Harmonic transmission mechanism and three-dimensional C-shaped arm X-ray machine

Abstract

The utility model relates to a harmonic transmission mechanism and a three-dimensional C-shaped arm X-ray machine, and the harmonic transmission mechanism comprises a power source which is used for providing power; the harmonic speed reducer assembly is in transmission connection with the power source through a gear pair; the harmonic speed reducer assembly and the slewing bearing assembly are in transmission connection with the load and the harmonic speed reducer assembly respectively, and the harmonic speed reducer assembly and the slewing bearing assembly are both arranged to be of a hollow structure so as to form a cable channel. And the cable adopts an external wiring mode to limit and interfere the rotation motion of the C-shaped arm.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment, and specifically relates to a harmonic transmission mechanism and a three-dimensional C-shaped arm X-ray machine. Background Art

[0002] With the continuous improvement of medical level, the application of 3D C-arm X-ray machine in hospitals is becoming more and more common, especially in the field of surgical robots. 3D C-arm X-ray machine has become an essential imaging equipment. The working principle of 3D C-arm X-ray machine: C-arm is used as a rotating transmission mechanism, X-ray source and detector are installed at both ends of C-arm, C-arm rotates around the target to be detected, uses detector to collect data, and reconstructs through computer, converts the two-dimensional projection images obtained from various angles into three-dimensional volume data to display three-dimensional stereoscopic images of any direction and level.

[0003] The three-dimensional C-arm X-ray machine is heavy, has high motion accuracy, and needs to have a three-dimensional scanning function, so the movement in all directions is mostly driven by a motor. The existing three-dimensional C-arm X-ray machine uses ordinary reducers or gear sets for electric transmission, which has problems such as insufficient transmission rigidity. For example, the CN116317336A rotation drive module and medical imaging equipment use a two-stage transmission method to achieve the rotation of the C-arm. The motor is connected to the first stage transmission, and the C-arm is connected to the second stage transmission. The first stage transmission uses a worm gear reducer, and the second stage transmission uses a gear set transmission. The backlash of the worm gear reducer is usually around 10 arc minutes, and even the backlash of the more precise gear set is around 10 arc minutes. The accumulation of the two makes it difficult to ensure the transmission rigidity; at the same time, each kinematic pair mostly uses an external routing method. During the rotation of the C-arm, the cable will limit the rotation range of the C-arm. In addition, the swing of the cable will interfere with the operation of the three-dimensional C-arm X-ray machine. Utility Model Content

[0004] In view of the various deficiencies in the prior art, a harmonic drive mechanism and a three-dimensional C-arm X-ray machine are proposed to solve the technical problems in the prior art that the transmission rigidity of the transmission mechanism is insufficient and the external routing of cables will limit and interfere with the rotational movement of the C-arm.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] In a first aspect, the utility model provides a harmonic transmission mechanism, comprising:

[0007] A power source for providing power;

[0008] A harmonic reducer assembly, which is transmission-connected to the power source via a gear pair;

[0009] And a slewing bearing assembly, which is respectively connected to the load and the harmonic reducer assembly in a transmission manner. The harmonic reducer assembly and the slewing bearing assembly are both configured as hollow structures to form a cable channel.

[0010] The technical solution is further configured such that the output end of the power source is coaxial with the output gear and is fixedly connected thereto.

[0011] The technical solution is further configured that the output end of the power source passes through the output gear and is connected to a fixing member, and the fixing member is a locking sleeve, a flat key or a spline.

[0012] The technical solution is further configured as follows: the harmonic reducer assembly includes a harmonic reducer, an input gear and an output turntable, the input gear is coaxial with and fixedly connected to the input end of the harmonic reducer, the output turntable is coaxial with and fixedly connected to the output end of the harmonic reducer, and the input gear is meshed with the output gear to form a gear pair.

[0013] The technical solution is further configured as follows: the slewing bearing assembly includes a slewing bearing and a transmission shaft which are nested with each other; the output turntable is coaxial with and fixedly connected to the transmission shaft; and the transmission shaft is fixedly connected to the inner ring of the slewing bearing.

[0014] The technical solution is further configured such that the harmonic reducer and the transmission shaft are both configured as hollow structures to form the cable channel.

[0015] The technical solution is further configured to include a shell, the power source is arranged inside the shell, a mounting hole is opened on the side wall of the shell, and the harmonic reducer assembly and the slewing bearing assembly are both arranged at the mounting hole.

[0016] The technical solution is further configured such that the power source is connected to the side wall of the shell via a mounting member, and the mounting position of the mounting member relative to the side wall of the shell is adjustable.

[0017] In a second aspect, the utility model provides a three-dimensional C-arm X-ray machine, comprising:

[0018] A chassis assembly having a walking function;

[0019] A lifting assembly having a telescopic function along the vertical direction;

[0020] The harmonic transmission mechanism is fixed to the output end of the lifting assembly;

[0021] And a C-arm imaging chain, which serves as a load and is transmission-connected to the harmonic transmission mechanism, and the harmonic transmission mechanism drives the C-arm imaging chain to perform rotational motion.

[0022] The technical solution is further configured to include a sliding assembly arranged on the C-arm imaging chain, the C-arm imaging chain can slide relative to the sliding assembly, and the sliding assembly is transmission-connected to the slewing bearing assembly.

[0023] The beneficial effects of the utility model are:

[0024] The backlash of the harmonic reducer assembly is extremely low, which can ensure good transmission rigidity, thereby ensuring the positioning accuracy and repeatability of the rotational motion of the load (C-arm imaging chain); by setting the harmonic reducer assembly and the slewing bearing assembly as a hollow structure, a cable channel is formed, and the cable can pass through the inside of the harmonic reducer assembly and the slewing bearing assembly to meet the internal routing requirements and effectively increase the load rotation range. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the harmonic drive mechanism in the embodiment of the utility model;

[0026] Figure 2 is a longitudinal sectional view of the harmonic drive mechanism in the embodiment of the utility model;

[0027] Figure 3 It is a disassembled schematic diagram of the harmonic drive mechanism in the embodiment of the utility model;

[0028] Figure 4 It is a schematic diagram of a three-dimensional C-arm X-ray machine in an embodiment of the utility model.

[0029] In the accompanying drawings: 110, power source; 111, mounting member; 112, output gear; 113, observation port; 120, housing; 121, housing side wall; 122, mounting hole; 130, harmonic reducer assembly; 131, input gear; 132, harmonic reducer; 133, output turntable; 140, slewing bearing assembly; 141, slewing bearing; 142, transmission shaft;

[0030] 100. Harmonic drive mechanism; 200. Chassis assembly; 300. Lifting assembly; 400. Sliding assembly; 500. C-arm imaging chain. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only referenced to the directions of the drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0032] The present utility model will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0033] According to an embodiment of the present utility model, a harmonic drive mechanism is provided. Refer to Figures 1 to 3 , including: a power source 110, a harmonic reducer assembly 130, and a slewing bearing assembly 140. Specifically, the power source 110 provides power for the entire harmonic drive mechanism; the harmonic reducer assembly 130 is drivingly connected to the power source 110 through a gear pair; the slewing bearing assembly 140 is respectively drivingly connected to a load and the harmonic reducer assembly 130. The harmonic reducer assembly 130 and the slewing bearing assembly 140 are both provided with a hollow structure to form a cable channel.

[0034] During operation, the power source 110 transmits power to the harmonic reducer assembly 130 through the gear pair, and then to the slewing bearing assembly 140, and the slewing bearing assembly 140 drives the load to rotate.

[0035] It should be noted that the backlash of the harmonic reducer assembly 130 is extremely low, which can ensure good transmission rigidity, thereby ensuring the positioning accuracy and repeat positioning accuracy of the load rotation movement; by setting the harmonic reducer assembly 130 and the slewing bearing assembly 140 as hollow structures, a cable channel is formed, and the cable can pass through the inside of the harmonic reducer assembly 130 and the slewing bearing assembly 140 to meet the internal wiring requirements and effectively increase the load rotation range.

[0036] In the harmonic drive mechanism of this embodiment, refer to Figures 1 to 3 , the output end of the power source 110 is coaxially and fixedly connected to the output gear 112, and the output end of the power source 110 passes through the output gear 112 and is connected to a fixing member.

[0037] It should be noted that the output gear 112 can rotate synchronously with the output end of the power source 110. In order to improve the installation stability of the output gear 112, the output end of the power source 110 passes through the output gear 112 and is locked by a fixing member.

[0038] Preferably, the fixing member is a shrink fit, a flat key, or a spline. That is to say, the output end of the power source 110 and the output gear 112 can be connected by a shrink fit, or can also be connected in the form of a flat key or a spline.

[0039] In the harmonic drive mechanism of this embodiment, refer to Figures 1 to 3, the harmonic reducer assembly 130 includes a harmonic reducer 132, an input gear 131, and an output turntable 133. The input gear 131 is coaxially and fixedly connected to the input end of the harmonic reducer 132, and the output turntable 133 is coaxially and fixedly connected to the output end of the harmonic reducer 132. The input gear 131 meshes with the output gear 112 to form a gear pair.

[0040] It should be noted that the input gear 131 is fixedly connected to the input end of the harmonic reducer 132 by screws, and the output turntable 133 is fixedly connected to the output end of the harmonic reducer 322 by screws. The power source 110 transmits power to the harmonic reducer 132 through the output gear 112 and the input gear 131. Under the action of the harmonic reducer 132, the amplified torque is output through the output turntable 133.

[0041] In the harmonic drive mechanism of this embodiment, please refer to Figures 1 to 3 , the slewing bearing assembly 140 includes a slewing bearing 141 and a transmission shaft 142 sleeved with each other. The output turntable 133 is coaxially and fixedly connected to the transmission shaft 142, and the transmission shaft 142 is fixedly connected to the inner ring of the slewing bearing 141.

[0042] It should be noted that the transmission shaft 142 is fixedly connected to the inner ring of the slewing bearing 141 by screws. The amplified torque is transmitted to the transmission shaft 142 through the output turntable 133 and then transmitted to the load.

[0043] In the harmonic drive mechanism of this embodiment, please refer to Figures 1 to 3 , the harmonic reducer 132 and the transmission shaft 142 are both provided with a hollow structure to form the cable channel.

[0044] It should be noted that the backlash of the harmonic reducer 132 is extremely low, which can ensure good transmission rigidity, thereby ensuring the positioning accuracy and repeat positioning accuracy of the load rotational movement. The harmonic reducer 132 is small in size and has a hollow structure, which can meet the need for internal wiring. Coupled with the transmission shaft 142 also being provided with a hollow structure, the cable can pass through the inside of the harmonic drive mechanism, effectively increasing the load rotation range.

[0045] In the harmonic drive mechanism of this embodiment, please refer to Figures 1 to 4 , it further includes a housing 120. The power source 110 is arranged inside the housing 120. An installation hole 122 is opened on the side wall 121 of the housing. The harmonic reducer assembly 130 and the slewing bearing assembly 140 are both arranged at the installation hole 122.

[0046] Specifically, the power source 110 is installed on the shell side wall 121; the harmonic reducer 132 is installed in the mounting hole 122, and at the same time, in order to improve the installation stability, the harmonic reducer 132 is connected to the shell side wall 121 by bolts; the slewing bearing 141 is located outside the mounting hole 122, and at the same time, the outer ring of the slewing bearing 141 is connected to the shell side wall 121 by bolts.

[0047] It should be noted that, since the outer ring of the slewing bearing 141 is connected to the housing side wall 121 , the slewing bearing 141 can effectively transfer the overturning force of the load to the housing 120 , thereby preventing the load of the “large cantilever” structure from having an adverse effect on the harmonic reducer 132 .

[0048] In the harmonic drive mechanism of this embodiment, please refer to Figures 1 to 3 The power source 110 is connected to the shell side wall 121 through a mounting member 111, and the mounting position of the mounting member 111 relative to the shell side wall 121 is adjustable.

[0049] It should be noted that the mounting member 111 is provided with a plurality of waist holes, which are connected to the housing side wall 121 by bolts; by changing the relative position of the bolts and the waist holes, the mounting position of the mounting member 111 relative to the housing side wall 121 is adjusted to ensure the meshing degree of the output gear 112 and the input gear 131. In addition, in order to visually observe the meshing degree of the output gear 112 and the input gear 131, an observation port 113 may be provided on the mounting member 111. Preferably, the mounting member 111 may be a flange.

[0050] According to an embodiment of the utility model, a three-dimensional C-arm X-ray machine is provided. Figures 1 to 4 , including a chassis assembly 200, a lifting assembly 300, a harmonic drive mechanism 100 and a C-arm imaging chain 500. Specifically, the chassis assembly 200 has a walking function, which can realize the movement of the three-dimensional C-arm X-ray machine; the lifting assembly 300 has a telescopic function along the vertical direction to adjust the overall height of the three-dimensional C-arm X-ray machine; the harmonic drive mechanism 100 is fixed at the output end of the lifting assembly 300, and the lifting assembly 300 is used to realize the position adjustment of the harmonic drive mechanism 100 in the vertical direction; the C-arm imaging chain 500 serves as a load, which is connected to the harmonic drive mechanism 100 in transmission, and the harmonic drive mechanism 100 drives the C-arm imaging chain 500 to rotate.

[0051] It should be noted that the C-arm imaging chain 500 rotates around the object to be detected. During the rotation process, the C-arm imaging chain 500 stops once every rotation of a certain angle, and then the X-ray source emits X-rays and the detector collects them; then, the C-arm imaging chain 500 rotates again until a scanning stop command is received. The detector transmits the obtained data to the control terminal for three-dimensional image reconstruction. Since the C-arm imaging chain 500 needs to be frequently started and stopped for one rotation, the transmission accuracy of the harmonic transmission mechanism 100 is required to be high. The backlash of the harmonic reducer 132 is extremely low, which can ensure good transmission rigidity, thereby ensuring the positioning accuracy and repeat positioning accuracy of the rotational motion of the C-arm imaging chain 500. At the same time, the harmonic reducer 132 is small in size and has a hollow structure, which can meet the requirements of internal wiring. In addition, the transmission shaft 142 is also set to a hollow structure, so that the cable can pass through the inside of the harmonic transmission mechanism 100, effectively improving the rotation range of the C-arm imaging chain 500.

[0052] In the three-dimensional C-arm X-ray machine of this embodiment, please refer to Figures 1 to 4 , also includes a sliding assembly 400 arranged on the C-arm imaging chain 500, the C-arm imaging chain 500 can slide relative to the sliding assembly 400, and the sliding assembly 400 is transmission-connected to the slewing support assembly 140.

[0053] It should be noted that the C-arm imaging chain 500 can realize rotational motion under the action of the harmonic transmission mechanism 100. At the same time, the C-arm imaging chain 500 can perform manual / electric sliding motion along the arc of the sliding component 400. The sliding motion between the C-arm imaging chain 500 and the sliding component 400 is a mature existing technology and will not be repeated here, such as the CN219516317C-arm X-ray machine support and the roller structure and transmission structure for the support.

[0054] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. A harmonic drive mechanism, characterized in that, Comprising: A power source (110) for providing power; A harmonic reducer assembly (130) drivingly connected to the power source (110) through a gear pair; And a slewing bearing assembly (140) drivingly connected to a load and the harmonic reducer assembly (130) respectively. The harmonic reducer assembly (130) and the slewing bearing assembly (140) are both provided with a hollow structure to form a cable channel.

2. The harmonic drive mechanism according to claim 1, characterized in that, The output end of the power source (110) is coaxially and fixedly connected to an output gear (112).

3. The harmonic drive mechanism according to claim 2, characterized in that, The harmonic reducer assembly (130) includes a harmonic reducer (132), an input gear (131) and an output turntable (133). The input gear (131) is coaxially and fixedly connected to the input end of the harmonic reducer (132), and the output turntable (133) is coaxially and fixedly connected to the output end of the harmonic reducer (132). The input gear (131) meshes with the output gear (112) to form a gear pair.

4. The harmonic drive mechanism according to claim 3, wherein The slewing bearing assembly (140) includes a slewing bearing (141) and a transmission shaft (142) sleeved with each other. The output turntable (133) is coaxially and fixedly connected to the transmission shaft (142), and the transmission shaft (142) is fixedly connected to the inner ring of the slewing bearing (141).

5. The harmonic drive mechanism according to claim 4, characterized in that, Both the harmonic reducer (132) and the transmission shaft (142) are provided with a hollow structure to form the cable channel.

6. The harmonic drive mechanism according to claim 1, wherein It further includes a housing (120). The power source (110) is disposed inside the housing (120). An installation hole (122) is formed on the side wall (121) of the housing. The harmonic reducer assembly (130) and the slewing bearing assembly (140) are both disposed at the installation hole (122).

7. The harmonic drive mechanism according to claim 6, characterized in that, The power source (110) is connected to the side wall (121) of the housing through a mounting member (111), and the mounting position of the mounting member (111) relative to the side wall (121) of the housing is adjustable.

8. A three-dimensional C-arm X-ray machine, characterized in that, Comprising: A chassis assembly (200) having a walking function; A lifting assembly (300) having a telescopic function along the vertical direction; The harmonic drive mechanism (100) according to any one of claims 1-7, which is fixed to the output end of the lifting assembly (300); And a C-arm imaging chain (500) serving as a load and drivingly connected to the harmonic drive mechanism (100). The harmonic drive mechanism (100) drives the C-arm imaging chain (500) to perform a rotational movement.

9. The three-dimensional C-arm X-ray machine according to claim 8, wherein, It further includes a sliding assembly (400) disposed on the C-arm imaging chain (500). The C-arm imaging chain (500) can slide relative to the sliding assembly (400), and the sliding assembly (400) is drivingly connected to the slewing bearing assembly (140).

Images