Parallel surgical robot

Abstract

The utility model discloses a parallel surgical robot, which relates to the field of robots, and comprises an upper base, a lower base, a lower base and a connecting rod, three first connecting parts are evenly arranged on the upper base in the circumferential direction of the upper base, three second connecting parts are evenly arranged on the lower base in the circumferential direction of the outer side, the upper base and the lower base are concentrically arranged, the first connecting parts and the second connecting parts are arranged in a staggered mode, and the distance between each first connecting part and the adjacent second connecting part is the same; the six linear driving units are evenly arranged on the periphery of the upper base, and the two ends of each linear driving unit are connected with one first connecting part and one second connecting part correspondingly; the two joint bearings are respectively arranged at the central positions of the upper base and the lower base; the guide structure sequentially penetrates through the two knuckle bearings; the parallel surgical robot can reduce the load of the holding arm, so that the effect of improving the load at the tail end of the holding arm is achieved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot, more particularly, relate to a kind of parallel operation robot. BACKGROUND

[0002] The existing parallel robot of our company has the problems of small workspace and difficulty in calculation. The angle between the nail direction and the overall configuration causes lateral stress on the structure, which is the weakest direction of the linear motion unit (the lateral bearing capacity is about 1 / 4 of the axial load capacity), making the overall load parameter of the robot low, and exceeding the load capacity will reduce the service life of the robot. Due to the angle between the nail direction and the overall configuration, operators with insufficient experience or weak spatial imagination cannot grasp the effective workspace for precise positioning, even with a coarse positioning auxiliary screen, the complex interaction rules still require operators to spend a lot of effort in the coarse adjustment stage, reducing the user experience.

[0003] The existing parallel robot can complete the core function of needle implantation in orthopedic surgery according to its high load and precision. However, the current design has certain limitations. To improve the user experience of the parallel robot, the following three points are the main optimization directions for improving product performance.

[0004] 1. Due to the configuration constraints, the active workspace in actual application is small, and the surgeon needs to perform long-time manual operation for coarse positioning and aiming in the surgery to enter the active workspace.

[0005] 2. In the current design, there is an assembly angle between the movement range of the robot body and the end tool. When performing nail placement, the stress direction of the robot is mainly lateral stress, which is the worst stress state for parallel robots, easily causing failure or reduced life of the linear motion unit.

[0006] 3. In the current design, according to the assembly position relationship between the end tool and the robot body, the movement range of the robot body needs to be converted into the movement range of the end tool, and the user needs to "cover" the target screw according to the movement range of the end tool. Complex spatial imagination ability is required to complete the coarse positioning work, so convenient and efficient interaction mode has become the main difficulty in product optimization. INVENTION CONTENTS

[0007] The utility model aims at the deficiencies of the prior art, provides a kind of parallel operation robot, the parallel operation robot can not only play the advantage of high load, but also make up the problems of small workspace, coarse adjustment difficulty and poor stress state of parallel robot, can realize the accurate nail placement function under the navigation guidance.

[0008] To achieve the above purpose, the utility model provides a kind of parallel operation robot, comprising:

[0009] an upper base, three first connecting parts are evenly arranged along the outer circumferential direction;

[0010] a lower base, three second connecting parts are evenly arranged along the outer circumferential direction, the upper base and the lower base are concentrically arranged, the first connecting parts and the second connecting parts are staggered, and the distance between each first connecting part and the adjacent second connecting part is the same;

[0011] six linear drive units are evenly arranged on the outer periphery of the upper base, and two ends of each linear drive unit are connected with one first connecting part and one second connecting part, respectively;

[0012] two joint bearings are arranged at the center positions of the upper base and the lower base, respectively;

[0013] a guide structure penetrates the two joint bearings in sequence.

[0014] Optionally, the upper base comprises a first circular surface, the first connecting parts are connected with the outer periphery of the first circular surface, the lower base comprises a second circular surface, the second connecting parts are connected with the outer periphery of the second circular surface, and the radial dimensions of the upper base and the second circular surface are the same.

[0015] Optionally, the same number of hollow holes are evenly arranged on the first circular surface and the second circular surface.

[0016] Optionally, the linear drive unit comprises:

[0017] an upper end kinematic pair connected with the upper base;

[0018] a lower end kinematic pair connected with the lower base;

[0019] a middle drive pair arranged between the upper end kinematic pair and the lower end kinematic pair.

[0020] Optionally, the upper end kinematic pair and the lower end kinematic pair are spherical hinges or Hooke's joints.

[0021] Optionally, the drive pair is a hydraulic cylinder, a pneumatic cylinder or an electric cylinder.

[0022] Optionally, the guide structure penetrates the joint bearing of the lower base, and one end of the guide structure is connected with the joint bearing of the upper base.

[0023] Optionally, a needle placement hole is arranged on the side of the upper base away from the lower base, and the needle placement hole is arranged in the extension direction of the guide structure.

[0024] Optionally, the other end of the guide structure is used for connecting with the end of a holding arm.

[0025] The parallel operation robot has the advantages that:

[0026] 1. The workspace of the parallel operation robot is adjustable, when the lower base is fixed as a reference, the range of movement of the upper base and the guide structure and the lower end joint bearing can form a triangular area, and the guide structure of the robot part extending below the lower base can also form a triangular area with the lower end joint bearing when moving, the upper and lower triangles are similar triangles, when the distance between the upper and lower bases changes but the length of the guide structure remains unchanged, the upper triangular area decreases and the lower triangular area increases, accordingly, the workspace of the parallel operation robot also increases, therefore, the workspace size of the parallel operation robot can be more controllable than the original structure, and the support is more stable, so that the similar triangle principle is used, the distance between the upper and lower bases is adjusted to realize enlargement or reduction of the workspace as needed;

[0027] 2. When the parallel operation robot performs nail placement, the stress direction is mainly from the upper base to the lower base, and the driving pair stress is mainly the push-pull force along the installation direction, compared with the original structure in which the driving pair is mainly subjected to lateral stress, the load capacity can be greatly improved, and the service life is improved;

[0028] 3. The joint bearing of the upper and lower bases in the parallel operation robot is provided with a hollow ring structure consistent with the workspace, which can realize the function of a "sight" and cover the target positioning area when performing rough positioning, so that the target is guaranteed to be in the active workspace of the parallel robot, so that the parallel operation robot does not need to perform the original space position conversion link in the rough positioning stage, and the rough positioning operation is more intuitive and visual.

[0029] Other features and advantages of the present application will be described in detail in the following specific embodiment part. BRIEF DESCRIPTION OF DRAWINGS

[0030] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which like reference characters refer to the like parts throughout the figures, and wherein the exemplary embodiments of the present application are shown.

[0031] Figure 1 A connection diagram of an existing parallel robot is shown.

[0032] Figure 2 A structure diagram of a parallel operation robot according to an embodiment of the present application is shown.

[0033] Figure 3A state schematic view when a parallel operation robot is roughly positioned and aimed according to an embodiment of the utility model is shown.

[0034] Figure 4 A perspective view of Figure 3 is shown.

[0035] Figure 5 A perspective view of Figure 3 is shown.

[0036] BRIEF DESCRIPTION OF DRAWINGS

[0037] 1, upper base; 2, lower base; 3, first connecting part; 4, second connecting part; 5, joint bearing; 6, guide structure; 7, first circular surface; 8, second circular surface; 9, hollow hole; 10, upper end kinematic pair; 11, lower end kinematic pair; 12, intermediate drive pair; 13, needle hole. DETAILED DESCRIPTION

[0038] The preferred embodiments of the utility model will be described in more detail below. Although the preferred embodiments of the utility model are described below, it should be understood that the utility model can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the utility model more thorough and complete, and to fully convey the scope of the utility model to those skilled in the art.

[0039] The utility model provides a kind of parallel operation robot, comprising:

[0040] Upper base, three first connecting parts are evenly arranged along the outer circumferential direction;

[0041] Lower base, three second connecting parts are evenly arranged along the outer circumferential direction, and the upper base and the lower base are concentrically arranged, and the first connecting part and the second connecting part are staggered, and the distance between each first connecting part and adjacent second connecting part is the same;

[0042] Six linear drive units are evenly arranged on the outer periphery of the upper base, and the two ends of each linear drive unit are respectively connected with a first connecting part and a second connecting part;

[0043] Two joint bearings are respectively arranged at the center position of the upper base and the lower base;

[0044] Guide structure, sequentially penetrates in two joint bearings.

[0045] Specifically, the parallel operation robot is based on the existing parallel robot and has three connecting parts staggered on the upper and lower bases, and the first connecting part and the second connecting part are sequentially connected in series through a linear driving unit, so that three V-shaped layouts are formed on the outer periphery of the parallel operation robot, and in addition, a joint bearing is arranged at the center position of the upper and lower bases, and the two joint bearings are connected in series through a guide structure, so that when the needle is placed, each linear driving unit is adjusted in extension and contraction, and the upper base is moved relative to the lower base, and since the guide structure always supports the center of the upper base, the lateral force of the linear driving unit can be reduced.

[0046] Optionally, the upper base comprises a first circular surface, the first connecting part is connected with the outer periphery of the first circular surface, the lower base comprises a second circular surface, the second connecting part is connected with the outer periphery of the second circular surface, and the radial dimension of the upper base is the same as that of the second circular surface.

[0047] Optionally, the first circular surface and the second circular surface are uniformly provided with the same number of hollow holes.

[0048] Specifically, the area of the upper base is smaller than that of the lower base, and the area of the upper base is the same as that of the second circular surface of the lower base, so that the linear driving units are close to the guide structure from bottom to top, when the upper and lower bases are arranged in parallel, the six linear driving units are tightened inward and support the upper base, and the force of each linear driving unit is the same; when the hollow holes of the two circular surfaces correspond to each other, the hollow holes can play a role similar to that of a "sight", and rough positioning work can be realized.

[0049] Optionally, the linear driving unit comprises:

[0050] an upper end kinematic pair connected with the upper base;

[0051] a lower end kinematic pair connected with the lower base;

[0052] a middle driving pair arranged between the upper end kinematic pair and the lower end kinematic pair.

[0053] Optionally, the upper end kinematic pair and the lower end kinematic pair are spherical hinges or Hooke hinges.

[0054] Optionally, the driving pair is a hydraulic cylinder, an air cylinder or an electric cylinder.

[0055] Specifically, a plurality of linear driving units are arranged between the upper and lower bases, the linear driving units are hingedly connected with the upper and lower bases, and the two ends of the middle driving pair are also hingedly connected with the upper and lower end kinematic pairs, so that the upper base can be deflected by a certain angle under the extension and contraction driving of the driving pair.

[0056] Optionally, the guide structure extends through the spherical bearing of the lower base, and one end of the guide structure is connected to the spherical bearing of the upper base.

[0057] Specifically, the guide structure and the spherical bearing are connected through the guide structure. When the upper base moves relative to the lower base, the guide structure moves with the center of the lower base as the hinge point. The end of the guide structure moves with the upper base. In this way, the guide structure can provide support and connection force to the center of the upper base, share the force of the outer linear drive unit, extend the service life of the linear drive unit, and make the upper base more controllable during movement.

[0058] In one embodiment, a connecting rod of equal diameter can be used as a guide structure.

[0059] Optionally, a pin hole is provided on the side of the upper base away from the lower base, and the pin hole is located in the extension direction of the guide structure.

[0060] Optionally, the other end of the guide structure is used to connect to the end of the gripping arm.

[0061] Specifically, when the guide needle is implanted, it needs to be coarsely positioned first. The guide needle is placed on the extension line of the guide structure. When the upper and lower bases are aligned through the hollow hole, it indicates that the upper and lower bases are in a parallel state. The lower base is then fixedly connected to the holding arm. In this way, the guide needle can complete the coarse positioning and aiming.

[0062] Example

[0063] like Figures 2 to 5 As shown, this utility model provides a parallel surgical robot, comprising:

[0064] The upper base 1 has three first connecting parts 3 evenly arranged along the outer circumference;

[0065] The lower base 2 has three second connecting parts 4 evenly arranged along the outer circumference. The upper base 1 and the lower base 2 are concentrically arranged, and the first connecting parts 3 and the second connecting parts 4 are staggered. Each first connecting part 3 is equidistant from the adjacent second connecting part 4.

[0066] Six linear drive units are evenly arranged on the outer periphery of the upper base 1, and each linear drive unit is connected to a first connecting part 3 and a second connecting part 4 at both ends.

[0067] Two spherical bearings 5 ​​are respectively located at the center of the upper base 1 and the lower base 2;

[0068] The guide structure 6 passes through the two joint bearings 5 ​​in sequence.

[0069] In the embodiment, the upper base 1 comprises a first circular surface 7, the first connecting part 3 is connected with the outer periphery of the first circular surface 7, the lower base 2 comprises a second circular surface 8, the second connecting part 4 is connected with the outer periphery of the second circular surface 8, and the upper base 1 has the same radial dimension as the second circular surface 8.

[0070] In the embodiment, the first circular surface 7 and the second circular surface 8 are uniformly provided with the same number of hollow holes 9.

[0071] In the embodiment, the linear driving unit comprises:

[0072] The upper end kinematic pair 10 is connected with the upper base 1.

[0073] The lower end kinematic pair 11 is connected with the lower base 2.

[0074] The intermediate driving pair 12 is arranged between the upper end kinematic pair 10 and the lower end kinematic pair 11.

[0075] In the embodiment, the upper end kinematic pair 10 and the lower end kinematic pair 11 are spherical hinges or Hooke hinges.

[0076] In the embodiment, the intermediate driving pair 12 is a hydraulic cylinder, a pneumatic cylinder or an electric cylinder.

[0077] In the embodiment, the guide structure 6 penetrates the joint bearing 5 of the lower base, and one end of the guide structure 6 is connected with the joint bearing 5 of the upper base 1.

[0078] In the embodiment, the upper base 1 is provided with a needle placement hole 13 on the side away from the lower base 2, and the needle placement hole 13 is arranged in the extension direction of the guide structure 6.

[0079] In the embodiment, the other end of the guide structure 6 is used to be connected with the end of the holding arm.

[0080] In summary, the parallel surgical robot has the same direction of nail placement as the central axis of the overall structure of the robot in use, and the movement axis of the upper base 1 and the axis of the guide structure 6 overlap. On the one hand, the stress state of the existing configuration can be changed from lateral stress to axial stress, and after optimizing the stress state, the load capacity and service life of the overall machine can be greatly improved. On the other hand, the movement direction of the guide structure 6 is consistent with the overall structure, and there is no need to perform spatial transformation of the working space. In addition, the operator does not need to use an auxiliary screen or other interactive design, and the boundary of the active precise positioning space is designed to be consistent with the boundary of the middle ring of the upper and lower bases, so that the operator can only use the hollow holes 9 of the upper and lower bases to cover the target area to complete the coarse adjustment work, thereby greatly improving the use convenience. The length of the holding arm end force arm is also added to the length of all parts of the existing parallel robot, and is changed to the radius of the overall configuration of the parallel surgical robot of the present application, so that the effect of reducing the force arm and improving the load capacity of the holding arm end can be achieved. At the same time, there is no need to worry about the influence of the robot axis direction tool or part stacking on the force arm in the future design, and the degree of freedom of the design is improved.

[0081] The above has described the embodiments of the present application, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A parallel surgical robot, characterized in that, include: The upper base has three first connecting parts evenly arranged along the outer circumference; The lower base has three second connecting parts evenly arranged along the outer circumference. The upper base and the lower base are concentrically arranged. The first connecting parts and the second connecting parts are staggered. Each first connecting part is equidistant from the adjacent second connecting part. Six linear drive units are evenly arranged on the outer periphery of the upper base, and each linear drive unit is connected to a first connecting part and a second connecting part at its two ends, respectively. Two spherical bearings are respectively located at the center of the upper base and the lower base; The guide structure runs through the two joint bearings in sequence.

2. The parallel surgical robot according to claim 1, characterized in that, The upper base includes a first circular surface, and the first connecting portion is connected to the outer periphery of the first circular surface. The lower base includes a second circular surface, and the second connecting portion is connected to the outer periphery of the second circular surface. The radial dimensions of the upper base and the second circular surface are the same.

3. The parallel surgical robot according to claim 2, characterized in that, The first and second circular surfaces are evenly provided with the same number of perforated holes.

4. The parallel surgical robot according to claim 1, characterized in that, The linear drive unit includes: The upper kinematic pair is connected to the upper base; The lower kinematic pair is connected to the lower base; An intermediate drive pair is disposed between the upper kinematic pair and the lower kinematic pair.

5. The parallel surgical robot according to claim 4, characterized in that, The upper and lower kinematic pairs are ball joints or Hooke joints.

6. The parallel surgical robot according to claim 4, characterized in that, The drive pair is a hydraulic cylinder, a pneumatic cylinder, or an electric cylinder.

7. The parallel surgical robot according to claim 1, characterized in that, The guide structure extends through the spherical bearing of the lower base, and one end of the guide structure is connected to the spherical bearing of the upper base.

8. The parallel surgical robot according to claim 7, characterized in that, The upper base has a pin hole on the side away from the lower base, and the pin hole is located in the extension direction of the guide structure.

9. The parallel surgical robot according to claim 7, characterized in that, The other end of the guide structure is used to connect to the end of the gripping arm.

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