Cantilever gravity balance free adjusting mechanism
By introducing a torsion spring adjustment seat and limit plate structure into the cross arm mechanism of the minimally invasive surgical robot, the time-consuming and labor-intensive adjustment of the cantilever gravity balance is solved, and convenient adjustment and stability improvement of the cantilever gravity balance are achieved.
Patent Information
- Application Number
- CN202421567888.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-04
- Publication Date
- 2025-08-01
- Estimated Expiration
- 2034-07-04
AI Technical Summary
In the prior art, the connection seat needs to be removed when adjusting the gravity balance of the cantilever, which makes the adjustment process time-consuming and labor-intensive and inconvenient to operation.
A cantilever gravity balance free adjustment mechanism is designed. By setting a torsion spring adjustment seat, a limit plate and a limit retaining ring in the cross arm mechanism, the torsion spring adjustment seat is allowed to rotate and adjust without removing the connecting seat, and in conjunction with the use of the limit plate to fix the torsion spring adjustment seat in the expected position.
It realizes simple and convenient adjustment of cantilever gravity balance, improving operation stability and efficiency.
Smart Images
Figure CN223169805U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a cantilever gravity balance free adjustment mechanism. Background Art
[0002] With the development of medical technology, minimally invasive surgical robots have emerged. A minimally invasive surgical robot generally includes a doctor operation end and a patient operation end. The doctor operation end usually includes a doctor operation end main body, a cross arm mechanism, a wrist mechanism, a display, and a foot pedal. During use, a doctor controls the patient operation end to perform an operation by manipulating the doctor operation end.
[0003] A cantilever is provided in the cross arm mechanism of the doctor operation end for connecting the wrist mechanism. The cantilever is fixedly connected to a connecting seat in the cross arm mechanism. The connecting seat is rotatably connected to a joint shaft, and the joint shaft is fixedly connected to a cross arm support seat in the cross arm mechanism. In this way, when the doctor manipulates the wrist mechanism, the cantilever can move accordingly. Currently, in order to adjust the gravity balance of the cantilever, a torsion spring is provided in the cross arm mechanism. One end of the torsion spring is connected to the cross arm support seat in the cross arm mechanism, and the other end is connected to the connecting seat. The above structure has the following disadvantages: when adjusting the gravity balance of the cantilever, the torsion spring needs to be adjusted, but the connecting seat needs to be disassembled from the cross arm mechanism to adjust the torsion spring. Therefore, the adjustment process is time-consuming and laborious, and not very convenient. Summary of the Utility Model
[0004] In order to solve the problems existing in the prior art, the present application proposes a cantilever gravity balance free adjustment mechanism.
[0005] To achieve the above object, the present application proposes a cantilever gravity balance free adjustment mechanism, which is arranged in the cross-arm mechanism at the doctor's operation end and includes a torsion spring, a torsion spring adjustment seat, a limit plate and a limit retaining ring. Among them, a central through hole is provided in the torsion spring adjustment seat for the joint shaft in the cross-arm mechanism to pass through the torsion spring adjustment seat. A plurality of fixing blocks are provided on the torsion spring adjustment seat at circumferential intervals, and a plug-in slot is provided at each fixing block. The plug-in slot is arranged along the axial direction of the joint shaft. The torsion spring adjustment seat is located at a first assembly hole provided on the cross-arm support seat in the cross-arm mechanism. One end of the joint shaft is fixed at the cross-arm support seat, and the joint shaft passes through the first assembly hole and the torsion spring adjustment seat. The other end of the joint shaft passes through a second assembly hole provided in a connecting seat in the cross-arm mechanism, and the joint shaft is rotatably connected to the connecting seat. The connecting seat is fixedly connected to a cantilever provided in the cross-arm mechanism, and the cantilever is used to connect the wrist mechanism at the doctor's operation end; the limit retaining ring is arranged on the joint shaft to limit the torsion spring adjustment seat so that it cannot generate axial displacement along the joint shaft. The torsion spring adjustment seat can rotate relative to the cross-arm support seat, and the rotation of the torsion spring adjustment seat can be restricted by the limit plate. The limit plate is detachably connected to the cross-arm support seat. When it is necessary to rotate the torsion spring adjustment seat, the limit plate can be disassembled to control the rotation of the torsion spring adjustment seat; when the torsion spring adjustment seat rotates to the expected position, the limit plate is assembled at the cross-arm support seat to restrict the torsion spring adjustment seat through the limit plate so that it can no longer rotate; the torsion spring is used to sleeve on the joint shaft, one end of the torsion spring is connected at the plug-in slot, and the other end is connected at a jack provided on the connecting seat.
[0006] In some embodiments, the limit plate includes a plate body, and the plate body can be detachably assembled on the cross-arm support seat by countersunk head screws. A limit boss is provided on the plate body, and the limit boss is used for clearance fit with the gap between two fixing blocks. When the limit plate is assembled on the cross-arm support seat, the limit boss is located at the gap between two fixing blocks to restrict the torsion spring adjustment seat so that it can no longer rotate.
[0007] In some embodiments, a POM sleeve is sleeved on the joint shaft, and the torsion spring is sleeved on the POM sleeve.
[0008] The beneficial effect of the solution of the present application lies in the above-mentioned cantilever gravity balance free adjustment mechanism. When adjusting the torsion spring, only the outer shell of the cross-arm mechanism needs to be disassembled, and there is no need to disassemble the connecting seat from the cross-arm mechanism, which has the advantages of simple operation, convenience and good stability. Description of the Drawings
[0009] Figure 1Shows a schematic diagram of the cantilever gravity balance free adjustment mechanism assembled at the doctor's operation end in the embodiment.
[0010] Figure 2 Shows a schematic structural diagram of the cantilever gravity balance free adjustment mechanism in the embodiment.
[0011] Figure 3 Shows a schematic assembly diagram of the torsion spring and the connecting seat in the embodiment.
[0012] Figure 4 Shows Figure 2 Schematic cross-sectional structure diagram of
[0013] Figure 5 Shows Figure 4 Schematic diagram of the local structure in
[0014] Figure 6 Shows a schematic assembly diagram of the joint axis and the connecting seat in the embodiment.
[0015] Figure 7 Shows a schematic structural diagram of the limit plate in the embodiment.
[0016] Reference numerals: 100 - foot pedal, 200 - main body of doctor's operation end, 300 - cross-arm mechanism, 301 - cantilever, 400 - wrist mechanism, 500 - display, A - cantilever gravity balance free adjustment mechanism, 1 - cross-arm support seat, 2 - joint axis, 3 - connecting seat, 4 - first bearing, 5 - second bearing, 6 - washer, 7 - first retaining ring, 8 - cylindrical pin, 9 - POM sleeve, 10 - first limit plate, 11 - socket head cap screw, 12 - first round hole, 13 - limit hole, 14 - torsion spring adjustment seat, 15 - fixing block, 16 - insertion slot, 17 - limit plate, 18 - countersunk head screw, 19 - torsion spring, 20 - pan head screw, 21 - second retaining ring, 22 - limit boss. Detailed implementation manners
[0017] The following further describes the detailed implementation manners of the present application with reference to the accompanying drawings.
[0018] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.
[0019] As Figure 1As shown, a minimally invasive surgical robot generally includes a doctor's operation end and a patient's surgical end. The doctor's operation end generally includes a doctor's operation end main body 200, a cross arm mechanism 300, a wrist mechanism 400, a display 500, and a foot pedal 100. During use, the doctor controls the patient's surgical end to perform surgery by manipulating the doctor's operation end.
[0020] A first assembly hole is provided on a cross arm support base 1 in the cross arm mechanism 300. One end of a joint axis 2 is fixed at the cross arm support base 1, and the joint axis 2 passes through the first assembly hole. Specifically, one end of the joint axis 2 is fixed at the cross arm support base 1 by a pan head screw 20. The other end of the joint axis 2 passes through a second assembly hole provided in a connection seat 3 in the cross arm mechanism 300. The connection seat 3 is fixedly connected to a cantilever 301 provided in the cross arm mechanism 300. The cantilever 301 is used to connect the wrist mechanism 400. At the second assembly hole, the joint axis 2 is rotatably connected to the connection seat 3 through a bearing. In this embodiment, the joint axis 2 is rotatably connected to the connection seat 3 through two bearings. A washer 6 is provided between the two bearings. The two bearings are respectively denoted as a first bearing 4 and a second bearing 5. To prevent the bearings from displacing along the joint axis 2, a limit retaining ring, denoted as a first retaining ring 7, is provided on the joint axis 2.
[0021] A first limiting plate 10 is fixedly connected to the connection seat 3. Specifically, the first limiting plate 10 is fixedly connected to the connection seat 3 by a socket head cap screw 11. The first limiting plate 10 is provided with a special-shaped hole. The special-shaped hole includes a first round hole 12 and a fan-shaped limiting hole 13 that are connected. The first round hole 12 is used to cooperate with the joint axis 2 so that the joint axis 2 can pass through the first limiting plate 10. The limiting hole 13 is used to cooperate with a cylindrical pin 8 provided on the joint axis 2. When the connection seat 3 rotates relative to the joint axis 2, the rotation range of the connection seat 3 can be limited through the cooperation of the limiting hole 13 and the cylindrical pin 8.
[0022] The above belongs to the description of the relevant partial structure in the cross arm mechanism of the doctor's operation end of the minimally invasive surgical robot in the prior art, and no more detailed description will be made here.
[0023] As Figures 2 to 7As shown in the figure, the cantilever gravity balance free adjustment mechanism A involved in the present application is provided in the cross-arm mechanism 300 of the doctor operation end, and includes a torsion spring 19, a torsion spring adjustment seat 14, a limit plate 17 and a limit retaining ring. Among them, a central through hole is provided in the torsion spring adjustment seat 14 for the joint shaft 2 in the cross-arm mechanism 300 to pass through the torsion spring adjustment seat 14. A plurality of fixing blocks 15 are provided on the torsion spring adjustment seat 14 at equal intervals along the circumferential direction. An insertion slot 16 is provided at each fixing block 15. The insertion slot 16 is arranged along the axial direction of the joint shaft 2. By providing a plurality of insertion slots 16, the initial assembly of the torsion spring 19 can be facilitated, so that the torsion spring 19 can select a suitable insertion slot 16 for insertion; the torsion spring adjustment seat 14 is located at a first assembly hole provided on the cross-arm support seat 1 in the cross-arm mechanism 300. One end of the joint shaft 2 in the cross-arm mechanism 300 is fixed at the cross-arm support seat 1, and the joint shaft 2 passes through the first assembly hole and the torsion spring adjustment seat 14. The other end of the joint shaft 2 passes through a second assembly hole provided in a connecting seat 3 in the cross-arm mechanism 300. The connecting seat 3 is fixedly connected to a cantilever 301 provided in the cross-arm mechanism 300. The cantilever 301 is used to connect a wrist mechanism 400; the limit retaining ring is arranged on the joint shaft 2 to limit the torsion spring adjustment seat 14 so that it cannot generate axial displacement along the joint shaft 2. This limit retaining ring is denoted as the second retaining ring 21. The torsion spring adjustment seat 14 can rotate relative to the cross-arm support seat 1, and the rotation of the torsion spring adjustment seat 14 can be restricted by the limit plate 17. The limit plate 17 is detachably connected to the cross-arm support seat 1. When it is necessary to rotate the torsion spring adjustment seat 14, the limit plate 17 can be disassembled to control the rotation of the torsion spring adjustment seat 14; when the torsion spring adjustment seat 14 rotates to the expected position, the limit plate 17 is assembled at the cross-arm support seat 1 to restrict the torsion spring adjustment seat 14 so that it can no longer rotate.
[0024] In this embodiment, the limit plate 17 includes a plate body. A connection hole is provided on the plate body. Through the cooperation of a countersunk head screw 18 and the connection hole, the limit plate 17 can be detachably assembled on the cross-arm support seat 1. The end face of the plate body in contact with the torsion spring adjustment seat 14 is arc-shaped, and a limit boss 22 is provided at the middle position of this end face. The limit boss 22 is used for clearance fit with the gap between the two fixing blocks 15. When the limit plate 17 is assembled on the cross-arm support seat 1, the limit boss 22 is located at the gap between the two fixing blocks 15 to restrict the torsion spring adjustment seat 14 so that it can no longer rotate.
[0025] The torsion spring 19 is used to be sleeved on the joint shaft 2. One end of the torsion spring 19 is connected to the insertion slot 16, and the other end is connected to the jack provided on the connecting seat 3. To prevent the torsion spring 19 from wearing the joint shaft 2, a POM sleeve 9 (polyoxymethylene sleeve) is sleeved on the joint shaft 2, and the torsion spring 19 is sleeved on the POM sleeve 9.
[0026] In the specific using process, when it is necessary to adjust the gravity balance of the cantilever 301, the housing of the cross-arm mechanism 300 is disassembled, and then the limiting plate 17 is removed. The torsion spring adjusting seat 14 is twisted by a wrench to make it rotate; when the torsion spring adjusting seat 14 rotates to the expected position, the limiting plate 17 is assembled on the cross-arm support seat 1, and the torsion spring adjusting seat 14 is restricted by the limiting plate 17 so that it cannot rotate any more, and then the housing of the cross-arm mechanism 300 is assembled.
[0027] For the cantilever gravity balance free adjustment mechanism involved in this application, when adjusting the torsion spring, only the housing of the cross-arm mechanism needs to be disassembled, and there is no need to disassemble the connecting seat from the cross-arm mechanism, which has the advantages of simple operation, convenience, good stability, etc.
[0028] The above are only the preferred specific embodiments of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed by this application, according to the technical solution and its concept of this application, makes equivalent substitutions or changes, and all should be covered by the protection scope of this application.
Claims
1. A cantilever gravity balance free adjustment mechanism is arranged in the cross-arm mechanism at the doctor's operating end, and is characterized in that: It includes a torsion spring, a torsion spring adjusting seat, a limit plate and a limit retaining ring. Among them, a central through hole is provided in the torsion spring adjusting seat for the joint shaft in the cross arm mechanism to pass through the torsion spring adjusting seat. A number of fixing blocks are provided on the torsion spring adjusting seat at circumferential intervals. An insertion slot is provided at each fixing block, and the insertion slot is arranged along the axial direction of the joint shaft. The torsion spring adjusting seat is located at a first assembly hole provided on the cross arm support seat in the cross arm mechanism. One end of the joint shaft is fixed at the cross arm support seat, and the joint shaft passes through the first assembly hole and the torsion spring adjusting seat. The other end of the joint shaft passes through a second assembly hole provided in a connecting seat in the cross arm mechanism, and the joint shaft is rotatably connected to the connecting seat. The connecting seat is fixedly connected to a cantilever provided in the cross arm mechanism, and the cantilever is used to connect the wrist mechanism of the doctor operation end; the limit retaining ring is arranged on the joint shaft to limit the torsion spring adjusting seat so that it cannot generate axial displacement along the joint shaft. The torsion spring adjusting seat can rotate relative to the cross arm support seat, and the rotation of the torsion spring adjusting seat can be restricted by the limit plate. The limit plate is detachably connected to the cross arm support seat. When it is necessary to rotate the torsion spring adjusting seat, the limit plate is removed to be able to control the rotation of the torsion spring adjusting seat; when the torsion spring adjusting seat rotates to the expected position, the limit plate is assembled at the cross arm support seat to restrict the torsion spring adjusting seat through the limit plate so that it can no longer rotate; the torsion spring is used to be sleeved on the joint shaft, one end of the torsion spring is connected at the insertion slot, and the other end is connected at a jack provided on the connecting seat.
2. The cantilever gravity balance free adjustment mechanism according to claim 1, wherein: The limit plate includes a plate body, and the plate body can be detachably assembled on the cross arm support seat by countersunk head screws. A limit boss is provided on the plate body, and the limit boss is used for clearance fit with the gap between two fixing blocks. When the limit plate is assembled on the cross arm support seat, the limit boss is located at the gap between the two fixing blocks to restrict the torsion spring adjusting seat so that it can no longer rotate.
3. The cantilever gravity balance free adjustment mechanism according to claim 1, characterized in that: A POM sleeve is sleeved on the joint shaft, and the torsion spring is sleeved on the POM sleeve.