|Publication number||CN103919610 B|
|Application number||CN 201410172288|
|Publication date||27 Jan 2016|
|Filing date||25 Apr 2014|
|Priority date||25 Apr 2014|
|Also published as||CN103919610A|
|Publication number||201410172288.0, CN 103919610 B, CN 103919610B, CN 201410172288, CN-B-103919610, CN103919610 B, CN103919610B, CN201410172288, CN201410172288.0|
|Inventors||于凌涛, 张宝玉, 杨景, 王文杰, 王正雨, 李宏伟, 李洪洋, 庄忠平, 孙立强, 王丽霞|
|Export Citation||BiBTeX, EndNote, RefMan|
|Patent Citations (8), Classifications (1), Legal Events (3)|
|External Links: SIPO, Espacenet|
技术领域 TECHNICAL FIELD
 本发明涉及的是一种手术机构，具体地说是夹持手术器械的机构。  The present invention relates to a surgical mechanism, in particular institution holding surgical instruments.
背景技术 Background technique
 微创外科手术是指医生借助于各种视觉图像的引导，将手术器械沿着事先规划好的手术路径，经过小切口送入病人体内进行观察或治疗，从而最大程度地减小创伤、减轻痛苦等。  Minimally invasive surgery is guided by means of a doctor refers a variety of visual images, the surgical instrument along the planned surgical path in advance, through a small incision into the patient for observation or treatment, thereby minimizing trauma alleviate pain and so on. 微创外科手术机器人的运用解决了传统的手术过程中存在医生劳动强度大、手术精度低、安全性差等缺点，更提高了手术的质量，能够克服传统微创伤手术的缺陷，可以拓宽微创手术的范围，可以进行手术仿真，还可以利用网络技术进行远程手术等。 The use of minimally invasive surgical robot to solve the traditional surgical doctors present during the labor-intensive, low surgical precision, safety defects and poor, but also improve the quality of surgery, it is possible to overcome the shortcomings of traditional minimally invasive surgery, minimally invasive broadens range operation can be carried out surgery simulation, you can also take advantage of network technology for remote surgery. 然而，目前许多医疗外科机器人直接利用工业机器人，其系统的可靠性、安全性、可操作性都不能满足手术的要求。 However, many medical surgical robotics direct use of industrial robots, reliability and security of their systems, operability can not meet the requirements of surgery. 因此深入研究微创外科机器人结构特点，对适合微创外科手术的机器人结构进行分析，是十分必要的课题。 Therefore, in-depth study of the structural characteristics of minimally invasive surgical robot, the robot structure suitable for minimally invasive surgery were analyzed, it is very necessary task. 外科手术机器人在医学领域将会有更广阔的发展的前景，该项技术将会不断的进步，不断的发展。 Surgical robot in the medical field will have broader prospects for the development of this technology will continue to progress, constantly developing.
 本发明的目的在于提供稳定灵活、易于控制的多自由度微创外科手术持械臂机构。  The object of the present invention to provide a stable and flexible, easy to control multiple degrees of freedom for minimally invasive surgery armed arm mechanism.
 本发明的目的是这样实现的:  The object of the present invention is implemented as follows:
 本发明多自由度微创外科手术持械臂机构，其特征是:包括移动支架机构、手臂旋转关节、手腕旋转关节、滑轨机构；移动支架机构包括底板、第一-第二电机、驱动轮、刹车万向轮、丝杠，驱动轮和刹车万向轮安装在底板下方，驱动轮连接车轮轴，车轮轴通过轴承安装在底板上方，车轮轴上安装第一大齿轮，车轮轴上方安装第二电机基座，第一电机安装在底板上，第二电机安装在第二电机基座上，第一电机连接第一小齿轮，第一小齿轮与第一大齿轮啮合，丝杠安装在第二电机基座上，丝杠上安装第二大齿轮，第二电机上连接第二小齿轮，第二小齿轮与第二大齿轮啮合；手腕旋转关节包括滑块、第三电机、第一-第二同步带轮、小臂、连接法兰、同步大带轮、主轴，第三电机安装滑块上，第一-第二同步带轮通过第一同步带相连，第三电机连接第一同步带轮，第二同步带轮与小臂相连，连接法兰分别与小臂和同步大带轮相连，同步大带轮通过轴承与主轴相连，滑块上设置与丝杠相配合的内螺纹孔，丝杠安装在内螺纹孔里；手腕旋转关节包括第四电机、同步小带轮、支撑板、连接板、圆弧齿条，支撑板与连接板相连，第四电机安装在连接板上，同步小带轮连接第四电机，支撑板上安装轴定位块，圆弧齿条安装在连接板的端部，同步小带轮与同步大带轮通过第二同步带相连，主轴端部安装在轴定位块里；滑轨机构包括第五电机、第六电机、滑动丝杠、滑动螺母、导向杆、手指连接板、手腕总支撑、第三小齿轮，第五电机与手腕总支撑相连，第三小齿轮与第五电机相连，第三小齿轮与圆弧齿条相啮合，导向杆通过导向杆支撑安装在手腕总支撑，第六电机连接滑动丝杠，滑动螺母安装在滑动丝杠上，手指连接板与滑动螺母相连并套装在导向杆和滑动丝杠上。  The present invention is more freedom for minimally invasive surgery armed arm mechanism, characterized in that: the bracket includes moving mechanism, rotation of the arm joints, rotating the wrist joint, the sled mechanism; moving shelf mechanism includes a base plate, the first - the second motor , wheel, brake caster, screw, caster wheels and brakes mounted beneath the floor, connecting the drive wheel axle car, car axle by bearings mounted above the floor, mounted on the shaft of the first gear wheel, car axle second motor mounted above the base, the first motor is mounted on the base plate, the second motor is mounted on a second motor base, a first motor connected to the first pinion gear, a first pinion gear meshing with the first gear, screw mounted on a second motor base, installed on the second screw gear, the second pinion connected to the second motor, a second pinion gear meshing with the second gear; rotating wrist joint includes a slider, a third motor, first - second timing belt pulleys, arm, flanges, synchronizing large pulley, the spindle, the motor is mounted on the third carriage, the first - second timing belt pulleys connected by a first belt, the third motor is connected the first timing belt pulleys, timing belt pulleys and the second arm is connected to the connection flange is connected to the arm and synchronizing large pulley, respectively, synchronizing large pulley connected through the spindle bearing is provided on the slider cooperating with the screw internally threaded bore, mounted on the inner threaded screw hole; rotating wrist joint includes a fourth motor, synchronous small pulley support plate, connecting plate, circular rack, the support plate is connected to the connecting plate, the fourth motor is mounted on the connection plate, the small synchronous motor pulley connected to the fourth, the support plate positioning block mounting shaft, a rack mounted on the end portion of the arc of the connecting plate, the second pulley synchronized with the second synchronous belt pulley is connected to a large, spindle mounted on the shaft in the positioning block; slide mechanism comprises a motor fifth and sixth motors, sliding screw, nut sliding guide rod, finger webs, wrists total support, a third pinion, the fifth overall motor and wrist support connected to the third motor is connected to the pinion gear and the fifth, the third arc rack and pinion engages the guide rod installation guide bar supported by total wrist support, the sixth motor sliding screw connection, a sliding nut mounted on the slide wire on bars, finger webs connected with the sliding nut and fitted over the guide rod and the sliding screw.
 本发明还可以包括:  The present invention may further comprise:
 1、圆弧齿条两端安装起到限位作用的挡板。  1, circular rack installed at both ends to play the role of stopper baffle.
 2、还包括张紧轮，张紧轮通过张紧轮支撑板安装在支撑板，第二同步带同时绕在同步小带轮、张紧轮、同步大带轮。  2, further comprising a tension wheel, the tension wheel by tensioning wheel support plate mounted on the support plate, a second synchronous belt around the same time in a small pulley, tension pulley, synchronous large pulley.
 3、滑轨机构绕圆弧齿条中心摆动的角度范围为-20°〜+20°，小齿轮和大齿轮啮合带动车轮轴旋转的角度范围为-90°〜+90°。  3, the sled mechanism around the center of the circular arc of the rack swing angle range of -20 ° ~ + 20 °, the pinion and drive gear wheel shaft rotational angle range of -90 ° ~ + 90 °.
 本发明的优势在于:本发明具有状态稳定、定位准确、灵巧性好、工作范围大等优势，移动支架机构还有类似于人腰部的总旋转自由度和丝杠部分的升降自由度。  Advantages of the present invention is that: the present invention has a stable state, positioning accuracy, good dexterity, scope of work and other advantages, as well as mobile frame mechanism and total freedom of rotation of the screw portion similar to human freedom waist lift . 它可以有效避免人工手术操作的一些缺点，有效地利用了手术医生的经验。 It can effectively avoid some of the disadvantages of doing surgical operation, effective use of the experience of the surgeon. 具体说: Specifically:
[0011 ] 1、从手串联手臂具有工作范围较大，定位精度较高，运动直观性较强，对姿态的影响小的优点。  1, from the hand of the series arm has a larger scope of work, high positioning accuracy, strong visual movement, little effect on the attitude of advantages.
 2、本发明可以在末端安装微器械，能在很小的手术开口中进行操作，减轻了病人手术的痛苦。  2, the present invention can be installed at the end of the micro-devices can be operated in a small surgical opening in the patient to alleviate the pain of surgery.
 3、本发明持械臂末端可以根据实际的需要更换安装不同的手术微器械，具有一定的通用性。  3, the end of the armed arm of the present invention can be changed according to the actual need to install a different micro-surgical instruments, has some versatility.
 4、本发明整体具有六个自由度，手腕部分具有三个自由度，简单易行，便于操作及控制。  4, the present invention generally has six degrees of freedom, the wrist section has three degrees of freedom, simple, easy operation and control.
附图说明 BRIEF DESCRIPTION
 图1是本发明整体机构图；  FIG. 1 is an overall organization chart of the present invention;
 图2是本发明的移动支架机构示意图；  FIG. 2 is a moving mechanism of the present invention, a schematic view of the stent;
 图3是本发明的驱动轮机构图；  FIG. 3 is a diagram of the present invention, the drive wheel mechanism;
图4是本发明的手臂旋转关节示意图；  FIG. 4 is the arm of the present invention is a schematic view of a rotary joint;
 图5是本发明的手腕旋转关节示意图；  FIG. 5 is a wrist rotating joint a schematic diagram of the present invention;
 图6是本发明的滑轨机构示意图。  FIG. 6 is a schematic view of the sled mechanism of the present invention.
具体实施方式 detailed description
 下面结合附图举例对本发明做更详细地描述:  The following example with reference to the present invention will be described in more detail:
 结合图1〜6，本发明主要由移动支架机构1、手臂旋转关节2、手腕旋转关节3、滑轨机构4组成。  FIG. 1~6 binding, the present invention is mainly composed of moving shelf mechanism 1, 2 arm rotating joint, wrist rotating joint 3, slide mechanism 4 components.
 移动支架机构1由轴端挡盘1-1、驱动轮1-2、底板1-3、刹车万向轮1-4、轴承底盖1-5、车轮轴1-6、轴承端盖1-7、大齿轮1-8、齿轮固定套筒1-9、小齿轮1_10、套筒1_11、电机支架1_12、立柱1_13、螺钉1_14、顶盖1_15、轴承端盖1_16、深沟球轴承1-17、丝杠1-18、电机1-19、齿轮固定套筒1-20、大齿轮1-21、轴承座1-22、圆锥滚子轴承1_23、电机1_24、套筒1-25、电机支架1-26、小齿轮1-27组成；手臂旋转关节2由滑块2_1、同步带轮2_2、电机支架2-3、电机2-4、同步带2-5、深沟球轴承2-6、套筒2_7、轴2_8、轴承端盖2_9、圆锥滚子轴承2-10、小臂2-11、连接法兰2-12、环形支撑2-13、同步大带轮2_14、轴承端盖2_15、主轴2-16组成；手腕旋转关节3由挡板3-1、螺钉3-2、圆弧齿条3_3、连接板3_4、电机3_5、同步小带轮3-6、电机支撑板3-7、张紧轮支撑板3-8、张紧轮3-9、支撑板3_10、轴定位块3-11、螺栓3-12组成；滑轨机构4由电机4-1、支撑板4-2、电机支撑板4-3、小齿轮4-4、上滑轨4-5、手腕总支撑4-6、导向杆支撑4-7、导向杆(4-8)、电机4-9、电机连接板4-10、联轴器4-11、轴承座4-12、手指连接板4-13、连接板4-14、滑动螺母4-15、滑动丝杠4-16、滚动轴承4-17、孔用弹性挡圈4-18组成。  moving shelf mechanism 1 by the shaft stopper plate 1-1, 1-2 wheels, floor 1-3, 1-4 brake caster, bearing bottom 1-5, 1-6 car wheel bearing end cover 1-7, 1-8 large gear, the gear fixed sleeve 1-9, pinion 1_10 sleeve 1_11, 1_12 motor bracket, column 1_13, 1_14 screws, cap 1_15, 1_16 bearing cover, deep groove ball bearings 1-17, screw 1-18 1-19 motors, gear fixed sleeve 1-20 1-21 gear, bearing 1-22 tapered roller bearings 1_23, 1_24 motor sleeve 1-25, motor bracket 1-26, 1-27 pinion composition; the slider arm rotational joint 2 2_1, 2_2 timing belt pulleys, motor bracket 2-3, 2-4 electrical, 2-5 belt, deep groove ball bearing 2- 6, the sleeve 2_7, 2_8 shaft, bearing cap 2_9, tapered roller bearings 2-10, arm 2-11, 2-12 connecting flanges, annular support 2-13, synchronous pulley 2_14 large, bearing cover 2_15 spindle 2-16 composition; wrist joint 3 by the rotating bezel 3-1, 3-2 screws, circular rack 3_3, 3_4 webs, 3_5 motors, synchronous small pulley 3-6, motor supporting plate 3- 7, the tension wheel supporting plate 3-8, 3-9 tensioner support plate 3_10 axis positioning block 3-11, 3-12 bolt composition; slide mechanism 4 by a motor 4-1, 4-2 support plate the motor support plate 4-3, 4-4 pinion, the rail 4-5, total wrist support 4-6, 4-7 guide rod support, guide bar (4-8), 4-9 motor, motor connection plate 4-10, 4-11 couplings, bearing 4-12, 4-13 finger webs, webs 4-14, 4-15 sliding nut, sliding screw 4-16, 4-17 rolling bearing hole 4-18 composed of an elastic collar.
 轴承底盖1-5、万向轮1-4、驱动轮1-2分别由螺栓固定在底板1-3上，驱动轮可以驱动整个机构快速移动，机构移动到手术需要的合适位置时，刹车万向轮实现机构的锁死。  The bottom cover bearing 1-5, caster 1-4, 1-2 wheels are bolted to the base plate 1-3, the drive wheels can drive the entire fast-moving mechanism, mechanism moves to the appropriate location of the surgery required when the brake caster achieve lock mechanism. 电机1-24通过电机支架1-26固定在底板1-3上，小齿轮1-27和大齿轮1-8啮合带动车轮轴1-6旋转，实现整体机构的一个旋转自由度。 1-24 1-26 motor through the motor bracket is fixed to the base plate 1-3, 1-27, and the pinion gear engaging drive wheel axle 1-6 1-8 rotates, a rotational degree of freedom to achieve the overall mechanism. 该旋转角度范围在-90°〜+90°之间，能够满足手术操作的空间需要。 The rotation angle range between -90 ° ~ + 90 °, to meet the required operative space. 电机1-19通过齿轮传动带动丝杠1-18旋转，通过丝杠上端的螺纹传动使得手臂旋转关节的滑块沿丝杠1-18和立柱1-13的滑槽轨道实现上升和下降运动。 1-19 1-18 screw drive motor is rotated by the gear, screw through the upper end of the arm so that rotation of the threaded joint drive slider along the screw 1-18 and columns 1-13 of the chute track to achieve rising and falling motion.
 电机2-4通过电机支架2-3用螺栓固定在滑块2-1上，电机2-4轴和轴2-8上都安装有同步带轮2-2,同步带轮与轴都是通过平键连接，轴向定位都采用轴端挡圈加螺母的形式。  Motor 2-4 2-3 by motor bracket bolted on the slider 2-1, 2-4 axis are mounted on the motor shaft and have belt round 2-8 2-2, timing belt pulleys and shaft through flat key connection, shaft axial positioning are used in the form of a nut retainer plus. 通过同步带2-5带动安装在轴2-8上的同步带轮转动，因此轴2-8的转动带动安装在其上的小臂2-11的转动，进而实现小臂2-11的一个旋转自由度。 2-5 driven by timing belt is mounted on the rotating shaft belt round 2-8, 2-8 and therefore driven rotation shaft mounted in rotation on its arm 2-11, thus achieving an arm 2-11 rotational degrees of freedom. 连接法兰2-12通过螺栓分别与小臂2-11同步大带轮2-14连接，其中同步大带轮2-14通过一对轴承与主轴2-16和手腕部分连接起来，对整个系统起到一个支撑的作用。 2-12 2-14 connecting flange bolts are connected with the big synchronous pulley through arm 2-11, 2-14 wherein the synchronization large pulley connected through a pair of bearings and spindle 2-16 and wrist part of the entire system play a supporting role.
 张紧轮支撑板3-8用螺栓固定在支撑板3-10上，连接板3-4用螺栓和电机支撑板3-7、支撑板3-10、圆弧齿条3-3同时固定。  3-8 tensioning wheel support plate bolted to the support plate 3-10, 3-4 bolts connecting plate and motor support plate 3-7, 3-10 support plate, circular rack 3-3 while fixing. 圆弧齿条3-3两端都有通过螺钉连接的挡板3-1，挡板3-1起到限位的作用。 3-3 arc on both ends of the rack by screwing the bezel 3-1, 3-1 baffle acts as a limit. 电机3-5固定在电机支撑板3-7上，电机轴上固定同步小带轮3-6。 3-5 the motor is fixed to the motor supporting plate 3-7, synchronous motor shaft fixing small pulley 3-6. 电机3-5通过小带轮3-6和大带轮2-14实现带传动，张紧轮3-9通过螺栓连接在张紧轮支撑板3-8上，用于调节同步带的张紧。 3-5 through 3-6 small motor pulley and the large pulley belt drive to achieve 2-14, 3-9 tensioner bolted on the support plate 3-8 tensioner for adjusting belt tension . 螺栓3-12和轴定位块3-11实现主轴轴向和周向定位，用螺钉把轴定位块3-11固定在支撑板3-10上。 Bolt axis positioning blocks 3-11 and 3-12 to achieve axial and circumferential positioning the spindle, the axis positioning block with screws fixed to the support plate 3-11 3-10. 主轴2-16带动连接板3-4实现手腕的旋转。 2-16 3-4 spindle drive webs effect rotation of the wrist.
 电机4-1通过电机支撑板4-3安装在支撑板4-2上，支撑板4-2和上滑轨4-5通过螺栓固定在手腕总支撑4-6上，小齿轮(4-4)沿位置固定的圆弧齿条内啮合运动，从而实现滑轨机构4在圆弧齿条上的绕中心做-20°到+20°的摆动。  Motor installation through the motor support plate 4-1 4-3 4-2 on the support plate, the support plate 4-2 and 4-5 on rails bolted on the wrist support 4-6 total pinion ( 4-4) within a fixed position along the arc rack gear movement in order to achieve the sled mechanism 4 in an arc around a center rack made swing -20 ° to + 20 ° of. 电机4-9通过联轴器4-11和滑动丝杠4-16连接，电机4-9带动滑动丝杠4-16转动，滑动丝杠4-16带动滑动螺母4-15做直线运动，其中两侧的导向杆4-8保证丝杆传动的精度。 4-9 the motor is connected through a coupling and sliding screw 4-11 4-16, 4-16 sliding screw drive motor to rotate 4-9, 4-16 sliding screw drive linear motion slide nut 4-15, wherein on both sides of the guide rod 4-8 to ensure the accuracy of the screw drive. 滑动螺母4-15上有定位孔，可以手动装入紧定螺钉定位手指位置。 Positioning holes 4-15 slide nut set screws can be loaded manually locate the position of the finger. 该机构主要用来夹持微创外科手术用的各种微器械，具有一定的通用性，而且具有体积小、重量轻、灵活度丰富等优点。 The main mechanism for holding a variety of minimally invasive surgical micro-instruments, has some versatility, but also has small size, light weight, rich flexibility and other advantages.
 结合图2,在移动支架机构1中，轴承底盖1-5、刹车万向轮1-4、驱动轮1-2分别由螺栓固定在底板1-3上，两个刹车万向轮1-4与两个驱动轮1-2关于中心对称布置。  in conjunction with FIG. 2, moving shelf mechanism, the bottom bearing 1-5, brake caster 1-4, 1-2 wheels bolted to the base plate 1-3, respectively, the two brake universal rounds 1-4 and 1-2 two drive wheels arranged symmetrically about the center. 刹车万向轮1-4所用是成品，不做详细说明。 1-4 brake caster used in the finished product, not described in detail. 大齿轮1-8与车轮轴1-6通过平键连接，轴向定位则是通过齿轮固定套筒1-9实现。 1-8 1-6 is connected to the large gear wheel shaft through the flat key, the axial positioning is realized through a gear fixed sleeve 1-9. 电机1-24通过电机支架1-26固定在底板1-3上，小齿轮1-27与电机1-24轴通过平键连接，然后跟大齿轮1-8啮合带动车轮轴1-6旋转，实现整体机构类似于人腰部的旋转自由度，该旋转角度范围在-90°〜+90°之间，能够满足手术操作的空间需要。 Motor fixed on the base plate 1-3 1-24, 1-27 and the motor pinion shaft via parallel key connection 1-24 1-26 through the motor bracket, and then drive the vehicle axle 1-6 1-8 rotational engagement with the large gear, rotational degrees of freedom to achieve the overall organization similar to human waist, the rotation angle range between -90 ° ~ + 90 °, to meet the space needs of the surgical procedure. 电机1-19通过电机支架1-12固定在车轮轴1-6上，安装在电机1-19上的小齿轮1-10与被齿轮固定套筒1-20固定在丝杠1-18上的大齿轮1-21外啮合驱动丝杠1-18旋转。 1-19 1-12 motor through the motor bracket fixed to the vehicle axle 1-6 mounted on the motor pinion 1-10 and 1-19 was fixed gear fixed to the screw sleeve 1-20 1-18 1-21 external gear meshing driving screw 1-18 rotates. 圆锥滚子轴承1-23可以承受较大轴向力，所以丝杠1-18末端由圆锥滚子轴承1-23支撑，轴承座1-22通过螺栓固定在车轮轴1-6上。 1-23 tapered roller bearings can withstand greater axial force, so by the end of the screw 1-18 1-23 tapered roller bearing support, bearing 1-22 bolted to the vehicle axle 1-6. 通过丝杠上端的螺纹传动使得手臂旋转关节的滑块沿丝杠1-18和立柱1-13的滑槽轨道实现上升和下降运动。 Screw threaded through the upper end of the drive arm so that rotation of the slider along the screw joint 1-18 and columns 1-13 of the chute track to achieve rising and falling motion.
 结合图3，电机1-2-1通过套筒联轴器1-2-2连接转轴1_2_11，转轴1_2_11与车轮  FIG. 3 in combination, the motor coupling sleeve 1-2-1 through 1-2-2 1_2_11 connecting shaft, and the wheel shaft 1_2_11
1-2-10之间通过平键连接。 Flat key connection between 1-2-10. 转轴1-2-11和电机1-2-1轴分别由紧定螺钉1_2_4固定在套筒联轴器1-2-2上，电机1-2-1通过螺栓与电机支撑架1-2-5固定，驱动轮支架1_2_7通过螺钉1-2-9左端跟电机支撑架1-2-5连接，右端跟轴承端盖1-2-8固定，车轮1_2_10由螺母1-2-13和轴端挡圈1-2-12实现轴向的定位。 1-2-11 1-2-1 shaft and motor shaft by the set screws are fixed to the sleeve coupling 1_2_4 1-2-2, 1-2-1 through the motor and the motor support bracket bolts 1-2- 5 is fixed by a screw drive wheel bracket 1_2_7 1-2-9 1-2-5 carriage motor is connected with the left and right ends of the bearing cap 1-2-8 with fixed wheel 1_2_10 by a nut and shaft 1-2-13 1-2-12 collar achieve axial position. 驱动轮可以为整个机构的移动提供动力，减轻操作者的负担，而刹车万向轮具有自锁功能，实现整个机构的固定，防止操作过程中整个机构的移动。 Wheels to move the entire organization can provide power to reduce the burden on the operator, and self-locking brake caster, to achieve a fixed entire organization, to prevent movement during the operation of the entire organization.
 结合图4，电机2-4通过电机支架2-3用螺栓固定在滑块2_1上，电机2_4轴和轴  FIG. 4 combined motor 2-4 2-3 by motor bracket bolted on the slider 2_1, 2_4 the motor shaft and the shaft
2-8上都安装有同步带轮2-2，同步带轮与轴都是通过平键连接，轴向定位都采用轴端挡圈加螺母的形式。 There are installed on belt round 2-8 2-2, timing belt pulleys and shaft are connected by a flat key, the axial positioning shaft collar plus nuts are used in the form. 通过同步带2-5带动安装在轴2-8上的同步带轮转动，小臂2-11与轴2-8之间用平键连接，因此轴2-8的转动带动安装在其上的小臂2-11的转动，进而实现小臂 2-5 driven by timing belt is mounted on the rotating shaft belt round 2-8, 2-11 and the arm shaft with a flat key between 2-8, 2-8 so that the shaft rotation drive mounted thereon rotating arm 2-11, thus achieving arm
2-11的一个旋转自由度。 A rotational degree of freedom 2-11. 小臂2-11与轴2-8之间还安装有深沟球轴承2-6和圆锥滚子轴承2-10，球轴承主要承担径向力，圆锥滚子轴承同时承担轴向力和径向力。 2-11 and 2-8 axis between the arm is also equipped with deep groove ball bearings and tapered roller bearings 2-6 2-10, ball bearings mainly bear radial force, tapered roller bearings and to assume the axial and radial forces force. 连接法兰2-12通过螺栓分别与小臂2-11同步大带轮2-14连接，其中同步大带轮2-14和外部支撑连接在一起，通过一对轴承与主轴2-16和手腕部分连接起来，对整个系统起到一个支撑的作用。 Connecting flange bolts are 2-12 2-14 2-11 synchronous connection with the large pulley arm, wherein the synchronization large pulley 2-14 and external support are connected together by a pair of bearings and spindle 2-16 and wrist parts together, the whole system has played a supporting role.
 结合图5，张紧轮支撑板3-8用螺栓固定在支撑板3-10上，连接板3_4用螺栓和电机支撑板3-7、支撑板3-10、圆弧齿条3-3同时固定。  Figure 5 in conjunction, the tension wheel supporting plate 3-8 bolted to the support plate 3-10, with the screws and the connecting plate 3_4 motor supporting plate 3-7, the support plate 3-10, arcuate rack gear 3 -3 while fixing. 圆弧齿条3-3两端都有通过螺钉连接的挡板3-1，挡板3-1起到限位的作用。 3-3 arc on both ends of the rack by screwing the bezel 3-1, 3-1 baffle acts as a limit. 电机3-5固定在电机支撑板3-7上，电机轴上固定同步小带轮3-6。 3-5 the motor is fixed to the motor supporting plate 3-7, synchronous motor shaft fixing small pulley 3-6. 张紧轮通过螺栓连接在张紧轮支撑板3-8上，用于调节同步带的张紧。 Tensioner bolted on the support plate 3-8 tensioner for adjusting the belt tension. 螺栓3-12和轴定位块3-11实现主轴轴向和周向定位，轴定位块3-11用螺钉固定在支撑板 Bolt axis positioning blocks 3-11 and 3-12 to achieve axial and circumferential positioning spindle axis positioning block 3-11 screws fixed to the support plate
3-10 上。 3-10 on.
 结合图6，电机4-1通过电机支撑板4-3安装在支撑板4_2上，支撑板4_2和上滑轨4-5通过螺栓固定在手腕总支撑4-6上，小齿轮(4-4)沿位置固定的圆弧齿条内啮合运动，从而实现滑轨机构4在圆弧齿条上的绕中心做-20°到+20°的摆动。  in conjunction with FIG. 6, the motor 4-1 mounted on the support plate through the motor support plate 4-3 4_2, 4_2 support plate and 4-5 on rails bolted on the wrist support 4-6 total pinion ( 4-4) within a fixed position along the arc rack gear movement in order to achieve the sled mechanism 4 in an arc around a center rack made swing -20 ° to + 20 ° of. 电机4-9通过电机连接板4-10固定在手腕总支撑4-6上，导向杆4-8由导向杆支撑4-7固定在手腕总支撑 4-10 4-9 Motor connection plate fixed to the motor by total wrist support on 4-6, 4-8 by a guide rod fixed to the guide rod support 4-7 overall support in the wrist
4-6上。 4-6 on. 滑动丝杠4-16上安装有一对滚动轴承4-17和孔用弹性挡圈4_18，用轴承座4_12把滑动丝杠4-16固定在手腕总支撑4-6上。 Installed on a pair of sliding screw 4-16 and 4-17 Rolling hole Spring Collar 4_18 with the slide bearing 4_12 4-16 screw fixed on the wrist of the total support 4-6. 连接板4-14通过螺栓分别和手指连接板4_13、滑动螺母4-15固定。 4-14 connecting plate by bolts and finger webs, respectively 4_13, 4-15 sliding nut fixed. 电机4-9通过联轴器4-11和滑动丝杠4-16连接，电机4_9带动滑动丝杠4-16转动，滑动丝杠4-16带动滑动螺母4-15做直线运动，其中两侧的导向杆4_8保证丝杆传动的精度。 4-9 the motor is connected through a coupling and sliding screw 4-11 4-16, 4-16 sliding screw drive motor 4_9 rotated, the sliding screw drive 4-16 4-15 linear motion slide nut, which both sides 4_8 to ensure the accuracy of the guide rod screw drive. 滑动螺母4-15上有定位孔，可以手动装入紧定螺钉定位手指位置。 Positioning holes 4-15 slide nut set screws can be loaded manually locate the position of the finger.
 结合图1至图6，移动支架机构1中底板上安装有刹车万向轮和驱动轮，能实现小车沿任意方向位置的移动和固定。  in conjunction with FIG. 1 to FIG. 6, the mobile holder mechanism is mounted on the base plate 1 and has a brake caster wheels, the car can be realized in any direction of mobile and fixed positions. 通过两个电机的驱动以及齿轮的啮合传动分别实现底座和丝杠旋转，通过丝杠上端的螺纹传动使得手臂旋转关节的滑块沿丝杠和立柱的滑槽轨道实现滑移运动；在手臂旋转关节2中，电机由带传动实现小臂的旋转；手腕旋转关节3中，电机通过带传动实现手腕绕主轴的旋转自由度；在滑轨机构4中，电机通过齿轮与齿条的内啮合实现滑轨机构沿圆弧齿条的摆动，另一个电机通过联轴器和滑动丝杠相连，滑动丝杠的旋转带动手指连接板的前后运动，此外，可以根据需要将手术微器械安装在手指连接板上。 Achieved by driving two motors and drive gears meshing respectively base and screw rotation, screw through the upper end of the arm so that rotation of the drive screw joint screw and slide along the track to achieve post chute sliding movement; rotating the arm joint 2, the motor rotation is achieved by the belt transmission arm; wrist rotational joint 3, the spindle motor to achieve the rotational degree of freedom around the wrist by the belt drive; the sled mechanism 4, motor through the internal gear meshing with the rack sled mechanism swing arc along the rack, and the other is connected to the motor through the coupling and sliding screw, finger webs driven rotary screw slide back and forth movement, in addition, according to the micro-surgical instruments need to be installed in the connecting finger board.
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