and a threaded hole 310 is opened on the pretensioning member 300. During installation, the steel belt 100 is first fixedly installed on the preload member 300, and then the preload member 300 is placed in the installation groove 210. The adjusting screw 400 passes through the connecting hole 221 and extends into the threaded hole 310 to realize the installation of the preload member 300 in the installation groove 210; it can be understood that, in the installed state, the steel belt 100 connected to the preload member 300 extends in a direction away from the butt seat 220 and is wound around the rotating shaft 200. When the preload force of the steel belt 100 needs to be adjusted, it is only necessary to operate the adjusting screw 400 to move the preload member 300 in the installation groove 210 toward or away from the butt seat 220, so as to synchronously drive the steel belt 100 to change the preload force of the steel belt 100.

[0054] Furthermore, a positioning structure is also provided on the preload member 300 and the rotating shaft 200. When the preload member 300 is driven to move in the mounting groove 210 by the adjusting screw 400 to adjust the preload force of the steel belt 100, the positioning structure can cooperate with the rotating shaft 200 to limit the preload member 300 in the axial direction of the rotating shaft 200, thereby improving the stability of the position of the preload member 300 in the mounting groove 210 and achieving the effect of maintaining the preload force of the steel belt 100 constant.

[0055] It can be known that the adjusting screw 400 on the buttress 220 is threadedly connected to the preload member 300, which can play a certain fixing role in the rotation direction of the rotating shaft 200, and the positioning structure can play a certain fixing role on the preload member 300 in the axial direction of the rotating shaft 200; therefore, with the cooperation of the adjusting screw 400 and the positioning structure, the preload member 300 can be fixed in two directions at the same time, which can better improve the stability of the position of the preload member 300 in the mounting groove 210, so as to keep the preload force of the steel belt 100 constant.

[0056] In some embodiments, the positioning structure includes a positioning rod 320 disposed at the preload member 300 and a positioning hole 211 disposed on the rotating shaft 200; specifically, the positioning hole 211 is disposed on the side wall of the mounting groove 210 along the axial direction of the rotating shaft 200. In the installed state, the first end of the positioning rod 320 disposed at the preload member 300 can be inserted and fixedly connected in the positioning hole 211, and the second end of the positioning rod 320 can limit the preload member 300 in the axial direction of the rotating shaft 200, thereby preventing the position of the preload member 300 from moving in the axial direction of the rotating shaft 200, thereby maintaining the preload force of the steel belt 100.

[0057] It should be further explained that the positioning rod 320 can also move relative to the preload member 300 in the position adjustment direction of the preload member 300. Specifically, the first end of the positioning rod 320 is fixedly connected to the positioning hole 211, but the preload member 300 can still be driven to move in the mounting groove 210 through the adjusting screw 400. During the movement of the preload member 300, the second end of the positioning rod 320 can also achieve a limiting effect on the preload member 300.

[0058] It can be understood that the setting of the positioning rod 320 will not affect the adjustment of the position of the preload member 300 by the adjusting screw 400 on the one hand, and on the other hand it can also maintain the limiting effect on the preload member 300, which can better improve the stability of the position of the preload member 300, thereby maintaining the preload force of the steel belt 100.

[0059] In some embodiments, a strip hole 330 is provided on the preload member 300 and passes through the preload member 300, and the length direction of the strip hole 330 remains consistent with the position adjustment direction of the preload member 300; during installation, after the preload member 300 is placed in the installation groove 210, the first end of the positioning rod 320 is extended into the positioning hole 211 through the strip hole 330 to achieve a fixed connection of the first end of the positioning rod 320 in the positioning hole 211. At this time, the positioning rod 320 will be partially in the strip hole 330.

[0060] When the preload member 300 is driven to move by the adjusting screw 400, the positioning rod 320 will synchronously move in the strip hole 330 along the length direction of the strip hole 330, thereby realizing relative movement between the positioning rod 320 and the preload member 300, so that the positioning rod 320 will not affect the position adjustment of the preload member 300, but can also play a role in improving the position stability of the preload member 300.

[0061] In some embodiments, an extrusion block 321 is provided on the second end of the positioning rod 320; during the installation process, after the first end of the positioning rod 320 is inserted into and fixed in the positioning hole 211 through the bar hole 330, the extrusion block 321 on the second end of the positioning rod 320 will squeeze the side wall of the preload 300 away from the positioning hole 211, and the extrusion block 321 can press the preload 300 in the installation groove 210 in the axial direction of the rotating shaft 200, thereby fixing the preload 300 and improving the stability of the position of the preload 300.

[0062] In some embodiments, the positioning hole 211 and the first end of the positioning rod 320 may be configured as a snap-fit ​​connection or a threaded connection.

[0063] When the positioning hole 211 and the first end of the positioning rod 320 are connected by a snap connection, a first snap connection portion (not shown in the figure) can be provided on the inner side wall of the positioning hole 211 at different depths, and a second snap connection portion (not shown in the figure) can be provided on the first end of the positioning rod 320 accordingly. When the first end of the positioning rod 320 is inserted into the positioning hole 211, the first snap connection portion can be snap-fitted with the second snap connection portion, thereby achieving the fixation of the first end of the positioning rod 320 in the positioning hole 211. The extrusion block 321 can be provided to be movable on the second end of the positioning rod 320, so that the second snap connection portion can be snap-fitted with the first snap connection portion at different depths of the positioning hole 211, thereby achieving the adjustment of the limiting effect of the preload member 300.

[0064] When the positioning hole 211 and the first end of the positioning rod 320 are threadedly connected, the first end of the positioning rod 320 is inserted into the positioning hole 211 through the strip hole 330, and the first end of the positioning rod 320 can be threadedly connected in the positioning hole 211 by rotating the positioning rod 320, so that the positioning rod 320 is fixedly connected in the positioning hole 211. The depth of the first end of the positioning rod 320 inserted into the positioning hole 211 can be adjusted by rotating the positioning rod 320, so that the extrusion force of the extrusion block 321 on the preload 300 can be adjusted to achieve the effect of adjusting the limiting effect on the preload 300. In actual application, the positioning rod 320 and the extrusion block 321 can be replaced by bolts as a whole.

[0065] Furthermore, when adjusting the position of the preload member 300, first operate the positioning rod 320 so that the first end of the positioning rod 320 moves toward the outside of the positioning hole 211, release the extrusion of the preload member 300 by the extrusion block 321, and then drive the preload member 300 to move in the mounting groove 210 through the adjusting screw 400. After the position of the preload member 300 is adjusted, operate the positioning rod 320 again so that the first end of the positioning rod 320 moves toward the inside of the positioning hole 211, and then make the extrusion block 321 squeeze the preload member 300 again, so as to fix the position of the preload member 300.

[0066] In some embodiments, a chamfer 500 structure is disposed between the side wall of the mounting groove 210 opposite to the stop 220 and the circumferential side wall of the rotating shaft 200 .

[0067] It can be understood that, because the preload member 300 is in the installation groove 210 in the installed state, and the steel belt 100 connected to the preload member 300 extends in the direction away from the buttress 220 and is wrapped around the rotating shaft 200, there is a situation where the intersection of the side wall of the installation groove 210 relative to the buttress 220 and the circumferential side wall of the rotating shaft 200 contacts the steel belt 100, which is easy to rub the steel belt 100. As time goes by, the steel belt 100 is easily damaged and torn or broken. In this embodiment, a chamfer 500 structure is set between the side wall of the installation groove 210 relative to the buttress 220 and the circumferential side wall of the rotating shaft 200, so as to achieve a smooth transition between the side wall of the installation groove 210 relative to the buttress 220 and the circumferential side wall of the rotating shaft 200, thereby providing a certain protection for the steel belt 100 and improving the stability of the steel belt 100.

[0068] In some embodiments, a gasket 600 is provided between the side wall of the mounting groove 210 relative to the butt 220 and the preload member 300. It is understandable that, since the preload member 300 can move in the mounting groove 210 toward the butt 220, after the preload force of the steel belt 100 is adjusted by driving the preload member 300, a certain gap will inevitably be generated between the preload member 300 and the side wall of the mounting groove 210 relative to the butt 220. Placing the gasket 600 in the gap can better assist the fixing of the preload member 300 by the adjusting screw 400. The gasket 600 can resist the preload member 300 in the direction of the pulling force of the steel belt 100 on the preload member 300, thereby improving the stability of the position of the preload member 300.

[0069] Of course, the thickness of the gasket 600 should match the gap between the preload member 300 and the side wall of the mounting groove 210 relative to the stop 220, and the gasket 600 can be made of a hard material or a flexible material. Further, when the gasket 600 is made of a flexible material, it is easier to install the gasket 600 in the gap.

[0070] In some embodiments, the steel strip 100 has a steel strip joint 110, and the steel strip 100 is fixedly connected to the preloaded member 300 through the steel strip joint 110; specifically, the steel strip joint 110 is used to connect the side wall of the preloaded member 300 and protrudes from the surface of the steel strip 100. The preloaded member 300 is provided with a protruding rib 340. When the steel strip 100 is fixedly installed on the preloaded member 300 through the steel strip joint 110, the protruding rib 340 on the preloaded member 300 is located on the side of the steel strip joint 110 away from the butt 220 and butts against the steel strip joint 110.

[0071] It can be understood that, through the abutment of the protruding ribs 340 on the preload member 300 against the steel strip joint 110, the preload member 300 can resist the steel strip joint 110 in the tension direction of the steel strip 100, and the stability of the fixed connection between the steel strip 100 and the preload member 300 through the steel strip joint 110 can be improved.

[0072] Furthermore, the steel strip joint 110 is fixedly connected to the pre-tightening member 300 by means of a fastening screw 111 .

[0073] In some embodiments, in order to further improve the stability of the position of the preload member 300 in the mounting groove 210, a fastening screw 111 can be directly passed through the preload member 300 and fixedly connected to the bottom of the mounting groove 210; so that in conjunction with the adjusting screw 400 and the positioning structure, the preload member 300 can be fixed in three directions at the same time to keep the preload force of the steel belt 100 constant.

[0074] Second, combining Figure 1-8As shown, this embodiment provides a surgical robot, including a robotic arm 10, which is composed of a plurality of joint components 11. A rotating shaft 200 is arranged in the joint component 11, and a steel belt 100 is wound around adjacent rotating shafts 200 to achieve linkage. The above-mentioned steel belt pre-tensioning device is arranged between the rotating shaft 200 and the steel belt 100. Therefore, the surgical robot of this embodiment can have the corresponding technical effects and advantages as mentioned above.

[0075] In short, the above is only a preferred embodiment of the present utility model, and all equivalent changes and modifications made according to the scope of the patent application of the present utility model should fall within the scope of the present utility model patent.

Claims

1. A steel belt pre-tightening device, suitable for pre-tightening a steel belt wound on a rotating shaft, characterized in that: It includes a pre-tightening member connected to the steel belt and a positioning structure arranged on the pre-tightening member and the rotating shaft; The pre-tightening member is adjustably arranged on the rotating shaft to adjust the pre-tightening force of the steel belt; After the pre-tightening force of the steel belt is adjusted, the positioning structure can realize the positioning of the pre-tightening member on the rotating shaft in the axial direction of the rotating shaft.

2. The steel belt pre-tensioning device according to claim 1, characterized in that: The positioning structure includes a positioning rod arranged at the pre-tightening member and a positioning hole arranged on the rotating shaft; The positioning rod can move relative to the preload member in a position adjustment direction of the preload member; The first end of the positioning rod is inserted and fixed in the positioning hole, and the second end limits the position of the preload member in the axial direction of the rotating shaft.

3. The steel strip pre-tensioning device according to claim 2, characterized in that: The positioning structure includes a strip-shaped hole penetrating through the pre-tightening member; The length direction of the strip-shaped hole is consistent with the position adjustment direction of the preload member; The first end of the positioning rod is inserted and fixed in the positioning hole through the strip hole.

4. The steel belt pre-tensioning device according to claim 2, characterized in that: An extrusion block is provided on the second end of the positioning rod; When the first end of the positioning rod is inserted and fixed in the positioning hole, the extrusion block is located at a side of the pre-tightening member away from the positioning hole, and the extrusion block presses the pre-tightening member onto the rotating shaft.

5. The steel strip pre-tensioning device according to any one of claims 2 to 4, characterized in that: The positioning hole and the positioning rod are connected by a snap connection or a threaded connection.

6. The steel belt pre-tensioning device according to claim 2, characterized in that: A mounting groove is provided on one side of the rotating shaft in the axial direction, and the mounting groove opens on the circumferential side wall of the rotating shaft; The mounting groove forms a stop seat on one side along the circumferential direction of the rotating shaft; The pre-tightening member is arranged in the installation groove, and the pre-tightening member is connected to the stop seat via an adjusting screw, so that the position of the pre-tightening member can be adjusted; The positioning hole is arranged on a side wall of the mounting groove along the axial direction of the rotating shaft.

7. The steel belt pre-tensioning device according to claim 6, characterized in that: A chamfer is arranged between the side wall of the mounting groove relative to the stop and the circumferential side wall of the rotating shaft.

8. The steel strip pre-tensioning device according to claim 6, characterized in that: A gasket is arranged between the side wall of the mounting groove relative to the stop and the pre-tightening member.

9. The steel strip pre-tensioning device according to claim 6, characterized in that: The steel belt has a steel belt joint, and the pre-tightening member is provided with a protruding rib abutting against the steel belt joint; The steel belt is connected to the pre-tightening member via the steel belt joint; When the steel belt joint is connected to the pre-tightening member, the protruding rib abuts against the side wall of the steel belt joint away from the abutment.

10. A surgical robot, characterized in that: It comprises a mechanical arm composed of a plurality of joint parts, wherein the joint parts are provided with rotating shafts, and the rotating shafts are linked by steel belts; A steel belt pre-tensioning device as described in any one of claims 1-9 is provided between the rotating shaft and the steel belt.

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