Dual-mode mechanical arm joint and multi-degree-of-freedom surgical shadowless lamp applying same

Abstract

A dual-mode robotic arm joint and a multi-degree-of-freedom surgical shadowless lamp using the same are disclosed, relating to the field of robotic arm joint technology for surgical shadowless lamps. The robotic arm joint is located at the connection between a first swing arm and a second swing arm. The second swing arm has a second connecting portion at the connection point, within which a motor is connected. The motor includes a rotor and stator windings arranged internally and externally. The stator windings are rotatably connected to the second connecting portion. The rotor extends upwards to the outside of the stator windings and is connected to a first connecting member at its top. The first swing arm has a first connecting portion at the connection point, which is rotatably connected to the rotor via a rotating shaft. A first pressing assembly is connected within the first connecting portion. The first pressing assembly includes an elastic element and a friction element. The top of the elastic element is connected to the upper part of the first connecting portion, and the lower part is connected to the friction element. The friction element is pressed against the first connecting member. This invention enables both electric and manual adjustment of the shadowless lamp, offering advantages such as high adjustment efficiency and high positioning accuracy.

Description

Technical Field

[0001] This utility model relates to the field of surgical shadowless lamp robotic arm joint technology, specifically to a dual-mode robotic arm joint and a multi-degree-of-freedom surgical shadowless lamp using the same. Background Technology

[0002] Medical shadowless lamps are commonly used lighting equipment in modern medicine. Their illumination effect has a certain impact on doctors' surgical procedures, especially during surgery, when the lamp needs to be rotated and adjusted to achieve the best lighting effect. Medical shadowless lamps are typically suspended from the ceiling and rotate around the operating table via a rotating joint.

[0003] Currently, most existing shadowless lamps achieve their required position by manually or electrically adjusting the shutdown angle. However, electric adjustment suffers from positional errors due to limitations in the accuracy of the motor and sensors, while purely manual adjustment is less efficient. Therefore, to address the shortcomings of purely electric and purely manual adjustment methods, this invention designs a robotic arm joint that combines electric and manual adjustment, and a surgical shadowless lamp that utilizes it. Utility Model Content

[0004] In view of the problems and shortcomings of the existing technology, this utility model provides a dual-mode robotic arm joint and a multi-degree-of-freedom surgical shadowless lamp using it, with the aim of improving the efficiency and accuracy of shadowless lamp position adjustment.

[0005] The technical solution of this utility model is as follows:

[0006] A dual-mode robotic arm joint is provided at the connection between a first swing arm and a second swing arm. The second swing arm has a second connecting part at the connection point. A motor is connected inside the second connecting part. The motor includes a rotor and a stator winding disposed inside and outside the motor. The stator winding is rotatably connected to the second connecting part. The rotor extends upward to the outside of the stator winding and is connected to a first connecting member at the top.

[0007] The first swing arm has a first connecting part at the connection point. The first connecting part is rotatably connected to the rotor via a rotating shaft. A first pressing assembly is connected inside the first connecting part. The first pressing assembly includes an elastic element and a friction element. The top of the elastic element is connected to the upper part of the first connecting part, and the lower part is connected to the friction element. The friction element is pressed against the first connecting part.

[0008] Specifically, the second connecting part has a second mounting hole and a first mounting hole arranged coaxially. The outer ring of the stator winding is interference-fitted with the first mounting hole. The rotor extends to the second mounting hole and its end is connected to the first connecting member. The first connecting member can rotate relative to the second mounting hole.

[0009] The top of the first connecting part is provided with a first end cover, and the inside is provided with a mounting plate. A friction element is connected to the mounting plate. The friction element includes a guide and a friction plate. The upper part of the guide passes through the mounting plate and can slide up and down. The sliding direction is parallel to the rotor axis. The top is connected to the bottom of the first end cover through an elastic element, and the bottom is connected to the friction plate.

[0010] In one specific embodiment, the motor can be a frameless torque motor, with the rotor located within the stator winding and its upper end extending to the outside of the stator winding. The stator winding and the second swing arm are fixedly connected by an interference fit. When energized, the rotor rotates relative to the stator winding, thereby driving the second swing arm to rotate relative to the rotor. A first connecting member is bolted to the top of the rotor, and the first connecting member is rotatably connected to the second swing arm via a bearing, with its upper part extending above the second swing arm. To meet axial and radial force requirements and improve accuracy, the bearing is a crossed roller bearing, with its inner ring interference-fitted to the first connecting member and its outer ring interference-fitted to the second mounting hole of the second swing arm. A bearing end cap is provided on the upper part of the bearing, and the first connecting member extends to the outside of the bearing end cap, forming a flange disc at its end.

[0011] The lower part of the second swing arm is connected to a friction element, which is pressed against the top of the first connecting member through a friction plate at its bottom. When the motor is powered on, the rotor and stator windings rotate relative to each other, causing the first connecting member connected to them to rotate. Since the friction element is pressed against the first connecting member, when the clamping force and friction coefficient meet the set requirements, the friction element rotates with the first connecting member under the action of frictional resistance. Because the top of the friction element is connected to the first end cover, the first swing arm rotates together with the friction element, realizing automatic rotation control between the swing arms.

[0012] Furthermore, to prevent the second connecting component from tilting due to assembly or gravity, which could lead to a local gap between the connecting part and the first connecting part, preventing proper clamping and thus hindering the rotation of the first connecting component through frictional resistance, an elastic element is connected to the first end cap at the top of the friction component. This ensures that the preload between the friction component and the first connecting component meets the design requirements. In this embodiment, the elastic element is a compression spring, with its upper end connected to the upper end cap and its lower end connected to the top of the friction component. Additionally, to allow the first connecting component to move vertically up and down along the rotor axis, the friction component can slide up and down relative to the mounting plate within the first swing arm.

[0013] When the motor is not powered, the operator manually drives the first swing arm to rotate. At this time, the driving torque of the operator pushing the swing arm to rotate is greater than the torque of the frictional resistance between the first connecting part and the friction part, so that the friction part can rotate relative to the first connecting part, thereby realizing the manual adjustment of the angle between the swing arms to meet the position requirements of the shadowless lamp.

[0014] Therefore, the robotic arm of this invention can be electrically controlled or manually controlled when it is turned off, which allows workers to make precise adjustments by manual means when the electric control cannot achieve the required position.

[0015] According to a specific embodiment, the first connector is a flange-shaped part, with its lower part engaging with a second mounting hole via a bearing, its upper part extending into the first connecting part of the first swing arm, and its top surface pressing against a friction plate.

[0016] The guide includes a first connecting post, the bottom of which is connected to a friction plate. The mounting plate has a guide hole through which the first connecting post passes and can move up and down relative to the guide hole. The top of the first connecting post is connected to the bottom of the first end cap through an elastic element.

[0017] The bottom of the first end cap is provided with a second connecting post, the lower part of the elastic element is connected to the first connecting post, and the upper part is connected to the second connecting post.

[0018] The first connecting post is a stepped shaft that decreases radially upwards, and the second connecting post is a vertically extending sleeve. The upper part of the first connecting post is inserted into the second connecting post, and an elastic element is sleeved on the small-diameter shaft section. The upper part of the elastic element is pressed against the bottom of the second connecting post, and the elastic element is a compression spring.

[0019] To protect the motor, a second end cap is provided at the bottom of the second swing arm.

[0020] This utility model also discloses a multi-degree-of-freedom surgical shadowless lamp, including a support member and a first operating arm and a second operating arm connected to the support member. The first operating arm is connected to the shadowless lamp at its end, and the second operating arm is connected to the display screen at its end.

[0021] The first manipulator arm includes two horizontal swing arms and two arc swing arms connected in sequence. The starting end and the ending end are connected to the support and the shadowless lamp respectively through the robotic arm joint.

[0022] The second manipulator includes two horizontal swing arms. The starting end is connected to the support through a mechanical arm joint, and the ending end is connected to the display screen bracket through a mechanical arm joint. The display screen is connected to the display screen bracket.

[0023] The first operating arm is equipped with multiple arms, and each end is connected to a shadowless lamp.

[0024] During use, operators can either automatically control the angle between the swing arms of the first or second operating arm via the motor, or manually adjust it by rotating the swing arms, thereby improving the positional accuracy of the shadowless lamp to meet work requirements.

[0025] The beneficial effects of this utility model are:

[0026] The mechanical arm is connected to the second swing arm via the stator winding of a frameless torque motor, and to the first connecting member via the rotor. The motion and power of the first connecting member are transmitted to the friction member through the friction force between the friction member in the first swing arm and the first connecting member, and then the friction member drives the first swing arm to rotate, thereby realizing the adjustment of the rotation angle of the joint of the electrically controlled mechanical arm.

[0027] Furthermore, since the motion and power transmitted through friction are not fixed connections, the mechanical arm joints can be driven to rotate when the driving torque exceeds the friction torque. Therefore, this invention can also drive the mechanical arm to rotate by applying a large driving force manually to overcome friction. This overcomes the positioning error problem of the auxiliary electric adjustment and improves the adjustment efficiency through electric adjustment. In addition, the operating arm connected to the shadowless lamp using the above-mentioned mechanical arm connection also has the advantages of high adjustment efficiency and high positioning accuracy. Attached Figure Description

[0028] Figure 1 This is a cross-sectional view of the mechanical articulated arm;

[0029] Figure 2 for Figure 1 A partially enlarged view of the second connecting part of the second swing arm;

[0030] Figure 3 for Figure 1 A partial enlarged view of the first connecting part of the first swing arm;

[0031] Figure 4 This is a magnified view of a portion of the first end cap;

[0032] Figure 5 A stereoscopic view from the first-person perspective of a multi-degree-of-freedom shadowless lamp;

[0033] Figure 6 A stereoscopic view from the second perspective of a multi-degree-of-freedom shadowless lamp;

[0034] 10. Support component; 20. First operating arm; 30. Second operating arm; 40. Shadowless lamp; 50. Display screen; 1. Motor; 11. Stator winding; 12. Rotor; 2. Bearing; 3. First connecting component; 4. Friction component; 41. Friction plate; 42. First connecting post; 5. Elastic component; 6. First end cap; 61. Second connecting post; 7. Second end cap; 8. First swing arm; 81. First connecting part; 82. Mounting plate; 83. Guide hole; 9. Second swing arm; 91. Second connecting part; 92. First mounting hole; 93. Second mounting hole. Detailed Implementation

[0035] The technical means adopted to achieve the intended purpose of this utility model will be further described below with reference to the accompanying drawings of the embodiments of this utility model.

[0036] See Figure 1 A dual-mode robotic arm joint is provided at the connection between a first swing arm 8 and a second swing arm 9. The second swing arm 9 has a second connecting part 91 at the connection. A motor 1 is connected inside the second connecting part 91. The motor 1 includes a rotor 12 and a stator winding 11 disposed inside and outside. The stator winding 11 is rotatably connected to the second connecting part 91. The rotor 12 extends upward to the outside of the stator winding 11 and is connected to a first connecting member 3 at the top.

[0037] See Figure 3 The first swing arm 8 has a first connecting part 81 at the connection point. The first connecting part 81 is rotatably connected to the rotor 12 via a rotating shaft. A first pressing assembly is connected inside the first connecting part 81. The first pressing assembly includes an elastic element 5 and a friction element 4. The top of the elastic element 5 is connected to the upper part of the first connecting part 81, and the lower part is connected to the friction element 4. The friction element 4 is pressed against the first connecting part 3.

[0038] See Figure 1 and Figure 2 Specifically, the second connecting part 91 has a second mounting hole 93 and a first mounting hole 92 arranged coaxially. The outer ring of the stator winding 11 is interference-fitted with the first mounting hole 92. The rotor 12 extends to the second mounting hole 93 and is connected to the first connecting member 3 at its end. The first connecting member 3 can rotate relative to the second mounting hole 93.

[0039] See Figure 1 and Figure 3 The top of the first connecting part 81 is provided with a first end cover 6, and the inside is provided with a mounting plate 82. The mounting plate 82 is connected to a friction member 4. The friction member 4 includes a guide member and a friction plate 41. The upper part of the guide member passes through the mounting plate 82 and can slide up and down. The sliding direction is parallel to the axis of the rotor 12. The top is connected to the bottom of the first end cover 6 through an elastic member 5, and the bottom is connected to the friction plate 41.

[0040] See Figures 1-4In one specific embodiment, the motor 1 can be a frameless torque motor 1, and the rotor 12 is located in the inner ring of the stator winding 11, with its upper end extending to the outside of the stator winding 11. The stator winding and the second swing arm 9 are fixedly connected by an interference fit. When energized, the rotor 12 rotates relative to the stator winding 11, thereby driving the second swing arm 9 to rotate relative to the rotor 12. The top of the rotor 12 is fixedly connected to the first connecting member 3 by bolts. The first connecting member 3 is rotatably connected to the second swing arm 9 through a bearing 2, and its upper part extends above the second swing arm 9. To meet the requirements of axial and radial force and improve accuracy, the bearing 2 is a crossed roller bearing 2, with its inner ring interference fit with the first connecting member 3 and its outer ring interference fit with the second mounting hole 93 of the second swing arm 9. The bearing 2 is provided with a bearing 2 end cover on its upper part, and the first connecting member 3 extends to the outside of the bearing 2 end cover, forming a flange disc at its end.

[0041] The lower part of the second swing arm 9 is connected to the friction element 4, and the friction element 4 is pressed against the top of the first connecting member 3 through the friction plate 41 at the bottom. When the motor 1 is powered on, the rotor 12 and the stator winding 11 rotate relative to each other, which drives the first connecting member 3 connected to them to rotate. Since the friction element 4 is pressed against the first connecting member 3, when the clamping force and the coefficient of friction meet the set requirements, the friction element 4 rotates with the first connecting member 3 under the action of frictional resistance. Since the top of the friction element 4 is connected to the first end cover 6, the first swing arm 8 rotates together with the friction element 4, realizing automatic rotation control between the swing arms.

[0042] Furthermore, to prevent the second connecting part 91 from tilting due to assembly or gravity, which could lead to a local gap between the connecting part and the first connecting part 81, preventing them from being properly clamped and thus preventing the first connecting part 3 from rotating due to frictional resistance, an elastic element 5 is connected to the first end cap 6 at the top of the friction element 4. This ensures that the preload between the friction element 4 and the first connecting part 3 meets the design requirements. In this embodiment, the elastic element 5 is a compression spring, with its upper end connected to the upper end cap and its lower end connected to the top of the friction element 4. In addition, to allow the first connecting part 3 to move vertically up and down along the axis of the rotor 12, the friction element 4 can slide up and down relative to the mounting plate 82 inside the first swing arm 8.

[0043] When the motor 1 is not powered, the operator manually drives the first swing arm 8 to rotate. At this time, the driving torque of the operator pushing the swing arm to rotate is greater than the torque of the frictional resistance between the first connecting piece 3 and the friction piece 4, so that the friction piece 4 can rotate relative to the first connecting piece 3, thereby realizing the manual adjustment of the angle between the swing arms to meet the position requirements of the shadowless lamp 40.

[0044] Therefore, the robotic arm of this invention can be electrically controlled or manually controlled when it is turned off, which allows workers to make precise adjustments by manual means when the electric control cannot achieve the required position.

[0045] See Figure 1 According to a specific embodiment, the first connector 3 is a flange-shaped part, with its lower part cooperating with the second mounting hole 93 through the bearing 2, and its upper part extending into the first connecting part 81 of the first swing arm 8, with its top surface pressed against the friction plate 41.

[0046] The guide includes a first connecting post 42, the bottom of which is connected to a friction plate 41. The mounting plate 82 is provided with a guide hole 83. The first connecting post 42 passes through the guide hole 83 and can move up and down relative to the guide hole 83. Its top is connected to the bottom of the first end cap 6 through an elastic member 5.

[0047] The bottom of the first end cap 6 is provided with a second connecting post 61, and the lower part of the elastic element 5 is connected to the first connecting post 42, and the upper part is connected to the second connecting post 61.

[0048] The first connecting post 42 is a stepped shaft that decreases radially, and the second connecting post 61 is a vertically extending sleeve. The upper part of the first connecting post 42 is inserted into the second connecting post 61, and an elastic element 5 is sleeved on the small diameter shaft section. The upper part of the elastic element 5 is pressed against the bottom of the second connecting post 61. The elastic element 5 is a compression spring.

[0049] To protect the motor 1, the bottom of the second swing arm 9 is provided with a second end cover 7.

[0050] See Figure 5 and Figure 6 The present invention also discloses a multi-degree-of-freedom surgical shadowless lamp 40, including a support member and a first operating arm 20 and a second operating arm 30 connected to the support member, which are connected by a plurality of swing arms through the aforementioned mechanical arm joints, and the end of the first operating arm 20 is connected to the shadowless lamp 40, and the end of the second operating arm 30 is connected to the display screen 50.

[0051] The first manipulator 20 includes two horizontal swing arms and two arc swing arms connected in sequence. The starting end and the ending end are connected to the support and the shadowless lamp 40 through the mechanical arm joint, respectively.

[0052] The second operating arm 30 includes two horizontal swing arms. The starting end is connected to the support through a mechanical arm joint, and the ending end is connected to the display screen 50 bracket through a mechanical arm joint. The display screen 50 is connected to the display screen 50 bracket.

[0053] The first operating arm 20 is provided in multiple parts, and each end is connected to a shadowless lamp 40.

[0054] In use, the operator can either automatically control the angle between the swing arms of the first operating arm 20 or the second operating arm 30 through the motor 1, or adjust it by manually rotating the swing arms, thereby improving the positional accuracy of the shadowless lamp 40 to meet the work requirements.

[0055] The above are preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments and examples. Within the scope of knowledge possessed by those skilled in the art, all changes, equivalent substitutions, improvements, etc., made without departing from the concept of the present invention should be included within the protection scope of the present invention.

Claims

1. A dual-mode robotic arm joint, disposed at the connection between a first swing arm (8) and a second swing arm (9), characterized in that, The second swing arm (9) has a second connecting part (91) at the connection point. A motor (1) is connected inside the second connecting part (91). The motor (1) includes a rotor (12) and a stator winding (11) arranged inside and outside. The stator winding (11) is rotatably connected to the second connecting part (91). The rotor (12) extends upward to the outside of the stator winding (11) and is connected to the top of a first connecting piece (3). The first swing arm (8) has a first connecting part (81) at the connection point. The first connecting part (81) is rotatably connected to the rotor through a rotating shaft. A first pressing assembly is connected inside the first connecting part (81). The first pressing assembly includes an elastic element (5) and a friction element (4). The top of the elastic element is connected to the upper part of the first connecting part (81), and the lower part is connected to the friction element (4). The friction element is pressed against the first connecting part (3).

2. The robotic arm joint according to claim 1, characterized in that, The second connecting part (91) has a second mounting hole (93) and a first mounting hole (92) arranged coaxially. The outer ring of the stator winding (11) is press-fitted with the first mounting hole (92). The rotor (12) extends to the second mounting hole (93) and is connected to the first connector (3) at its end. The first connector (3) can rotate relative to the second mounting hole (93). The first connecting part (81) has a first end cover (6) at the top and an installation plate (82) inside. A friction element (4) is connected to the installation plate (82). The friction element includes a guide and a friction plate (41). The upper part of the guide passes through the installation plate (82) and can slide up and down. The sliding direction is parallel to the axis of the rotor (12). The top is connected to the bottom of the first end cover (6) through an elastic element, and the bottom is connected to the friction plate (41).

3. The robotic arm joint of claim 2, wherein, The first connector (3) is a flange-shaped part. The lower part is fitted with the second mounting hole (93) through the bearing (2), and the upper part extends into the first connecting part (81) of the first swing arm (8). The top surface is pressed against the friction plate (41).

4. The robotic arm joint of claim 2, wherein, The guide includes a first connecting post (42), the bottom of which is connected to a friction plate (41). The mounting plate (82) is provided with a guide hole (83). The first connecting post (42) passes through the guide hole (83) and can move up and down relative to the guide hole. The top is connected to the bottom of the first end cap (6) through an elastic member (5).

5. The robotic arm joint of claim 4, wherein, The bottom of the first end cap (6) is provided with a second connecting post (61), and the lower part of the elastic element (5) is connected to the first connecting post (42), and the upper part is connected to the second connecting post (61).

6. The robotic arm joint of claim 5, wherein, The first connecting post (42) is a stepped shaft that decreases radially, and the second connecting post (61) is a vertically extending sleeve. The upper part of the first connecting post (42) is inserted into the second connecting post (61), and an elastic element (5) is sleeved on the small diameter shaft section. The upper part of the elastic element (5) is pressed against the bottom of the second connecting post (61). The elastic element is a compression spring.

7. The robotic arm joint of claim 2, wherein, The bottom of the second swing arm (9) is provided with a second end cap (7).

8. A multi-degree of freedom surgical shadowless lamp characterized by, It includes a support and a first operating arm (20) and a second operating arm (30) connected to the support, which are connected by a plurality of swing arms through the mechanical arm joints of any one of claims 1-7, and the end of the first operating arm (20) is connected to a shadowless lamp (40), and the end of the second operating arm (30) is connected to a display screen (50).

9. The multi-degree-of-freedom surgical shadowless lamp according to claim 8, characterized in that, The first manipulator (20) includes two horizontal swing arms and two arc swing arms connected in sequence. The starting end and the ending end are connected to the support and the shadowless lamp (40) respectively through the mechanical arm joint.

10. The multi-degree of freedom surgical shadowless lamp of claim 8, wherein, The second operating arm (30) includes two horizontal swing arms. The starting end is connected to the support through the mechanical arm joint, and the end is connected to the display screen (50) bracket through the mechanical arm joint. The display screen (50) is connected to the display screen (50) bracket.

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