Mechanical arm for surgical robot and surgical robot
By designing two bearing seats and bearing assemblies in the robotic arm of the surgical robot, and using back-to-back paired angular contact ball bearings and deep groove ball bearings, the problem of unstable branch rotation was solved, thereby improving the stability and processing efficiency of the robotic arm.
Patent Information
- Application Number
- CN202422899264.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-27
- Publication Date
- 2025-12-23
- Estimated Expiration
- 2034-11-27
AI Technical Summary
In existing surgical robots, a challenge lies in how to stably drive the rotation of the branch chains within the telecentric control components of the robotic arm.
Two bearing housings and two bearing assemblies were designed to provide rotational support for the two shafts on both sides of the branch chain. Angular contact ball bearings and deep groove ball bearings were installed back-to-back to reduce manufacturing requirements and improve the stability of the branch chain rotation.
This improved the stability of the branch chain rotation and the production efficiency of the robotic arm, reduced the processing difficulty, and enhanced the stability and reliability of the robotic arm.
Smart Images
Figure CN223695997U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to medical instrument technical field, in particular to be used for surgical robot mechanical arm and surgical robot. BACKGROUND
[0002] The existing surgical robot mechanical arm realizes the multiple degrees of freedom action of its end effector by utilizing multiple connecting arms and rotating joints, but the connecting arm and rotating joint farther from the end effector, the motion range that its action brings to the end effector is greater, and the motion in the surgical process usually needs to be fine and stable, therefore the prior art adds the telecentric control assembly at the position of the end of the connecting arm connected with the end effector;
[0003] The telecentric control assembly comprises a moving platform, a static platform and multiple branch chains installed between the static platform and the moving platform, the position of the multiple branch chains connected with the static platform has the degree of freedom of rotation, and the moving platform is driven to move within a certain range by the simultaneous rotation of the multiple branch chains;
[0004] For the telecentric control assembly, how to stably drive the branch chain to rotate on the static platform becomes a problem. SUMMARY
[0005] In order to solve the problems in the prior art, the utility model provides a kind of mechanical arm and surgical robot for surgical robot, and the mechanical arm and surgical robot for surgical robot are designed with two bearing seats and two bearing assemblies for single branch chain, and two rotating shafts on both sides of the branch chain are provided with rotating support respectively, to ensure the stability of the branch chain rotation.
[0006] To achieve the above object, the utility model adopts the following technical scheme:
[0007] On the one hand, the utility model provides a kind of mechanical arm for surgical robot, including moving platform, static platform and the branch chain installed between static platform and moving platform, the branch chain includes branch chain body and respectively located first rotating shaft, second rotating shaft on both sides of branch chain body, the first rotating shaft is coaxially arranged with the second rotating shaft;
[0008] The static platform is provided with a driving assembly for driving the branch chain to rotate, the driving assembly includes a driving assembly body rotatably arranged on the static platform, the driving assembly body is provided with a first bearing seat and a second bearing seat at positions corresponding to the first rotating shaft and the second rotating shaft, the first bearing seat is rotatably connected with the first rotating shaft of the branch chain through a first bearing assembly, and the second bearing seat is rotatably connected with the second rotating shaft of the branch chain through a second bearing assembly.
[0009] The utility model discloses a mechanical arm, the movement of dynamic platform relies on the movement of support chain realization, and each support chain cooperates rotation, and the drive assembly on static platform drives drive assembly body rotation, and drive assembly body rotation drives support chain rotation, and different support chains are all synchronous to receive the force of other support chain rotation when rotating, and finally all support chains rotate while still angle change with first bearing seat and second bearing seat on drive assembly body, and this angle change is realized on first bearing seat and second bearing seat through first pivot, second pivot on support chain through first bearing assembly and second bearing assembly respectively.
[0010] In a further technical solution, the first bearing assembly comprises a first angular contact ball bearing and a second angular contact ball bearing, the first angular contact ball bearing and the second angular contact ball bearing are installed in a back-to-back pair, and the first angular contact ball bearing and the second angular contact ball bearing are installed in a back-to-back pair on the first pivot.
[0011] When the drive mechanism drives the support chain to rotate, the first angular contact ball bearing and the second angular contact ball bearing bear the force in the axial direction, and the first angular contact ball bearing and the second angular contact ball bearing are installed in a back-to-back pair, so that only one axial positioning of the two bearings is required, thereby reducing the production and processing requirements of the mechanical arm.
[0012] In a further technical solution, the second bearing assembly comprises a deep groove ball bearing, and the deep groove ball bearing is installed on the second pivot.
[0013] The deep groove ball bearing mainly bears radial load, and only needs to be axially limited.
[0014] In a further technical solution, the first bearing assembly and the first pivot are fixedly connected through a screw.
[0015] In a further technical solution, the first angular contact ball bearing is close to the support chain body, and the second angular contact ball bearing is away from the support chain body.
[0016] The first bearing assembly further comprises a bearing end cover, the bearing end cover is fixed at the end of the first bearing seat through a screw, and the bearing end cover is arranged at the outer ring of the second angular contact ball bearing.
[0017] The bearing end cover is assembled through a screw, which conveniently limits the outer ring of the first bearing assembly.
[0018] In a further technical solution, the first bearing assembly further comprises a limiting piece, the limiting piece is disc-shaped, the limiting piece is fixed at the end of the first pivot through a screw, and the limiting piece is arranged at the inner ring of the second angular contact ball bearing.
[0019] The inner ring of the first bearing assembly is conveniently limited by assembling the limiting piece with screws.
[0020] In a further technical solution, the first bearing assembly comprises a third angular contact ball bearing, and the second bearing assembly comprises a fourth angular contact ball bearing, and the third angular contact ball bearing and the fourth angular contact ball bearing are installed in a back-to-back pair.
[0021] The two angular contact ball bearings can respectively bear loads in two directions, and the stability is high.
[0022] In a further technical solution, the first bearing assembly further comprises a first bearing mounting piece and a first bearing end cover, the first bearing seat is wrapped outside the first rotating shaft, the first bearing mounting piece is arranged on the first bearing seat, the third angular contact ball bearing is arranged in the first bearing mounting piece, the third angular contact ball bearing is sleeved on the first rotating shaft, the third angular contact ball bearing is limited on the first bearing mounting piece by the first bearing end cover, and the first bearing end cover is fixed on the first rotating shaft by screws passing through the first bearing end cover.
[0023] The second bearing assembly further comprises a second bearing mounting piece and a second bearing end cover, the second bearing seat is arranged outside the second rotating shaft, the second bearing mounting piece is arranged on the second bearing seat, the fourth angular contact ball bearing is arranged in the second bearing mounting piece, the fourth angular contact ball bearing is sleeved on the second rotating shaft, the fourth angular contact ball bearing is limited on the second bearing mounting piece by the second bearing end cover, and the second bearing end cover is fixed on the second rotating shaft by screws passing through the second bearing end cover.
[0024] In a further technical solution, a first positioning ring is arranged between the third angular contact ball bearing and the first bearing end cover, and the first positioning ring is located at the inner ring of the third angular contact ball bearing.
[0025] A second positioning ring is arranged between the fourth angular contact ball bearing and the second bearing end cover, and the second positioning ring is located at the inner ring of the fourth angular contact ball bearing.
[0026] The inner ring of the angular contact ball bearing is limited by the positioning ring, and the stability is high.
[0027] On the other hand, the utility model also provides a surgical robot, including the mechanical arm for surgical robot in any one of above-mentioned technical solutions.
[0028] Beneficial effects are that:
[0029] 1、 the utility model discloses two bearing seats and two bearing assemblies are designed for single branch chain, and the rotating support of two rotating shafts located on both sides of the branch chain is provided respectively, and the stability of branch chain rotation is guaranteed;
[0030] 2、When the driving mechanism drives the branch chain to rotate, the first angular contact ball bearing and the second angular contact ball bearing bear the force in the axial direction, and the first angular contact ball bearing and the second angular contact ball bearing are arranged in a back-to-back pair, so that only one axial positioning is needed for the two bearings, and the production and processing requirements of the mechanical arm are reduced.
[0031] 3、The deep groove ball bearing mainly bears the radial load, and only needs to be axially limited.
[0032] 4、The bearing end cover is assembled by using a screw, and the outer ring of the first bearing assembly is conveniently limited.
[0033] 5、The limiting piece is assembled by using a screw, and the inner ring of the first bearing assembly is conveniently limited.
[0034] 6、The two angular contact ball bearings can bear loads in two directions respectively, and the stability is high.
[0035] 7、The inner ring of the angular contact ball bearing is limited by the positioning ring, and the stability is high. BRIEF DESCRIPTION OF DRAWINGS
[0036] Figure 1 It is a local structure schematic view of a mechanical arm of a surgical robot for a surgical robot of one embodiment of the utility model;
[0037] Figure 2 It is a local front view structure schematic view of a mechanical arm of a surgical robot for a surgical robot of one embodiment of the utility model;
[0038] Figure 3 It is a local structure schematic view of a mechanical arm of a surgical robot for a surgical robot of another embodiment of the utility model;
[0039] Figure 4 It is a local front view structure schematic view of a mechanical arm of a surgical robot for a surgical robot of another embodiment of the utility model.
[0040] Figures 1-2 The reference signs in the drawings: 1, static platform; 2, branch chain; 21, branch chain body; 22, first rotating shaft; 23, second rotating shaft; 3, driving assembly; 31, driving assembly body; 32, bearing end cover; 33, first angular contact ball bearing; 34, second angular contact ball bearing; 35, limiting piece; 36, screw; 37, second bearing seat; 38, deep groove ball bearing; 39, first bearing seat; 4, driving motor;
[0041] Figures 3-4: 1, static platform; 2, dynamic platform; 3, branch chain; 31, branch chain body; 32, first rotating shaft; 33, second rotating shaft; 4, rotating driving assembly; 41, driving assembly body; 42, first bearing seat; 421, first through slot; 43, second bearing seat; 431, second through slot; 44, first bearing mounting; 45, second bearing mounting; 46, third angular contact ball bearing; 47, first positioning ring; 48, first bearing end cover; 49, first screw; 410, fourth angular contact ball bearing; 411, second positioning ring; 412, second bearing end cover; 413, second screw. DETAILED DESCRIPTION
[0042] The utility model will be further explained in connection with the drawings:
[0043] Embodiment:
[0044] As shown in Figure 1 and Figure 2 A mechanical arm for surgical robot, including dynamic platform, static platform 1 and install between static platform 1 and dynamic platform branch chain 2, branch chain 2 includes branch chain body 21 and respectively located on the both sides of branch chain body 21 first rotating shaft 22, second rotating shaft 23, first rotating shaft 22 and second rotating shaft 23 coaxial arrangement.
[0045] Static platform 1 is provided with the driving assembly 3 for driving branch chain 2 to rotate, and the driving assembly 3 includes the driving assembly body 31 rotatably arranged on the static platform 1, and the first bearing seat 39 and the second bearing seat 37 are arranged on the driving assembly body 31 corresponding to the positions of the first rotating shaft 22 and the second rotating shaft 23, the first bearing seat 39 is rotatably connected with the first rotating shaft 22 of the branch chain 2 through the first bearing assembly, and the second bearing seat 37 is rotatably connected with the second rotating shaft 23 of the branch chain 2 through the second bearing assembly.
[0046] The mechanical arm of the utility model, the movement of dynamic platform is realized by the movement of branch chain 2, each branch chain 2 rotates cooperatively, the driving assembly 3 on the static platform 1 drives the rotation of the driving assembly body 31, the rotation of the driving assembly body 31 drives the rotation of the branch chain 2, and different branch chains 2 are synchronously subjected to the force brought by the rotation of other branch chains 2 when rotating, finally all branch chains 2 rotate while also angle changes with the first bearing seat 39 and the second bearing seat 37 on the driving assembly body 31, and the angle change is realized through the first rotating shaft 22 and the second rotating shaft 23 on the branch chain 2 through the first bearing assembly and the second bearing assembly on the first bearing seat 39 and the second bearing seat 37 respectively.
[0047] In one embodiment, as Figure 1 and Figure 2As shown, the first bearing assembly comprises a first angular contact ball bearing 33 and a second angular contact ball bearing 34, which are installed in a back-to-back pair, and the first angular contact ball bearing 33 and the second angular contact ball bearing 34 are installed on the first rotating shaft 22 in a back-to-back pair.
[0048] When the driving mechanism drives the branch chain 2 to rotate, the first angular contact ball bearing 33 and the second angular contact ball bearing 34 bear the axial force, and the first angular contact ball bearing 33 and the second angular contact ball bearing 34 are installed in a back-to-back pair, so that only one axial positioning is required for the two bearings, thereby reducing the production and processing requirements of the mechanical arm.
[0049] In one embodiment, as shown in Figure 1 and Figure 2 The second bearing assembly comprises a deep groove ball bearing 38, which is installed on the second rotating shaft 23.
[0050] The deep groove ball bearing 38 mainly bears radial load, and only needs to be axially limited.
[0051] In one embodiment, as shown in Figure 1 and Figure 2 The first bearing assembly and the first rotating shaft 22 are fixedly connected by screws 36.
[0052] In one embodiment, as shown in Figure 1 and Figure 2 The first angular contact ball bearing 33 is close to the branch body 21, and the second angular contact ball bearing 34 is away from the branch body 21.
[0053] The first bearing assembly further comprises a bearing end cover 32, which is fixed at the end of the first bearing seat 39 by screws 36, and the bearing end cover 32 is arranged at the outer ring of the second angular contact ball bearing 34.
[0054] The bearing end cover 32 is assembled by screws 36, which is convenient for limiting the outer ring of the first bearing assembly.
[0055] In one embodiment, as shown in Figure 1 and Figure 2 The first bearing assembly further comprises a limiting piece 35, which is disc-shaped, and the limiting piece 35 is fixed at the end of the first rotating shaft 22 by screws 36, and the limiting piece 35 is arranged at the inner ring of the second angular contact ball bearing 34.
[0056] The limiting piece 35 is assembled by screws 36, which is convenient for limiting the inner ring of the first bearing assembly.
[0057] In another embodiment, as shown in Figure 3 andFigure 4 As shown in the figure, the mechanical arm for the surgical robot comprises a moving platform 2, a static platform 1 and a branch chain 3 installed between the static platform 1 and the moving platform 2, the branch chain 3 comprises a branch chain 3 body and a first rotating shaft 32 and a second rotating shaft 33 respectively arranged on both sides of the branch chain 3 body, and the first rotating shaft 32 and the second rotating shaft 33 are coaxially arranged;
[0058] The static platform 1 is provided with a driving assembly for driving the branch chain 3 to rotate, the driving assembly comprises a driving assembly body 41 rotatably arranged on the static platform 1, the driving assembly body 41 is provided with a first bearing seat 42 and a second bearing seat 43 at positions corresponding to the first rotating shaft 32 and the second rotating shaft 33, the first bearing seat 42 is rotatably connected with the first rotating shaft 32 of the branch chain 3 through a first bearing assembly, and the second bearing seat 43 is rotatably connected with the second rotating shaft 33 of the branch chain 3 through a second bearing assembly.
[0059] The first bearing assembly comprises a third angular contact ball bearing 46, the second bearing assembly comprises a fourth angular contact ball bearing 410, and the third angular contact ball bearing 46 and the fourth angular contact ball bearing 410 are installed in pairs back to back.
[0060] The two angular contact ball bearings can respectively bear loads in two directions, and the stability is high.
[0061] In another embodiment, as shown in Figure 3 and Figure 4 The first bearing assembly further comprises a first bearing mounting piece 44 and a first bearing end cover 48, the first bearing seat 42 is wrapped outside the first rotating shaft 32, the first bearing mounting piece 44 is arranged on the first bearing seat 42, the third angular contact ball bearing 46 is arranged in the first bearing mounting piece 44, the third angular contact ball bearing 46 is sleeved on the first rotating shaft 32, the third angular contact ball bearing 46 is limited on the first bearing mounting piece 44 through the first bearing end cover 48, and the first bearing end cover 48 is fixed on the first rotating shaft 32 through the first screw 49 passing through the first bearing end cover 48;
[0062] The second bearing assembly further comprises a second bearing mounting piece 45 and a second bearing end cover 412, the second bearing seat 43 is arranged outside the second rotating shaft 33, the second bearing mounting piece 45 is arranged on the second bearing seat 43, the fourth angular contact ball bearing 410 is arranged in the second bearing mounting piece 45, the fourth angular contact ball bearing 410 is sleeved on the second rotating shaft 33, the fourth angular contact ball bearing 410 is limited on the second bearing mounting piece 45 through the second bearing end cover 412, and the second bearing end cover 412 is fixed on the second rotating shaft 33 through the second screw 413 passing through the second bearing end cover 412.
[0063] The first through slot 421 and the second through slot 431 are respectively arranged on the first bearing seat 42 and the second bearing seat 43; during the process of installing the branch chain 3 between the first bearing seat 42 and the second bearing seat 43, the first rotating shaft 32 and the second rotating shaft 33 respectively pass through the first through slot 421 and the second through slot 431.
[0064] In another embodiment, as shown in Figure 3 and Figure 4 A first positioning ring 47 is arranged between the third angular contact ball bearing 46 and a first bearing end cover 48, and the first positioning ring 47 is located at the inner ring of the third angular contact ball bearing 46.
[0065] A second positioning ring 411 is arranged between the fourth angular contact ball bearing 410 and a second bearing end cover 412, and the second positioning ring 411 is located at the inner ring of the fourth angular contact ball bearing 410.
[0066] The inner ring of the angular contact ball bearing is limited by the positioning ring, and the stability is high.
[0067] A surgical robot, comprising a mechanical arm for the surgical robot as in any one of the above embodiments.
[0068] In the embodiment, the number of the mechanical arms is multiple.
[0069] The basic principle, main features and advantages of the utility model are shown and described above. The skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and the description in the specification are only to illustrate the principle of the utility model, and the utility model will have various changes and improvements without departing from the spirit and scope of the utility model, and these changes and improvements all fall within the scope of the utility model claimed.
Claims
1. A mechanical arm for a surgical robot, characterised in that, The movable platform, the static platform and the support chain installed between the static platform and the movable platform, the support chain includes a support chain body and a first rotating shaft and a second rotating shaft respectively arranged on both sides of the support chain body, and the first rotating shaft and the second rotating shaft are coaxially arranged; The static platform is provided with a driving assembly for driving the rotation of the support chain, the driving assembly includes a driving assembly body rotatably arranged on the static platform, the driving assembly body is provided with a first bearing seat and a second bearing seat corresponding to the positions of the first rotating shaft and the second rotating shaft, the first bearing seat is rotatably connected with the first rotating shaft of the support chain through a first bearing assembly, and the second bearing seat is rotatably connected with the second rotating shaft of the support chain through a second bearing assembly.
2. The mechanical arm for a surgical robot according to claim 1, characterized in that, The first bearing assembly includes a first angular contact ball bearing and a second angular contact ball bearing, the first angular contact ball bearing and the second angular contact ball bearing are installed in pairs back to back, and the first angular contact ball bearing and the second angular contact ball bearing are installed in pairs back to back on the first rotating shaft.
3. The mechanical arm for a surgical robot according to claim 1 or 2, characterized in that, The second bearing assembly includes a deep groove ball bearing, and the deep groove ball bearing is installed on the second rotating shaft.
4. The mechanical arm for a surgical robot according to claim 3, wherein, The first bearing assembly and the first rotating shaft are fixedly connected through screws.
5. The mechanical arm for a surgical robot according to claim 4, wherein, The first angular contact ball bearing is close to the support chain body, and the second angular contact ball bearing is away from the support chain body. The first bearing assembly further includes a bearing end cover, the bearing end cover is fixed on the end of the first bearing seat through screws, and the bearing end cover is arranged on the outer ring of the second angular contact ball bearing.
6. The mechanical arm for a surgical robot according to claim 5, wherein, The first bearing assembly further includes a limiting piece, the limiting piece is disc-shaped, the limiting piece is fixed on the end of the first rotating shaft through screws, and the limiting piece is arranged on the inner ring of the second angular contact ball bearing.
7. The mechanical arm for a surgical robot according to claim 1, wherein The first bearing assembly includes a third angular contact ball bearing, the second bearing assembly includes a fourth angular contact ball bearing, and the third angular contact ball bearing and the fourth angular contact ball bearing are installed in pairs back to back.
8. The mechanical arm for a surgical robot according to claim 7, wherein, The first bearing assembly further includes a first bearing mounting piece and a first bearing end cover, the first bearing seat is wrapped outside the first rotating shaft, the first bearing mounting piece is arranged on the first bearing seat, the third angular contact ball bearing is arranged in the first bearing mounting piece, the third angular contact ball bearing is sleeved on the first rotating shaft, the third angular contact ball bearing is limited on the first bearing mounting piece through the first bearing end cover, and the first bearing end cover is fixed on the first rotating shaft through the screws penetrating the first bearing end cover. The second bearing assembly further includes a second bearing mounting piece and a second bearing end cover, the second bearing seat is arranged outside the second rotating shaft, the second bearing mounting piece is arranged on the second bearing seat, the fourth angular contact ball bearing is arranged in the second bearing mounting piece, the fourth angular contact ball bearing is sleeved on the second rotating shaft, the fourth angular contact ball bearing is limited on the second bearing mounting piece through the second bearing end cover, and the second bearing end cover is fixed on the second rotating shaft through the screws penetrating the second bearing end cover.
9. The mechanical arm for a surgical robot according to claim 7, wherein, A first positioning ring is arranged between the third angular contact ball bearing and the first bearing end cover, and the first positioning ring is located on the inner ring of the third angular contact ball bearing. A second positioning ring is arranged between the fourth angular contact ball bearing and the second bearing end cap, the second positioning ring being located on the inner ring of the fourth angular contact ball bearing.
10. A surgical robot, characterized by A surgical robot comprising a robotic arm as claimed in any of claims 1 to 9.
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