Mechanical arm of surgical robot
By using a steel belt tensioning method to link the first and third arms of the surgical robot, the problems of large space occupation and limited range of motion in existing technologies are solved, achieving the effects of compact space, large range of motion, rapid response and high reliability of the robotic arm.
Patent Information
- Application Number
- CN202423052077.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-11
- Publication Date
- 2026-01-23
- Estimated Expiration
- 2034-12-11
AI Technical Summary
Existing surgical robot robotic arms, due to their parallel linkage structure, suffer from problems such as large space occupation and limited range of motion.
The first and third arms are linked by a steel belt tensioning method. The parallel state of the first and third arms is achieved through the steel belt pulley and tensioning block, and the linkage is achieved by the drive motor and synchronous belt pulley.
It achieves the parallel state maintenance of the first and third arms, and has the advantages of compact space, large range of motion, rapid response, low cost, high load-bearing capacity and reliable operation.
Smart Images
Figure CN223817654U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the technical field of surgical robot, especially a kind of mechanical arm of surgical robot. BACKGROUND
[0002] In surgical robot, multi-joint mechanical arm is often used, for example, the mechanical arm includes first arm, second arm and third arm. In order to make the first arm and the third arm realize the effect of linkage, make both keep the initial parallel state, the parallel link structure is often used in the prior art, but the parallel link structure has problems such as large space occupation and limited movement range. SUMMARY
[0003] In order to solve the problems in the prior art, the present application provides a kind of mechanical arm of surgical robot, by adopting the mode of steel band tensioning, the linkage of first arm and third arm can be realized, so that both keep the initial parallel state, and have the advantages of compact space, large movement range, rapid response and the like.
[0004] In order to achieve the above purpose, the present application provides a kind of mechanical arm of surgical robot, including first arm, second arm and third arm, the first arm is fixedly connected with first connecting shaft, the first connecting shaft in the inner cavity of the shell of the second arm is rotatably connected with one end of connecting plate through bearing, the connecting plate is fixedly connected with the shell of the second arm, the other end of the connecting plate is rotatably connected with second connecting shaft through another bearing, first steel belt pulley is fixedly connected on the first connecting shaft, second steel belt pulley is fixedly connected on the second connecting shaft, steel belt is connected between the first steel belt pulley and the second steel belt pulley, steel belt tensioning block is arranged on the first steel belt pulley and the second steel belt pulley, and the steel belt can be wound on the first steel belt pulley and the second steel belt pulley by the steel belt tensioning block;The connecting seat is fixedly connected with the second connecting shaft, and the connecting seat is fixedly connected with the third arm.
[0005] In some embodiments, the first arm and the third arm are initially parallel to each other, and when the second arm is driven to move relative to the first arm, the first arm and the third arm can keep the state of being parallel to each other in real time.
[0006] In some embodiments, two bearings are connected on the first connecting shaft along the axial direction thereof, the outer ring of each bearing is connected with a connecting plate, the two connecting plates are respectively referred to as first connecting plate and second connecting plate, the first connecting plate and the second connecting plate are fixedly connected with the shell of the second arm, and another two bearings are connected on the second connecting shaft along the axial direction thereof, the outer rings of the two bearings are respectively connected with the first connecting plate and the second connecting plate.
[0007] In some embodiments, a support column is fixedly connected between the first connecting plate and the second connecting plate.
[0008] In some embodiments, the first steel belt pulley fixedly connected on the first connecting shaft is between two bearings on the first connecting shaft, and the second steel belt pulley fixedly connected on the second connecting shaft is between two bearings on the second connecting shaft.
[0009] In some embodiments, a third connecting shaft is further included, which is fixedly connected with the connecting plate, the connecting seat is a U-shaped connecting seat including two parallel horizontal plates and a vertical plate connected between the two horizontal plates, one horizontal plate of the connecting seat is fixedly connected with the second connecting shaft, and the other horizontal plate of the connecting seat is rotatably connected with the third connecting shaft via a bearing.
[0010] In some embodiments, an encoder is further included, one end of the encoder is arranged on the connecting plate, and the other end of the encoder is arranged on the first connecting shaft.
[0011] In some embodiments, the driving device for driving the second arm to rotate relative to the first arm adopts the following structure: a driving motor fixedly assembled on the connecting plate, a first synchronous belt pulley arranged on the output shaft of the driving motor, a second synchronous belt pulley connected with the first synchronous belt pulley via a synchronous belt, and the second synchronous belt pulley fixed on the first connecting shaft.
[0012] The surgical robot mechanical arm has the advantages of compact space, large motion range, rapid response, etc. BRIEF DESCRIPTION OF DRAWINGS
[0013] Figure 1 A partial structure cross-sectional view of the surgical robot mechanical arm in the embodiment is shown.
[0014] Figure 2 A transmission relationship schematic view of the first connecting shaft and the second connecting shaft in the embodiment is shown.
[0015] Figure 3 An initial position state schematic view of the first arm and the third arm in the embodiment is shown.
[0016] Figure 4 A position state schematic view of the first arm and the third arm after the second arm is driven to act in the embodiment is shown.
[0017] Reference numerals: A-First arm, B-Second arm, C-Third arm, 1-First connecting shaft, 2-Housing of the second arm, 3-First connecting plate, 4-Second connecting plate, 5-Support column, 6-Second connecting shaft, 7-First steel pulley, 8-Second steel pulley, 9-Steel belt, 10-Connecting seat, 11-Third connecting shaft, 12-Steel belt tensioning block, 13-Drive motor, 14-First synchronous pulley, 15-Second synchronous pulley, 16-Connecting component. Detailed Implementation
[0018] The specific embodiments of this application will be further described below with reference to the accompanying drawings.
[0019] In the description of this 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 accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0020] like Figures 1-2 As shown, the robotic arm of the surgical robot involved in this application includes a first arm A, a second arm B, and a third arm C. The first arm A is fixedly connected to a first connecting shaft 1. In this embodiment, a connector 16 (e.g., a flange) is fixedly connected to the first connecting shaft 1, and the first connecting shaft 1 is fixed to the first arm A through the connector 16. The first connecting shaft 1, located in the inner cavity of the housing 2 of the second arm, is rotatably connected to one end of a connecting plate via a bearing. The connecting plate is fixedly connected to the housing 2 of the second arm, and the other end of the connecting plate is rotatably connected to a second connecting shaft 6 via another bearing. A first steel pulley 7 is fixedly connected to the first connecting shaft 1, and a second steel pulley 8 is fixedly connected to the second connecting shaft 6. A steel belt 9 is connected between the first steel pulley 7 and the second steel pulley 8. In order to tension the steel belt 9 around the first steel pulley 7 and the second steel pulley 8, a steel belt tensioning block 12 is provided on both the first steel pulley 7 and the second steel pulley 8. The tension of the steel belt 9 can be adjusted by the steel belt tensioning block 12. A connecting seat 10 is fixedly connected to the second connecting shaft 6, and the connecting seat 10 is fixedly connected to the third arm C. The first arm A and the third arm C are initially parallel to each other. When the second arm B is driven to move relative to the first arm A, the first arm A and the third arm C can maintain a parallel state in real time.
[0021] In order to make the structure of the mechanical arm more stable, two bearings are connected to the first connecting shaft 1 along the axial direction, and the outer ring of each bearing is connected to a connecting plate, which is referred to as the first connecting plate 3 and the second connecting plate 4, respectively. The first connecting plate 3 and the second connecting plate 4 are fixedly connected to the shell 2 of the second arm. A support column 5 is fixedly connected between the first connecting plate 3 and the second connecting plate 4 to make the structure more stable. Similarly, two other bearings are connected to the second connecting shaft 6 along the axial direction, and the outer rings of the two bearings are connected to the first connecting plate 3 and the second connecting plate 4, respectively. The first steel belt pulley 7 fixedly connected to the first connecting shaft 1 is between the two bearings on the first connecting shaft 1. The second steel belt pulley 8 fixedly connected to the second connecting shaft 6 is between the two bearings on the second connecting shaft 6.
[0022] In order to make the structure more stable, a third connecting shaft 11 is further included, which is fixedly connected to the connecting plate, specifically the first connecting plate 3. The connecting seat 10 is a U-shaped connecting seat, which includes two parallel horizontal plates and a vertical plate connected between the two horizontal plates. One horizontal plate of the connecting seat 10 is fixedly connected to the second connecting shaft 6. The other horizontal plate of the connecting seat 10 is rotatably connected to the third connecting shaft 11 through a bearing.
[0023] In order to know the positional relationship of the second arm B relative to the first arm A, an encoder is further included, one end of which is arranged on the connecting plate, and the other end of which is arranged on the first connecting shaft 1.
[0024] The driving device for driving the second arm B to rotate relative to the first arm A can adopt the following structure: a driving motor 13 is fixedly assembled on the connecting plate (for example, the first connecting plate 3). A first synchronous belt pulley 14 is arranged at the output shaft of the driving motor 13. The first synchronous belt pulley 14 is connected to a second synchronous belt pulley 15 through a synchronous belt. The second synchronous belt pulley 15 is fixedly connected to the first connecting shaft 1. When the first arm A remains stationary, driving the driving motor 13 to act will cause the connecting plate to rotate relative to the first connecting shaft 1, that is, the second arm B rotates relative to the first arm A. Since the steel belt 9 is tightly wound around the first steel belt pulley 7 and the second steel belt pulley 8, the first steel belt pulley 7 is fixedly connected to the first connecting shaft 1, and the second steel belt pulley 8 is fixedly connected to the second connecting shaft 6. When the first arm A is stationary, the first connecting shaft 1 remains stationary, the second connecting shaft 6 does not rotate, and the connecting seat 10 fixedly connected to the second connecting shaft 6 also does not rotate, thereby keeping the third arm C in the initial parallel state relative to the first arm A, as shown in Figures 3-4 .
[0025] The mechanical arm of the surgical robot involved in the present application can realize linkage of the first arm and the third arm by adopting the steel belt tensioning mode, so that the two arms maintain the initial parallel state, and has the advantages of compact space, large motion range, rapid response, low cost, large carrying capacity, reliable work and the like.
[0026] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art within the technical range disclosed by the present application, according to the technical scheme and concept of the present application, equivalent replacement or change, should be covered within the protection scope of the present application.
Claims
1. A robotic arm for a surgical robot, comprising a first arm, a second arm, and a third arm, characterized in that: The first arm is fixedly connected to the first connecting shaft. The first connecting shaft, located in the inner cavity of the housing of the second arm, is rotatably connected to one end of the connecting plate via a bearing. The connecting plate is fixedly connected to the housing of the second arm. The other end of the connecting plate is rotatably connected to the second connecting shaft via another bearing. A first steel pulley is fixedly connected to the first connecting shaft, and a second steel pulley is fixedly connected to the second connecting shaft. A steel belt is connected between the first steel pulley and the second steel pulley. A steel belt tensioning block is provided on both the first steel pulley and the second steel pulley. The steel belt can be tensioned and wound around the first steel pulley and the second steel pulley through the steel belt tensioning block. A connecting seat is fixedly connected to the second connecting shaft, and the connecting seat is fixedly connected to the third arm.
2. The robotic arm of the surgical robot according to claim 1, characterized in that: The first arm and the third arm are initially parallel to each other. When the second arm is driven to move relative to the first arm, the first arm and the third arm can maintain a parallel state in real time.
3. The robotic arm of the surgical robot according to claim 1, characterized in that: Two bearings are connected at intervals along the axial direction of the first connecting shaft. The outer ring of each bearing is connected to a connecting plate. The two connecting plates are referred to as the first connecting plate and the second connecting plate, respectively. The first connecting plate and the second connecting plate are both fixedly connected to the housing of the second arm. Two other bearings are connected at intervals along the axial direction of the second connecting shaft. The outer rings of these two bearings are connected to the first connecting plate and the second connecting plate, respectively.
4. The robotic arm of the surgical robot according to claim 3, characterized in that: A support column is fixedly connected between the first connecting plate and the second connecting plate.
5. The robotic arm of the surgical robot according to claim 3, characterized in that: The first steel pulley, which is fixedly connected to the first connecting shaft, is located between two bearings on the first connecting shaft, and the second steel pulley, which is fixedly connected to the second connecting shaft, is located between two bearings on the second connecting shaft.
6. The robotic arm of the surgical robot according to claim 1, characterized in that: It also includes a third connecting shaft, which is fixedly connected to the connecting plate. The connecting seat is a U-shaped connecting seat, which includes two parallel horizontal plates and a vertical plate connected between the two horizontal plates. One horizontal plate of the connecting seat is fixedly connected to the second connecting shaft, and the other horizontal plate of the connecting seat is rotatably connected to the third connecting shaft via a bearing.
7. The robotic arm of the surgical robot according to claim 1, characterized in that: It also includes an encoder, one end of which is disposed on the connecting plate and the other end of which is disposed on the first connecting shaft.
8. The robotic arm of the surgical robot according to claim 2, characterized in that: The drive device for driving the second arm to rotate relative to the first arm has the following structure: it includes a drive motor fixedly mounted on the connecting plate, a first synchronous pulley is provided at the output shaft of the drive motor, the first synchronous pulley is connected to a second synchronous pulley via a synchronous belt, and the second synchronous pulley is fixed on the first connecting shaft.