Suspension assembly for rotational transmission of manipulator, and master manipulator arm

Abstract

A suspension assembly for rotational transmission of a manipulator, and a master manipulator arm. The suspension assembly comprises a disk connecting member, a crossed roller bearing, and a suspension bracket that are coaxially arranged from top to bottom. A rotatable bearing pedestal is arranged in the disk connecting member. The bearing pedestal, the crossed roller bearing, and the suspension bracket are fastened together into one by means of screws, so that the suspension bracket can rotate relative to the disk connecting member by means of a manual mode. A motor is fixedly arranged on one side of the suspension bracket, a rope wheel is fixedly connected to a motor shaft of the motor, a rope is wound around the rope wheel, and two ends of the rope extend along an outer wall of the disk connecting member in opposite directions and are fixedly arranged on two sides of the outer wall of the disk connecting member, opposite to each other. The motor can drive, by means of a motor active mode, the suspension bracket to rotate relative to the disk connecting member, or can assist, by means of a motor passive mode, the suspension bracket to rotate relative to the disk connecting member in the manual mode. The present application enables a manual and electric dual-mode rotating suspension bracket and detects the rotation angle thereof in real time.

Description

Suspension assembly for operating hand rotary transmission and master robot arm

[0001] This application claims priority to the application filed on September 6, 2024 with the China National Intellectual Property Office and application number 202411246575.1; the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of surgical robots, in particular to a suspension assembly for operating hand rotary transmission and master robot arm. BACKGROUND

[0003] With the continuous development of robot technology, various surgical robots are increasingly widely used in the medical field. Surgical robots can replace doctors to a certain extent to perform surgery, thereby eliminating the operation limitations of human hands, assisting doctors to complete complex and delicate operations, and reducing the fatigue of doctors caused by long-time surgery. Therefore, the requirements for the flexibility and convenience of surgical robots are also increasing with the popularization of their use.

[0004] Surgical robots connect operating hands through rotary joints to perform surgical operations, and the flexibility and convenience of the operating hands mainly depend on the precision control of the rotary joints. The existing master robot arm does not have a motor drive on some rotary joints, only a manual mode, i.e., the master robot arm joint only has a rotating shaft, which makes the rotation of the rotary joint completely driven by manual twisting of the human hand, resulting in excessive consumption of human power, especially in long-time surgery, which is extremely inconvenient and prone to strain, thereby affecting the accuracy of surgical operations. SUMMARY

[0005] The present disclosure provides a suspension assembly for operating hand rotary transmission and master robot arm, which comprises a disc connector, a cross-roller bearing and a suspension bracket arranged coaxially from top to bottom. The disc connector is internally provided with a rotatable bearing seat. The bearing seat, the cross-roller bearing and the suspension bracket are fastened together by screws to form an integral whole, so that the suspension bracket can be rotated relative to the disc connector in a manual mode. A motor is fixed on one side of the suspension bracket. A rope wheel is fixedly connected to the motor shaft of the motor. A rope is wound around the rope wheel. The two ends of the rope extend in opposite directions along the outer wall of the disc connector and are fixedly arranged on the two sides of the outer wall of the disc connector. The motor can drive the suspension bracket to rotate relative to the disc connector in a motor active mode, or assist the suspension bracket to rotate relative to the disc connector in a manual mode in a motor passive mode. In the motor passive mode, the motor drives the rope wheel to rotate through the motor shaft, and the suspension bracket rotates around the disc connector through the rope synchronously with the rope wheel. In the motor passive mode, the motor only provides power matched with the resistance received by the suspension bracket. BRIEF DESCRIPTION OF DRAWINGS

[0006] The technical solutions of the present application will be further described below with reference to the drawings:

[0007] Fig. 1 is a schematic view of a suspension assembly;

[0008] Fig. 2 is a sectional view of the suspension assembly;

[0009] Fig. 3 is an enlarged schematic view of part A in Fig. 2;

[0010] Fig. 4 is a schematic view of a rope wheel in an embodiment of the present application;

[0011] Fig. 5 is a schematic view of a rope wheel assembly in an embodiment of the present application;

[0012] Fig. 6 is a partial perspective view of a disc connector and a rope wheel assembly in an embodiment of the present application;

[0013] Fig. 7 is a schematic view of a main robot arm. DETAILED DESCRIPTION

[0014] The present application will be described in detail below with reference to the specific embodiments shown in the drawings. However, these embodiments are not limited to the present application, and the structural, method, or functional changes made by those of ordinary skill in the art based on these embodiments are included within the scope of protection of the present application.

[0015] In the description of the solutions, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Also, in the description of the solutions, the operator is taken as the reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0016] As shown in FIG. 1 to FIG. 6, the application discloses a kind of including from top to bottom coaxial arrangement disc connector 1, cross roller bearing 2, suspension bracket 3, the rotatable bearing seat 101 is built in the disc connector 1, the bearing seat 101, cross roller bearing 2, suspension bracket 3 are fastened into an organic whole by screw between the three, so that the suspension bracket 3 can be rotated relative to the disc connector 1 by manual mode;Electric machine 4 is fixed to one side of the suspension bracket 3, motor shaft 401 of the electric machine 4 is fixedly connected with rope wheel 6, rope 7 is wound on the rope wheel 6, and the two ends of the rope 7 extend in opposite directions along the outer wall of the disc connector 1 and are oppositely fixed to the outer wall of the disc connector 1 two sides, the electric machine 4 can drive the suspension bracket 3 relative to the disc connector 1 by motor active mode Rotating, it can also assist the suspension bracket 3 relative to the disc connector 1 by motor passive mode in manual mode Rotating;When in the electric machine passive mode, the electric machine 4 drives the rope wheel 6 to rotate by motor shaft 401, and the suspension bracket 3 follows the rope wheel 6 and is synchronously rotated around the disc connector 1 by rope 7;When in the electric machine passive mode, the electric machine 4 only provides power matched with the resistance received by the suspension bracket 3.

[0017] The disc connector 1 in the application is used for suspension fixation between other structures, and plays a fixed supporting role.As shown in FIG. 2, the top of the bearing seat 101 has a groove, and the bottom of the encoder code disc 501 matches the groove, so that the encoder code disc 501 is embedded in the groove.The top of the suspension bracket 3 is convex and matches the hollow bottom of the disc connector 1, so that the top of the suspension bracket 3 can be fixed to the bearing seat 101 by screw to be clamped on the cross roller bearing 2 respectively, thereby realizing the pivot connection between the suspension bracket 3 and the disc connector 1.

[0018] The suspension support 3 is fixed to the cross roller bearing 2 rotating inside the disc connecting piece 1 at the top, and a motor 4 is arranged on one side of the suspension support 3, and a rope wheel assembly is used to drive the disc connecting piece 1, so that the suspension support 3 can rotate relative to the disc connecting piece 1 in manual mode and in electric mode, to meet the needs of different operation modes in different scenes and improve the flexibility of use. The driving mode of the motor 4 includes active mode and passive mode. In the active mode, the motor 4 actively provides driving force to drive the suspension support 3 to rotate relative to the disc connecting piece 1. The passive mode is generated in the manual mode. In the passive mode, the driving force of the suspension support 3 rotation comes from manual operation, and the motor 4 does not actively generate driving force, but generates passive torque according to the resistance received by the suspension support 3 in manual driving, to reduce the driving force required for manual driving, to achieve the purpose of assisting manual mode driving the suspension support 3, and improve the flexibility and convenience of manual mode. The motor passive mode can edit the corresponding algorithm according to the specific passive torque required by the suspension support 3 in manual mode, to improve the accuracy of the motor passive mode, so that the motor 4 can provide corresponding torque at different positions to cooperate operation.

[0019] As shown in FIGS. 1 and 2, since the suspension support 3 is fixed between the bearing seat 101 inside the disc connecting piece 1, that is, the suspension support 3 is pivotally connected to the disc connecting piece 1, the rotation angle of the suspension support 3 relative to the disc connecting piece 1 is not pulled by the rope wheel assembly, and then the rotation angle of the bearing suspension support 3 relative to the disc connecting piece 1 is completely not affected by the tension of the rope 7, so that the encoder 5 can be arranged to accurately judge the rotation angle of the suspension support 3 by monitoring the rotation angle of the bearing seat 101, to further help improve the accurate control of the rotation angle of the suspension assembly.

[0020] Specifically, the encoder 5 is arranged in the shaft center of the disc connecting piece 1, and the encoder 5 includes an encoder code disc 501 and an encoder reader 502. The encoder code disc 501 is fixed to the bearing seat 101 and rotates synchronously, and the encoder reader 502 is fixed to the top shaft center of the disc connecting piece 1 and reads the rotation angle of the encoder code disc 501.

[0021] Further, as shown in FIG. 3-6, the shaft center of the rope wheel 6 has a positioning hole 601, and two sides of the rope wheel 6 are symmetrically provided with an opening 602 which is communicated with the positioning hole 601, the diameter of the positioning hole 601 is greater than the width of the opening 602, and the outer diameter of the metal block 600 is slightly smaller than the hole diameter of the positioning hole 601 and greater than the width of the opening 602, so that the metal block 600 cannot be pulled out from the opening 602. Specifically, the metal block 600 is a hollow metal block, and two sides of the metal block 600 are provided with a perforation through which the rope 7 passes, the metal block 600 is arranged on the rope 7 and embedded in the positioning hole 601, and the metal block 600 is deformed by external pressure to tightly fit with the inner wall of the positioning hole 601, so as to fixedly connect the rope 7 and the rope wheel 6, and then the rope wheel 6 can pull the rope 7 along the outer wall of the rope wheel 6 by rotating.

[0022] The ropes 7 passing through the two sides of the metal block 600 respectively pass through the two openings 602 and are reversely arranged along the outer wall of the rope wheel 6, so that the two ends of the rope 7 respectively extend outward in opposite directions, and the ropes 7 extending in opposite directions respectively extend along the outer wall of the disc connecting piece 1 and are fixedly connected with the outer wall of the disc connecting piece 1.

[0023] Specifically, the outer wall of the rope wheel 6 is provided with a spiral groove 603, and the rope 7 is arranged along the spiral groove 603 to avoid winding of the two sides of the rope 7 arranged in opposite directions.

[0024] As shown in FIG. 5 and FIG. 6, the end of the rope 7 is fixedly connected with a tightening connector 9, the inside of the tightening connector 9 is embedded with a hollow metal pipe 901, and the end of the rope 7 is fixedly connected with the tightening connector 9 by pressure connection with the hollow metal pipe 901. Specifically, the end of the rope 7 passes through the hollow metal pipe 901, and then the hollow metal pipe 901 is deformed by extrusion to realize the pressure connection between the rope 7 and the hollow metal pipe 901.

[0025] The cross section of the tightening connector 9 is non-circular, and the two sides of the disc connecting piece 1 are symmetrically provided with a connecting hole 102 which matches the tightening connector 9, and such structure can avoid rotation of the tightening connector 9 in the connecting hole 102, and the non-circular outer contour plays an effective anti-rotation role. Preferably, the tightening connector 9 is cylindrical, and one side of the tightening connector 9 has a flat surface 902 which extends straight, so that the cross section of the tightening connector 9 forms a D-shaped, and the inner contour of the connecting hole 102 matches the outer contour of the tightening connector 9. In other feasible embodiments, the cross section of the tightening connector 9 can also be other feasible shapes which have an anti-rotation role, such as triangle, hexagon, etc.

[0026] The tightening joint 9 is inserted into the connecting hole 102, a second fastening screw 10 extending perpendicularly to the connecting hole 102 is screwed on the upper part of the connecting hole 102, and the second fastening screw 10 abuts against the tightening joint 9 to limit the tightening joint 9 in the connecting hole 102. The extending direction of the second fastening screw 10 is perpendicular to the inserting direction of the tightening joint 9, so that the second fastening screw 10 can tightly fix the tightening joint 9.

[0027] Further, in the preferred embodiment, the cross section of the inner contour of the connecting hole 102 is a D-shaped section matching the tightening joint 9, wherein the flat inner wall of the connecting hole 102 matching the cutting surface 902 is located at the top of the connecting hole 102 to limit the position of the cutting surface 902, so that the bottom of the second fastening screw 10 abuts against the cutting surface 902 to enhance the fastening and limiting effect of the second fastening screw 10 on the tightening joint 9.

[0028] In the present scheme, the disc connector 1 is composed of two concentric rings, the axis of which is hollow, the outer diameter of the upper ring is smaller than that of the lower ring, the connecting hole 102 is arranged in the lower ring, and a cutting hole 103 is arranged on the outer wall of the lower ring and communicates with the tail end of the connecting hole 102, a tightening screw 11 is arranged in the cutting hole 103 and inserted into the tail end of the connecting hole 102, and a screw hole matching the tightening screw 11 is arranged in the tail end of the tightening joint 9, so that the length of the rope 7 can be adjusted by screwing the tightening screw 11 with the tightening joint 9.

[0029] In the electric mode of the suspension bracket 3, the rope wheel assembly is used to drive the disc connector 1, compared with the gear structure, the rope 7 does not have a tooth gap when driving the rope wheel 6, so that the suspension bracket 3 can rotate infinitely relative to the disc connector 1. The cutting hole 103 provides a movable space for the tightening screw 11, and the tightening screw 11 can adjust the length of the rope 7 by rotating to adjust the tension of the rope 7, so that the rope 7 can maintain constant tension and will not relax after long-term use, thereby ensuring the accuracy of the rope wheel assembly transmission and the accuracy and reliability of the control of the suspension bracket 3 in the electric mode.

[0030] As shown in FIG. 2 and FIG. 3, the bottom of the rope wheel 6 is sleeved on the top of the motor shaft 401 of the motor 4, and the bottom side of the rope wheel 6 is provided with a first fastening screw 8 to be fixed with the motor shaft 401, one side of the hanging bracket 3 is fixedly provided with a connecting bracket 301, the motor 4 is fixedly arranged in the connecting bracket 301, and the motor 4 drives the rope wheel 6 to rotate through the motor shaft 401, and the rope wheel 6 drives the hanging bracket 3 to rotate relative to the disc connecting piece 1 through the rope 7.

[0031] Further, the outer diameter of the rope wheel 6 is smaller than the outer diameter of the disc connecting piece 1, so as to effectively amplify the torque of the motor 4. In the manual mode, the motor 4 enters the motor passive mode, that is, only the passive torque is provided to follow the manual movement of the hand.

[0032] In addition, the application also discloses a master robot arm, which comprises the hanging assembly, the shell 12, the connecting shaft 13 and the end operating hand 14, the bottom outer wall of the hanging bracket 3 of the hanging assembly is fixedly connected with the bottom of the shell 12, so that the hanging assembly is built in the shell 12, and the shell 12 protects the whole hanging assembly from the influence of external environment such as dust and water vapor. The two sides of the hanging bracket 3 are respectively in driving connection with the end portions of the connecting shaft 13, the connecting shaft 13 is in driving connection with the two sides of the hanging bracket 3 through the rotary wheel type transmission module, and the end operating hand 14 is in driving connection with the other end of the connecting shaft 13. The structure of the connecting shaft 13, the transmission module and the end operating hand 14 is a conventional structure in the field, and the prior art is not the focus of the present application, and thus will not be described here.

[0033] It should be understood that, although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the specification is described in this way only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0034] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present application, and are not used to limit the protection scope of the present application, and equivalent embodiments or changes made without departing from the spirit of the present application should be included in the protection scope of the present application.

Claims

1. A hand-rotating transmission suspension assembly, comprising a disc connector (1), a cross-roller bearing (2), and a suspension bracket (3) arranged coaxially from top to bottom, the disc connector (1) being internally provided with a rotatable bearing seat (101), the bearing seat (101), the cross-roller bearing (2), and the suspension bracket (3) being fastened together by screws to form an integral whole, so that the suspension bracket (3) can be rotated relative to the disc connector (1) in a manual mode; one side of the suspension bracket (3) is fixedly provided with a motor (4), a rope wheel (6) is fixedly connected to a motor shaft (401) of the motor (4), a rope (7) is wound around the rope wheel (6), and both ends of the rope (7) extend in opposite directions along the outer wall of the disc connector (1) and are fixed relative to the outer wall of the disc connector (1) on both sides; the motor (4) can drive the suspension bracket (3) to rotate relative to the disc connector (1) in a motor active mode, and can assist the suspension bracket (3) to rotate relative to the disc connector (1) in a manual mode in a motor passive mode; in the motor passive mode, the motor (4) drives the rope wheel (6) to rotate through the motor shaft (401), and the suspension bracket (3) rotates around the disc connector (1) through the rope (7) synchronously with the rope wheel (6); in the motor passive mode, the motor (4) only provides power matched with the resistance received by the suspension bracket (3). An encoder (5) is arranged in the shaft center of the disc connector (1), the encoder (5) comprises an encoder code disc (501) and an encoder read head (502), the encoder code disc (501) is fixedly arranged on the bearing seat (101) and rotates synchronously therewith, and the encoder read head (502) is fixedly arranged on the top shaft center of the disc connector (1) and reads the rotation angle of the encoder code disc (501).

2. A hand spin driven suspension assembly for operating according to claim 1, wherein, The shaft center of the rope wheel (6) has a positioning hole (601), the two sides of the rope wheel (6) are symmetrically provided with openings (602) in communication with the positioning hole (601), a metal block (600) is arranged on the rope (7), the metal block (600) is embedded in the positioning hole (601), the metal block (600) is deformed by extrusion to fix the rope (7) and the rope wheel (6), the rope (7) passing out from both sides of the metal block (600) passes out from the two openings (602) respectively and is wound in the opposite direction along the outer wall of the rope wheel (6).

3. A hand spin driven suspension assembly for operating according to claim 2, wherein, The outer wall of the rope wheel (6) is provided with a spiral groove (603), and the rope (7) is wound along the spiral groove (603).

4. The hand spin driven suspension assembly for operating according to claim 2, wherein, The end of the rope (7) is fixed with a tightening joint (9), the cross section of the tightening joint (9) is non-circular, the two sides of the disc connecting piece (1) are symmetrically provided with a connecting hole (102) matched with the tightening joint (9), the tightening joint (9) is inserted into the connecting hole (102), a second fastening screw (10) extending perpendicularly to the connecting hole (102) is screwed above the connecting hole (102), and the second fastening screw (10) abuts against the outer wall of the tightening joint (9) to limit the tightening joint (9) in the connecting hole (102).

5. The hand spin driven suspension assembly for operating according to claim 4, wherein, The inside of the tightening joint (9) is embedded with a hollow metal pipe (901), and the end of the rope (7) is fixed with the tightening joint (9) by being crimped with the hollow metal pipe (901).

6. The hand spin driven suspension assembly for operating according to claim 5, wherein, The tightening joint (9) is cylindrical, and one side thereof has a flat extending tangent surface (902), so that the cross section of the tightening joint (9) forms a D shape, the inner contour of the connecting hole (102) is matched with the outer contour of the tightening joint (9), and the flat inner wall of the connecting hole (102) matched with the tangent surface (902) is located at the top of the connecting hole (102), so that the bottom of the second fastening screw (10) abuts against the tangent surface (902).

7. The hand spin driven suspension assembly for operating according to claim 4, wherein, The disc connecting piece (1) is formed by stacking two concentric circular rings, the outer diameter of the upper circular ring is smaller than that of the lower circular ring, the connecting hole (102) is arranged in the lower circular ring, and a cutout (103) is arranged on the outer wall of the lower circular ring and communicated with the tail end of the connecting hole (102), a tightening screw (11) is arranged in the cutout (103) and inserted into the tail end of the connecting hole (102), the tail end of the tightening joint (9) is provided with a screw hole matched with the tightening screw (11), and the tightening screw (11) adjusts the length of the rope (7) by being screwed with the tightening joint (9).

8. The hand spin driven suspension assembly for operating according to claim 7, wherein, The outer diameter of the rope wheel (6) is smaller than that of the disc connecting piece (1). 9.A master robot arm comprising the suspension assembly according to any one of claims 1-8.

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