High-precision medical robot

Abstract

The utility model relates to the technical field of medical instruments, in particular to a high-precision medical robot which comprises a base, a first swing arm, a first joint component, a second swing arm and a second joint component. And a first gear motor is mounted at one end of the lower side of the first mounting frame, the first joint component comprises a second shell, a first transmission component is arranged in the second shell, and a second gear motor is mounted on the lower side of the first transmission component. A multi-joint structure is adopted, angle adjustment in six directions is achieved, the degree of freedom of operation of the medical robot is improved, use flexibility is facilitated, angle adjustment is conducted through cooperation of a gear motor and a transmission motor, angle adjustment accuracy is improved, medical operation tools are mounted and dismounted through a third transmission component, and the medical operation tools are convenient to use. And the assembling convenience is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical instrument technical field, concretely is a kind of high-precision medical robot. BACKGROUND

[0002] Medical instrument is the instrument, equipment, appliance, in-vitro diagnostic reagent and calibrant, material and other similar or related articles directly or indirectly for human body, including the computer software needed, medical instrument includes medical equipment and medical consumables, medical robot provides a kind of safe, efficient operating platform for medical staff, can avoid directly contacting dangerous situation, accurately diagnose, treat and nursing operation to patient.

[0003] However, the medical robot on the market currently has fewer rotation angles, and the mechanical arm has low degree of freedom, cannot operate at different postures and angles, is not suitable for various complex medical scenarios, is not conducive to the flexibility of use, directly uses motor transmission, has low transmission accuracy, is not conducive to the safety of medical operation, and the installation and dismounting of medical operation tool is low in convenience, not conducive to the convenience of use. Therefore, the technical personnel in the art provide a kind of high-precision medical robot to solve the problems raised in the above background art. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of high-precision medical robot to solve the problems raised in the above background art.

[0005] To achieve the above object, the utility model provides the following technical scheme:

[0006] The utility model provides a high accuracy medical robot, including base, first swing arm, first joint member, second swing arm and second joint member, first swing arm is located at the upside position of base, first joint member is located at one end position of first swing arm, second swing arm is located at the upper end position of first joint member, second joint member is located at one end position of second swing arm, first swing arm includes first casing, the inside of first casing is provided with first mounting bracket, the downside one end position of first mounting bracket is installed with first speed reducer motor, first joint member includes second casing, the inside of second casing is provided with first transmission member, the downside of first transmission member is installed with second speed reducer motor, the front side upper end position of first transmission member is installed with third speed reducer motor, second swing arm includes second transmission member, one side of second transmission member is installed with double shaft member, the outside of double shaft member is provided with transmission shaft, the outside of transmission shaft is provided with third casing, second joint member includes fourth casing, the inside of fourth casing is installed with third transmission member, the lower end of third transmission member is provided with fifth casing, one side of fourth casing is installed with fourth speed reducer motor, the inside of fourth speed reducer motor is provided with first bevel gear.

[0007] As the further scheme of the utility model: the upside of first speed reducer motor is provided with second bevel gear, the upside of first mounting bracket is installed with first transmission motor near second bevel gear position, one end of first transmission motor is installed with third bevel gear, the upside of second speed reducer motor is installed with planetary gear box, the upside of planetary gear box is installed with second transmission motor, the inside of first transmission member is installed with third transmission motor corresponding to third speed reducer motor position.

[0008] As the further scheme of the utility model: third transmission member includes second mounting bracket, the inside upper end position of second mounting bracket is provided with first gear, the inside lower end position of second mounting bracket is provided with second gear, one side of second gear is provided with fourth bevel gear, one side of first gear is provided with fifth bevel gear, the outside of fifth bevel gear is provided with sixth bevel gear, the upper end of sixth bevel gear is provided with fifth speed reducer motor, the upside of fifth speed reducer motor is provided with rotating seat, double shaft member includes outer shaft, the inside of outer shaft is installed with inner shaft, one end of outer shaft is installed with third gear, one end of inner shaft is installed with fourth gear, the other end of outer shaft is installed with seventh bevel gear, the other end of inner shaft is installed with eighth bevel gear, second transmission member includes third mounting bracket, the outside of third mounting bracket is installed with sixth speed reducer motor, the inside of third mounting bracket is installed with fourth transmission motor, the inside of third mounting bracket is installed with fifth transmission motor, the inside of third mounting bracket is installed with sixth transmission motor.

[0009] As a further scheme of the utility model: the downside of first reduction motor is fixed at the upside position of base, the first mounting frame rotates at the upside position of base through first reduction motor, the downside of second reduction motor is fixed at the upside position of first mounting frame, the first transmission component rotates at the upside one end position of first mounting frame through second reduction motor, the front side of third reduction motor is located at the inside position of second transmission component, the second transmission component rotates at the outside position of first transmission component through third reduction motor.

[0010] As a further scheme of the utility model: the rear side of fifth shell is fixed at one side position of third shell, the double shaft component rotates at the inside position of transmission shaft, the front end of fifth shell rotates at the lower end position of fourth shell, the double shaft component is transmission connection through first bevel gear and fourth reduction motor, the double shaft component and third transmission component are transmission connection, one end of double shaft component and transmission shaft are transmission connection with second transmission component.

[0011] As a further scheme of the utility model: third bevel gear rotates at the upside position of second bevel gear through first transmission motor, first reduction motor and first transmission motor are transmission connection through first transmission motor and third bevel gear, third reduction motor and third transmission motor are transmission connection, second reduction motor and second transmission motor are transmission connection through planetary gear box.

[0012] As a further scheme of the utility model: inner shaft rotates at the inside position of outer shaft, seventh bevel gear is transmission connection through first bevel gear and fourth reduction motor, eighth bevel gear is transmission connection through fourth bevel gear and second gear, first gear and second gear are transmission connection, first gear is transmission connection through fifth bevel gear and sixth bevel gear, sixth bevel gear is transmission connection through fifth reduction motor and rotating seat, the inner end of fourth transmission motor, fifth transmission motor and sixth transmission motor is provided with transmission gear, fourth transmission motor is transmission connection through sixth reduction motor and transmission shaft, fifth transmission motor is transmission connection through third gear and outer shaft, sixth transmission motor is transmission connection through fourth gear and inner shaft.

[0013] Compared with the prior art, the utility model has the advantages of:

[0014] 1. The utility model discloses a high-precision medical robot adopts multi-joint structure, imitates the movement mode of human arm, has 6 direction angle's adjustment, improves the freedom degree of medical robot operation, can operate under different postures and angles, is applicable to various complex medical scenes, and it is favorable to the flexibility of use.

[0015] 2. The angle adjustment is improved by the cooperation of the speed reduction motor and the transmission motor, the precision of the angle adjustment is improved, and high-precision action can be realized;

[0016] 3. The medical operation tool is installed and dismounted through the third transmission member, and the assembly convenience is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a high-precision medical robot;

[0018] Figure 2 It is a split diagram of a first swing arm in a high-precision medical robot;

[0019] Figure 3 It is a split diagram of a first joint member in a high-precision medical robot;

[0020] Figure 4 It is a split diagram of a second swing arm in a high-precision medical robot;

[0021] Figure 5 It is a split diagram of a second joint member in a high-precision medical robot;

[0022] Figure 6 It is a structural schematic diagram of a third transmission member in a high-precision medical robot;

[0023] Figure 7 It is a structural schematic diagram of a double-shaft member in a high-precision medical robot;

[0024] Figure 8 It is a structural schematic diagram of a second transmission member in a high-precision medical robot.

[0025] In the figure: 1, base; 2, first swing arm; 3, first joint member; 4, second swing arm; 5, second joint member; 6, first housing; 7, first mounting bracket; 8, first speed reduction motor; 9, second housing; 10, first transmission member; 11, second speed reduction motor; 12, third speed reduction motor; 13, second transmission member; 14, double shaft member; 15, transmission shaft; 16, third housing; 17, fourth housing; 18, third transmission member; 19, fifth housing; 20, fourth speed reduction motor; 21, first bevel gear; 22, second bevel gear; 23, first transmission motor; 24, third bevel gear; 25, planetary gear box; 26, second transmission motor; 27, third transmission motor; 28, second mounting bracket; 29, first gear; 30, second gear; 31, fourth bevel gear; 32, fifth bevel gear; 33, sixth bevel gear; 34, fifth speed reduction motor; 35, rotating seat; 36, outer shaft; 37, inner shaft; 38, third gear; 39, fourth gear; 40, seventh bevel gear; 41, eighth bevel gear; 42, third mounting bracket; 43, sixth speed reduction motor; 44, fourth transmission motor; 45, fifth transmission motor; 46, sixth transmission motor. DETAILED DESCRIPTION

[0026] Reference will now be made to Figures 1-8The utility model discloses an embodiment of a kind of high-precision medical robots, including base 1, first swing arm 2, first joint component 3, second swing arm 4 and second joint component 5, first swing arm 2 is located at the upside position of base 1, first joint component 3 is located at the one end position of first swing arm 2, second swing arm 4 is located at the upper end position of first joint component 3, second joint component 5 is located at the one end position of second swing arm 4, first swing arm 2 includes first shell 6, the inside of first shell 6 is provided with first mounting bracket 7, the downside one end position of first mounting bracket 7 is installed with first speed reducer motor 8, first joint component 3 includes second shell 9, the inside of second shell 9 is provided with first transmission component 10, the downside of first transmission component 10 is installed with second speed reducer motor 11, the front side upper end position of first transmission component 10 is installed with third speed reducer motor 12, second swing arm 4 includes second transmission component 13, one side of second transmission component 13 is installed with double shaft component 14, the outside of double shaft component 14 is provided with transmission shaft 15, the outside of transmission shaft 15 is provided with third shell 16, second joint component 5 includes fourth shell 17, the inside of fourth shell 17 is installed with third transmission component 18, the lower end of third transmission component 18 is provided with fifth shell 19, one side of fourth shell 17 is installed with fourth speed reducer motor 20, the inside of fourth speed reducer motor 20 is provided with first bevel gear 21, the downside of first speed reducer motor 8 is fixed at the upside position of base 1, first mounting bracket 7 is rotated at the upside position of base 1 by first speed reducer motor 8, the downside of second speed reducer motor 11 is fixed at the upside position of first mounting bracket 7, first transmission component 10 is rotated at the upside one end position of first mounting bracket 7 by second speed reducer motor 11, the front side of third speed reducer motor 12 is located at the inside position of second transmission component 13, second transmission component 13 is rotated at the outside position of first transmission component 10 by third speed reducer motor 12, the rear side of fifth shell 19 is fixed at the one side position of third shell 16, double shaft component 14 is rotated at the inside position of transmission shaft 15, the front end of fifth shell 19 is rotated at the lower end position of fourth shell 17, double shaft component 14 is drivingly connected with fourth speed reducer motor 20 by first bevel gear 21, double shaft component 14 is drivingly connected with third transmission component 18, one end of double shaft component 14 and transmission shaft 15 is drivingly connected with second transmission component 13, first, fix a kind of high-precision medical robot to use position by base 1, fix medical operation tool to the upside of third transmission component 18, then, start to use, first speed reducer motor 8 is rotated at the upside of base 1, drives first swing arm 2 to rotate at the upside of base 1, second speed reducer motor 11 is rotated at the upside of first mounting bracket 7, drives first joint component 3 to rotate at the upside of first swing arm 2, third speed reducer motor 12 drives second transmission component 13 to rotate at the outside of first transmission component 10, adjust the angle of second swing arm 4, second transmission component 13 operates transmission transmission shaft 15, drives third shell 16 to rotate by transmission shaft 15,The second transmission member 13 drives the double shaft member 14, which drives the fourth housing 17 to rotate outside the fifth housing 19, adjusts the pitch and roll angles of the third transmission member 18, and adjusts the rotation angle of the third transmission member 18.

[0027] In Figure 1 、 2 In FIG. 3, the upper side of the first speed reducer 8 is provided with a second bevel gear 22, the upper side of the first mounting frame 7 is provided with a first transmission motor 23 adjacent to the position of the second bevel gear 22, one end of the first transmission motor 23 is provided with a third bevel gear 24, the upper side of the second speed reducer 11 is provided with a planetary gear box 25, the upper side of the planetary gear box 25 is provided with a second transmission motor 26, the inner side of the first transmission member 10 is provided with a third transmission motor 27 corresponding to the position of the third speed reducer 12, the third bevel gear 24 is driven by the first transmission motor 23 to rotate at the upper side of the second bevel gear 22, the first speed reducer 8 and the first transmission motor 23 are in driving connection through the first transmission motor 23 and the third bevel gear 24, the third speed reducer 12 and the third transmission motor 27 are in driving connection, the second speed reducer 11 and the second transmission motor 26 are in driving connection through the planetary gear box 25, the first transmission motor 23 drives the first speed reducer 8 through the third bevel gear 24 and the second bevel gear 22, the first speed reducer 8 rotates at the upper side of the base 1, driving the first swing arm 2 to rotate at the upper side of the base 1, the second transmission motor 26 drives the second speed reducer 11 through the planetary gear box 25, the second speed reducer 11 rotates at the upper side of the first mounting frame 7, driving the first joint member 3 to rotate at the upper side of the first swing arm 2, the third transmission motor 27 drives the third speed reducer 12, the third speed reducer 12 drives the second transmission member 13 to rotate outside the first transmission member 10, adjusting the angle of the second swing arm 4.

[0028] In Figure 1 、 4The third transmission member 18 comprises a second mounting frame 28, a first gear 29 is arranged at the inner side upper end position of the second mounting frame 28, a second gear 30 is arranged at the inner side lower end position of the second mounting frame 28, a fourth bevel gear 31 is arranged at one side of the second gear 30, a fifth bevel gear 32 is arranged at one side of the first gear 29, a sixth bevel gear 33 is arranged at the outer side of the fifth bevel gear 32, a fifth speed reduction motor 34 is arranged at the upper end of the sixth bevel gear 33, a rotating seat 35 is arranged at the upper side of the fifth speed reduction motor 34, the double shaft member 14 comprises an outer shaft 36, an inner shaft 37 is mounted in the inner portion of the outer shaft 36, a third gear 38 is mounted at one end of the outer shaft 36, a fourth gear 39 is mounted at one end of the inner shaft 37, a seventh bevel gear 40 is mounted at the other end of the outer shaft 36, an eighth bevel gear 41 is mounted at the other end of the inner shaft 37, the second transmission member 13 comprises a third mounting frame 42, a sixth speed reduction motor 43 is mounted at the outer side of the third mounting frame 42, a fourth transmission motor 44 is mounted at the inner side of the third mounting frame 42, a fifth transmission motor 45 is mounted at the inner side of the third mounting frame 42, a sixth transmission motor 46 is mounted at the inner side of the third mounting frame 42, the inner shaft 37 rotates at the inner portion position of the outer shaft 36, the seventh bevel gear 40 is in transmission connection with the fourth speed reduction motor 20 through the first bevel gear 21, the eighth bevel gear 41 is in transmission connection with the second gear 30 through the fourth bevel gear 31, the first gear 29 is in transmission connection with the second gear 30, the first gear 29 is in transmission connection with the sixth bevel gear 33 through the fifth bevel gear 32, the sixth bevel gear 33 is in transmission connection with the rotating seat 35 through the fifth speed reduction motor 34, the inner ends of the fourth transmission motor 44, the fifth transmission motor 45 and the sixth transmission motor 46 are all provided with transmission gears, the fourth transmission motor 44 is in transmission connection with the transmission shaft 15 through the sixth speed reduction motor 43, the fifth transmission motor 45 is in transmission connection with the outer shaft 36 through the third gear 38, the sixth transmission motor 46 is in transmission connection with the inner shaft 37 through the fourth gear 39, the medical operation tool is fixed to the upper side of the rotating seat 35, the fourth transmission motor 44 operates to drive the transmission shaft 15 through the sixth speed reduction motor 43, the third housing 16 is driven to rotate through the transmission shaft 15, the fifth transmission motor 45 operates to drive the outer shaft 36 to rotate through the third gear 38, the outer shaft 36 drives the fourth speed reduction motor 20 to rotate through the seventh bevel gear 40 and the first bevel gear 21, the fourth speed reduction motor 20 drives the fourth housing 17 to rotate at the outer side of the fifth housing 19, the pitch and roll angles of the rotating seat 35 are adjusted, the sixth transmission motor 46 operates to drive the inner shaft 37 to rotate through the fourth gear 39, the inner shaft 37 drives the fifth speed reduction motor 34 through the fourth bevel gear 31, the second gear 30, the first gear 29 and the sixth bevel gear 33, the fifth speed reduction motor 34 drives the rotating seat 35 to rotate, and the rotating angle of the rotating seat 35 is adjusted.

[0029] The working principle of the utility model is: first, a high-precision medical robot is fixed to the use position through the base 1, the medical operation tool is fixed to the upper side of the rotating seat 35, then, start using, the first transmission motor 23 runs through the third bevel gear 24 and the second bevel gear 22 transmission first reduction motor 8, first reduction motor 8 is rotated on the upper side of base 1, drive first swing arm 2 is rotated on the upper side of base 1, the second transmission motor 26 runs through planetary gear box 25 transmission second reduction motor 11, second reduction motor 11 is rotated on the upper side of first mounting bracket 7, drive first joint component 3 is rotated on the upper side of first swing arm 2, the third transmission motor 27 runs transmission third reduction motor 12, third reduction motor 12 drive second transmission component 13 is rotated on the outside of first transmission component 10, adjust the angle of second swing arm 4, the fourth transmission motor 44 runs through the sixth reduction motor 43 transmission shaft 15, drive third housing 16 through transmission shaft 15 rotates, the fifth transmission motor 45 runs through third gear 38 drive outer shaft 36 rotates, outer shaft 36 is through seventh bevel gear 40 and first bevel gear 21 transmission fourth reduction motor 20, fourth reduction motor 20 drive fourth housing 17 is rotated on the outside of fifth housing 19, adjust the angle of rotation of rotating seat 35, the sixth transmission motor 46 runs through fourth gear 39 drive inner shaft 37 rotates, inner shaft 37 is through fourth bevel gear 31, second gear 30, first gear 29 and sixth bevel gear 33 transmission fifth reduction motor 34, fifth reduction motor 34 drive rotating seat 35 rotates, adjust the rotation angle of rotating seat 35.

[0030] The above described, only for the preferred specific embodiment of the utility model, but the protection scope of the utility model is not limited to this, any skilled in the art person in the utility model disclosed technical range, according to the utility model technical scheme and the utility model concept are equivalent to replace or change, all should be covered in the protection scope of the utility model.

Claims

1. A high-precision medical robot, comprising a base (1), a first swing arm (2), a first joint component (3), a second swing arm (4), and a second joint component (5), wherein the first swing arm (2) is located on the upper side of the base (1), the first joint component (3) is located at one end of the first swing arm (2), the second swing arm (4) is located at the upper end of the first joint component (3), and the second joint component (5) is located at one end of the second swing arm (4), characterized in that, The first swing arm (2) includes a first housing (6), inside which a first mounting bracket (7) is provided, and a first geared motor (8) is mounted at one lower end of the first mounting bracket (7). The first joint component (3) includes a second housing (9), inside which a first transmission component (10) is provided, and a second geared motor (11) is mounted at the lower side of the first transmission component (10). A third geared motor (12) is mounted at the upper front end of the first transmission component (10). The second swing arm (4) includes a second transmission component (13). A dual-shaft component (14) is installed on one side of the second transmission component (13). A transmission shaft (15) is provided on the outer side of the dual-shaft component (14). A third housing (16) is provided on the outer side of the transmission shaft (15). The second joint component (5) includes a fourth housing (17). A third transmission component (18) is installed inside the fourth housing (17). A fifth housing (19) is provided at the lower end of the third transmission component (18). A fourth reduction motor (20) is installed on one side of the fourth housing (17). A first bevel gear (21) is provided on the inner side of the fourth reduction motor (20).

2. The high-precision medical robot according to claim 1, characterized in that, A second bevel gear (22) is provided on the upper side of the first geared motor (8). A first transmission motor (23) is installed on the upper side of the first mounting bracket (7) near the position of the second bevel gear (22). A third bevel gear (24) is installed at one end of the first transmission motor (23). A planetary gearbox (25) is installed on the upper side of the second geared motor (11). A second transmission motor (26) is installed on the upper side of the planetary gearbox (25). A third transmission motor (27) is installed on the inner side of the first transmission component (10) at the position corresponding to the third geared motor (12).

3. The high-precision medical robot according to claim 1, characterized in that, The third transmission component (18) includes a second mounting bracket (28). A first gear (29) is provided at the upper inner end of the second mounting bracket (28), and a second gear (30) is provided at the lower inner end of the second mounting bracket (28). A fourth bevel gear (31) is provided on one side of the second gear (30), and a fifth bevel gear (32) is provided on one side of the first gear (29). A sixth bevel gear (33) is provided on the outer side of the fifth bevel gear (32). A fifth reduction motor (34) is provided at the upper end of the sixth bevel gear (33), and a rotary seat (35) is provided on the upper side of the fifth reduction motor (34). The dual-shaft component (14) includes an outer shaft (36). The inner shaft (37) is installed inside the outer shaft (36), a third gear (38) is installed at one end of the outer shaft (36), a fourth gear (39) is installed at one end of the inner shaft (37), a seventh bevel gear (40) is installed at the other end of the outer shaft (36), and an eighth bevel gear (41) is installed at the other end of the inner shaft (37). The second transmission component (13) includes a third mounting bracket (42), a sixth reduction motor (43) is installed on the outer side of the third mounting bracket (42), a fourth transmission motor (44) is installed on the inner side of the third mounting bracket (42), a fifth transmission motor (45) is installed on the inner side of the third mounting bracket (42), and a sixth transmission motor (46) is installed on the inner side of the third mounting bracket (42).

4. A high-precision medical robot according to claim 1, characterized in that, The lower side of the first geared motor (8) is fixed to the upper side of the base (1). The first mounting bracket (7) rotates to the upper side of the base (1) via the first geared motor (8). The lower side of the second geared motor (11) is fixed to the upper side of the first mounting bracket (7). The first transmission component (10) rotates to one end of the upper side of the first mounting bracket (7) via the second geared motor (11). The front side of the third geared motor (12) is located inside the second transmission component (13). The second transmission component (13) rotates to the outside of the first transmission component (10) via the third geared motor (12).

5. A high-precision medical robot according to claim 1, characterized in that, The rear side of the fifth housing (19) is fixed to one side of the third housing (16). The dual-shaft component (14) rotates inside the transmission shaft (15). The front end of the fifth housing (19) rotates to the lower end of the fourth housing (17). The dual-shaft component (14) is connected to the fourth reduction motor (20) via the first bevel gear (21). The dual-shaft component (14) is connected to the third transmission component (18). One end of the dual-shaft component (14) and the transmission shaft (15) are both connected to the second transmission component (13).

6. A high-precision medical robot according to claim 2, characterized in that, The third bevel gear (24) rotates above the second bevel gear (22) via the first drive motor (23). The first reduction motor (8) and the first drive motor (23) are connected to the third bevel gear (24) via the first drive motor (23). The third reduction motor (12) and the third drive motor (27) are connected to each other via the planetary gearbox (25).

7. A high-precision medical robot according to claim 3, characterized in that, The inner shaft (37) rotates to a position inside the outer shaft (36). The seventh bevel gear (40) is connected to the fourth gear motor (20) via the first bevel gear (21). The eighth bevel gear (41) is connected to the second gear (30) via the fourth bevel gear (31). The first gear (29) is connected to the second gear (30). The first gear (29) is connected to the sixth bevel gear (33) via the fifth bevel gear (32). The sixth bevel gear (33) is connected to the fourth gear motor (26) via the fifth bevel gear (32). The five-speed reduction motor (34) is connected to the rotating base (35) for transmission. The inner ends of the fourth transmission motor (44), the fifth transmission motor (45) and the sixth transmission motor (46) are all provided with transmission gears. The fourth transmission motor (44) is connected to the transmission shaft (15) through the sixth speed reduction motor (43). The fifth transmission motor (45) is connected to the outer shaft (36) through the third gear (38). The sixth transmission motor (46) is connected to the inner shaft (37) through the fourth gear (39).

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