Dynamic pipeline compensation mechanism for medical image machine mechanical arm

Abstract

This utility model relates to the field of robotic arms for medical imaging machines, specifically to a dynamic cable compensation mechanism for such a mechanism. The mechanism includes a coaxial winding disc, an offset winding disc, and an elastic reset component. The coaxial winding disc is fixedly connected to a second rotating component and coaxially sleeved outside a first rotating component. A preset gap exists between the coaxial winding disc and the second rotating component, forming an annular cable storage groove. The offset winding disc is offset from the axis of the first rotating component and mounted on the second rotating component. The offset winding disc can rotate around its own axis. The elastic reset component is connected between the offset winding disc and the second rotating component and provides unidirectional winding torque to the offset winding disc. This application installs a dynamic cable compensation mechanism on a medical imaging machine robotic arm. Differential compensation of the cable is achieved through the unwinding and winding of the coaxial winding disc and the offset winding disc, thereby preventing damage from repeated extension, contraction, and twisting of the cable.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms for medical imaging machines, and specifically to a dynamic pipeline compensation mechanism for a robotic arm for a medical imaging machine. Background Technology

[0002] In modern medical imaging equipment, mammography machines with three-dimensional tomography capabilities need to perform complex multi-dimensional spatial motions, which are nested together by a C-arm global rotation system and a X-ray tube arm local rotation system.

[0003] The C-arm global rotation system includes a main shaft, one end of which is mounted on a lifting platform and the other end is rigidly connected to the detector arm. The main shaft is driven to rotate as a whole by a first motor.

[0004] The X-ray tube arm local rotation system includes an X-ray tube arm, which is sleeved on the middle of the main shaft by bearings and is driven to rotate independently by a second motor.

[0005] To avoid interference with external cables when the equipment is rotating over a wide range, existing designs typically use the hollow internal features of the spindle as a cable routing channel. Since one end of the cable passes through the inside of the spindle and the other end is connected to the rotating X-ray tube arm, the relative angular displacement between the spindle and the X-ray tube arm can cause shear failure and torsional fatigue of the cable.

[0006] Shear damage refers to the phenomenon where relative rotation and pulling of the cable causes it to generate extreme contact stress at the edge of the spindle through hole, which can easily cause direct cutting damage to the outer insulation layer of the cable.

[0007] Torsional fatigue refers to the situation where cables lack sufficient length redundancy within a limited space to absorb angular displacement, causing the copper core or optical fiber inside the cable to bear high-frequency torsional and bending combined stresses, which significantly shortens the service life of the pipeline system. Utility Model Content

[0008] The purpose of this invention is to provide a dynamic pipeline compensation mechanism for a medical imaging machine robotic arm, in order to solve the problem that existing medical imaging machine robotic arms use the internal hollow feature of the spindle as a cable routing channel, and the relative angular displacement between the spindle and the X-ray tube arm will cause shearing damage and torsional fatigue of the cable.

[0009] To solve the above-mentioned technical problems, this utility model specifically provides the following technical solution:

[0010] A dynamic pipeline compensation mechanism for a medical imaging robotic arm, applied in a medical imaging robotic arm including a first rotating component and a second rotating component, comprising:

[0011] A coaxial winding disc is fixedly connected to the second rotating component and coaxially sleeved on the outside of the first rotating component. There is a preset gap between the coaxial winding disc and the second rotating component, and the gap forms an annular wire storage groove.

[0012] An offset winding disk is offset from the axis of the first rotating component and is mounted on the second rotating component. The offset winding disk is capable of rotating about its own axis.

[0013] An elastic reset assembly is connected between the bias winding disc and the second rotating component to provide unidirectional winding torque to the bias winding disc;

[0014] The cable is led out from the inside of the first rotating component and enters the cable storage groove, then passes through the coaxial winding disk, is guided by the bias winding disk and fixedly connected to the second rotating component;

[0015] The coaxial winding spool and the offset winding spool are configured such that differential compensation is performed on the cable for unwinding and winding when the first rotating component and the second rotating component rotate relative to each other.

[0016] Furthermore, the first rotating component is a hollow shaft structure;

[0017] The first rotating component has a first through hole on its side wall, and the first through hole connects the internal cavity of the first rotating component with the wire storage groove.

[0018] Furthermore, a rubber sleeve is embedded in the first perforation, and the cable is anchored to the first perforation by static friction through the rubber sleeve to limit the relative slippage of the cable in the hole.

[0019] Furthermore, the side wall of the coaxial winding disc is provided with a second through hole, which connects the wire storage groove with the external space;

[0020] The cable passes sequentially through the internal cavity of the first rotating component, the first through hole, the cable storage groove, and the second through hole.

[0021] Furthermore, the edge of the second perforation is processed into a smooth arc-shaped guide surface to reduce the sliding friction resistance when the cable enters or exits.

[0022] Furthermore, the bias winding disk is mounted on the second rotating component via a rotary bearing;

[0023] The elastic reset component is a planar spiral spring, one end of which is fixed to the second rotating component, and the other end is fixed to the bias winding disc.

[0024] Furthermore, the first rotating component is a hollow spindle;

[0025] The second rotating component is a ball tube arm that is sleeved outside the main shaft and can rotate independently.

[0026] Furthermore, the biased winding disk is provided with an axially penetrating first wiring channel and a radially penetrating second wiring channel inside.

[0027] The first wiring channel and the second wiring channel are interconnected inside the biased winding reel;

[0028] The cable passes through the second cable routing channel and the first cable routing channel sequentially from the outside of the bias winding reel, and is then fixedly connected to the second rotating component.

[0029] Furthermore, a guide post is fixedly provided on the second rotating component, and the guide post is located on the cable path between the coaxial winding disk and the bias winding disk;

[0030] The guide post is used to abut against the side wall of the cable so that the cable segment located between the guide post and the coaxial winding disc is perpendicular to the axis of the first rotating component, thereby limiting the deflection angle of the cable when it passes through the second through hole.

[0031] Compared with the prior art, this application has the following advantages:

[0032] This application installs a dynamic pipeline compensation mechanism on the robotic arm of a medical imaging machine. The differential compensation of the cable is performed by unwinding and rewinding the coaxial winding disc and the offset winding disc, thereby avoiding damage to the cable due to repeated extension, contraction and twisting. Attached Figure Description

[0033] To more clearly illustrate the embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0034] Figure 1 This is a perspective view of the first working condition of this utility model embodiment;

[0035] Figure 2 This is a perspective view of the second working condition of this utility model embodiment;

[0036] Figure 3 This is a top view of the first working condition of this utility model embodiment;

[0037] Figure 4 for Figure 3 A cross-sectional view along the AA direction;

[0038] Figure 5 This is a top view of the second working condition of this utility model embodiment;

[0039] Figure 6 for Figure 5 A cross-sectional view along the BB direction;

[0040] The labels in the diagram represent the following:

[0041] 1-First rotating component; 11-Internal cavity; 12-First through hole; 13-Rubber sleeve; 2-Second rotating component; 21-Guide post; 3-Coaxial winding disc; 31-Wire storage groove; 32-Second through hole; 4-Offset winding disc; 41-First wiring channel; 42-Second wiring channel; 5-Cable. Detailed Implementation

[0042] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0043] refer to Figure 1 , Figure 2 This embodiment provides a dynamic pipeline compensation mechanism, which is particularly suitable for medical imaging machines (such as mammography machines).

[0044] The robotic arm of the medical imaging machine includes a first rotating component 1 and a second rotating component 2 nested and connected to each other; the first rotating component 1 is the hollow spindle of the medical imaging equipment, which has an internal cavity 11 for accommodating external wiring; the second rotating component 2 is the X-ray tube arm of the medical imaging equipment, which is coaxially sleeved outside the spindle and can not only rotate globally with the spindle, but also independently perform bidirectional rotation relative to the spindle.

[0045] The dynamic pipeline compensation mechanism is located between the first rotating component 1 and the second rotating component 2, and is designed to solve the problems of shear damage and torsional fatigue of the cable 5 when the second rotating component 2 performs relative rotation.

[0046] refer to Figure 4 , Figure 6 The dynamic pipeline compensation mechanism mainly includes: coaxial winding disc 3 and offset winding disc 4.

[0047] The coaxial winding disc 3 is rigidly connected to the second rotating component 2 and is coaxially sleeved outside the first rotating component 1. An annular gap is reserved between the coaxial winding disc 3 and the second rotating component 2 to form a closed wire storage groove 31. The wire storage groove 31 transforms the disordered stacking of the cable 5 into an ordered winding in an annular two-dimensional plane, providing redundant space for the cable 5 to absorb angular displacement.

[0048] The first rotating component 1 has a first through hole 12 on its side wall, which connects the internal cavity 11 of the first rotating component 1 with the cable storage groove 31. A high-damping rubber sleeve 13 is embedded in the first through hole 12. The cable 5 passes through the internal cavity 11 and is anchored by static friction through the interference fit of the rubber sleeve 13. In the case of conventional through holes, the cable 5 will be cut when rotating relative to each other. The rubber sleeve 13 restricts the relative sliding freedom between the cable 5 and the first through hole 12, reducing the shear wear of the outer insulation layer of the cable 5.

[0049] The coaxial winding disc 3 has a second through hole 32 on its side wall. The second through hole 32 connects the cable storage groove 31 with the external space. The edge of the second through hole 32 is processed into an arc-shaped guide surface. Since the cable 5 needs to frequently enter and exit the second through hole 32 during system operation, the arc-shaped guide surface effectively avoids the concentration of sharp angle stress and significantly reduces the sliding friction resistance when the cable 5 slides out, thereby extending the fatigue life of the pipeline.

[0050] The bias winding disc 4 is offset from the central axis of the first rotating component 1 and is mounted on the second rotating component 2 through an independent rotating bearing. The bias winding disc 4 has a first wiring channel 41 and a second wiring channel 42 that are interconnected inside. The first wiring channel 41 is axially through and the second wiring channel 42 is radially through. The internal orthogonal wiring channels allow the cable 5 to be smoothly introduced from the outer circumferential surface of the bias winding disc 4, and to complete a 90-degree turn inside, and finally be led out along the axis and fixedly connected to the second rotating component 2, so as to avoid the cable 5 from getting knotted on the outside or interfering with the space of the external structural components.

[0051] An elastic reset component is connected between the bias winding reel 4 and the second rotating component 2. The elastic reset component can be a planar spiral spring. One end of the planar spiral spring is fixed inside the bias winding reel 4, and the other end is fixed to the second rotating component 2. When the cable 5 becomes loose due to the reverse rotation of the component, the planar spiral spring provides a constant unidirectional winding torque to orderly wind the excess cable 5 onto the bias winding reel 4.

[0052] On the second rotating component 2, a guide post 21 is vertically fixed on the cable 5 path located between the coaxial winding disk 3 and the bias winding disk 4. The guide post 21 abuts against the side wall of the cable 5. Without the guide post 21, the cable 5 would be subjected to the pulling force of the bias winding disk 4, and the angle at which it passes through the second through hole 32 would change continuously, causing severe oblique friction between the cable 5 and the edge of the second through hole 32. The guide post 21 can apply lateral constraint, so that the cable 5 between the guide post 21 and the second through hole 32 is basically perpendicular to the axis of the first rotating component 1, thereby reducing the friction loss at the second through hole 32.

[0053] General working principle:

[0054] The complete path of cable 5 is as follows: it enters from the cavity 11 inside the first rotating component 1, passes through the first through hole 12 and the rubber sleeve 13 in sequence, is coiled in the cable storage groove 31, slides out through the second through hole 32, turns after passing through the guide post 21, goes around the outside of the biased winding disc 4, enters the second cable routing channel 42, and exits the first cable routing channel 41, and is finally rigidly fixed to the second rotating component 2.

[0055] When the second rotating component 2 (tube arm) performs an action relative to the first rotating component 1 (spindle), there are two working conditions:

[0056] refer to Figure 2 , Figure 5 , Figure 6 Forward rotation: When the second rotating component 2 rotates in the first direction, the coaxial winding disk 3 rotates synchronously. At this time, the relative circumference between the first through hole 12 and the second through hole 32 increases, and the cable 5 is subjected to tension and is forced into the cable storage groove 31. The tension is transmitted to the bias winding disk 4 through the cable 5, thereby overcoming the preload of the planar spiral spring and forcing the bias winding disk 4 to rotate passively. As a result, the cable 5 is unwound from the outside of the bias winding disk 4 to make up for the loss of cable length entering the cable storage groove 31.

[0057] refer to Figure 1 , Figure 3 , Figure 4 Reverse rotation: When the second rotating component 2 rotates in the reverse direction, the relative circumference of the first through hole 12 and the second through hole 32 shortens; the cable 5 in the cable storage groove 31 loses the external structural tension, and at the same time, the planar spiral spring in the bias winding disc 4 releases the stored energy, driving the bias winding disc 4 to rotate actively; the bias winding disc 4 quickly and smoothly rewinds the cable 5 unwound from the cable storage groove 31 back to itself.

[0058] Through the aforementioned differential cooperation, regardless of whether the second rotating component 2 rotates forward, reverse, or stops moving, the cable 5 remains in a controlled tension state.

[0059] The above embodiments are merely exemplary embodiments of this utility model and are not intended to limit this utility model. The scope of protection of this utility model is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to this utility model within its substance and scope of protection, and such modifications or equivalent substitutions should also be considered as falling within the scope of protection of this utility model.

Claims

1. A dynamic pipeline compensation mechanism for a medical imaging machine robotic arm, applied in a medical imaging machine robotic arm comprising a first rotating component (1) and a second rotating component (2), characterized in that, include: The coaxial winding disc (3) is fixedly connected to the second rotating component (2) and is coaxially sleeved on the outside of the first rotating component (1). There is a preset gap between the coaxial winding disc (3) and the second rotating component (2), and the gap forms an annular wire storage groove (31). An offset winding disc (4) is offset from the axis of the first rotating component (1) and is mounted on the second rotating component (2). The offset winding disc (4) is capable of rotating about its own axis. An elastic reset assembly is connected between the bias winding disc (4) and the second rotating component (2) for providing a unidirectional winding torque to the bias winding disc (4); The cable (5) is led out from inside the first rotating component (1) and enters the cable storage groove (31), then passes out from the coaxial winding disc (3), is guided by the bias winding disc (4) and fixedly connected to the second rotating component (2). The coaxial winding spool (3) and the offset winding spool (4) are configured such that when the first rotating component (1) and the second rotating component (2) rotate relative to each other, differential compensation for unwinding and winding of the cable (5) is performed.

2. The dynamic pipeline compensation mechanism according to claim 1, characterized in that, The first rotating component (1) is a hollow shaft structure; The first rotating component (1) has a first through hole (12) on its side wall, and the first through hole (12) connects the internal cavity (11) of the first rotating component (1) with the wire storage groove (31).

3. The dynamic pipeline compensation mechanism according to claim 2, characterized in that, A rubber sleeve (13) is embedded in the first perforation (12), and the cable (5) is anchored to the first perforation (12) by static friction through the rubber sleeve (13) to limit the relative slippage of the cable (5) in the hole.

4. The dynamic pipeline compensation mechanism according to claim 2, characterized in that, The coaxial winding disc (3) has a second through hole (32) on its side wall, which connects the wire storage groove (31) to the external space; the cable (5) passes through the internal cavity (11) of the first rotating component (1), the first through hole (12), the wire storage groove (31), and the second through hole (32) in sequence.

5. The dynamic pipeline compensation mechanism according to claim 4, characterized in that, The edge of the second perforation (32) is processed into a smooth arc-shaped guide surface to reduce the sliding friction resistance when the cable (5) enters and exits.

6. The dynamic pipeline compensation mechanism according to claim 1, characterized in that, The biased winding disc (4) is mounted on the second rotating component (2) via a rotating bearing; The elastic reset component is a planar spiral spring, one end of which is fixed to the second rotating component (2), and the other end is fixed to the bias winding disc (4).

7. The dynamic pipeline compensation mechanism according to claim 2, characterized in that, The first rotating component (1) is a hollow spindle; The second rotating component (2) is a ball tube arm that is sleeved outside the main shaft and can rotate independently.

8. The dynamic pipeline compensation mechanism according to claim 1, characterized in that, The biased winding disk (4) is provided with an axially penetrating first wiring channel (41) and a radially penetrating second wiring channel (42). The first wiring channel (41) and the second wiring channel (42) are interconnected inside the biased winding reel (4); The cable (5) passes through the second wiring channel (42) and the first wiring channel (41) sequentially from the outside of the bias winding disc (4) and is then fixedly connected to the second rotating component (2).

9. The dynamic pipeline compensation mechanism according to claim 4, characterized in that, A guide post (21) is fixedly provided on the second rotating component (2), and the guide post (21) is located on the cable (5) path between the coaxial winding disk (3) and the offset winding disk (4); The guide post (21) is used to abut against the side wall of the cable (5) so that the cable (5) segment located between the guide post (21) and the coaxial winding disc (3) is perpendicular to the axis of the first rotating component (1), thereby limiting the deflection angle of the cable (5) when it passes through the second through hole (32).

Images