CN105012023A

CN105012023A - Instrument holding mechanical arm used for minimally-invasive robot

Info

Publication number: CN105012023A
Application number: CN201510511611.7A
Authority: CN
Inventors: 付宜利; 潘博; 牛国君; 张福海; 封海波; 王树国
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2015-08-19
Filing date: 2015-08-19
Publication date: 2015-11-04

Abstract

The invention provides an instrument holding mechanical arm used for a minimally-invasive robot, and relates to the instrument holding mechanical arm. The instrument holding mechanical arm solves the problems that the number of passive joints is large when an existing mechanical arm is arranged in a concentrated mode and the existing mechanical arm is large in overall size and low in rigidity when a passive arm is too long. The instrument holding mechanical arm comprises vertical horizontally-moving safety brake devices, passive joints, first joints, second joints and an integrated operative instrument drive device. One ends of the passive joints are arranged on the upper portions of the vertical horizontally-moving safety brake devices in a rotatable mode. One ends of the first joints are connected to the passive joints in a rotatable mode. One ends of the second joints are connected with the other ends of the first joints in a rotatable mode. The integrated operative instrument drive devices are arranged at the other ends of the second points. The instrument holding mechanical arm is used for operative instrument drive of the micro operative instruments of the robot.

Description

The armed mechanical arm of a kind of minimally invasive robot

Technical field

The present invention relates to a kind of integrated operating theater instruments driving device, be specifically related to the armed mechanical arm of a kind of minimally invasive robot, belong to medical instruments field.

Background technology

Current Minimally Invasive Surgery is medical skill study hotspot, and be following operation development trend, this is mainly because minimally invasive medical has plurality of advantages: such as wound is little, the hospital stays is short, recovery is fast, post-operative complication is few.Such as, but all kinds of corrupt practices creep in conventional endoscope operation, and performance accuracy is low, and field range is little, and operation degree of freedom is little, doctor is easily tired and tremble; Along with scientific technological advance, robot medical treatment ancillary technique can address these problems well.Robot assisted technology can provide the 3D visual field, and be convenient to doctor's operation, mini-medical apparatus increases operation technique motility greatly, and doctor can carry out meticulousr operation.Add the design of ergonomics aspect simultaneously, the fatigue of doctor can be reduced.

The passive joint quantity that existing mechanical arm centralized layout brings is many, and the long integrated machine mechanical arm volume brought of passive arm is large, there is the problem that rigidity is low.

Summary of the invention

The object of the invention is for solving the passive joint quantity that existing mechanical arm centralized layout brings many, the long integrated machine mechanical arm volume brought of passive arm is large, there is the problem that rigidity is low.There is provided a kind of minimally invasive robot armed mechanical arm.

The present invention solves the problems of the technologies described above the technical scheme taked to be:

The armed mechanical arm of a kind of minimally invasive robot comprises vertical translation safety catch, passive joint, the first joint, second joint and integrated operating theater instruments driving device, one end of passive joint is rotatably arranged on the top of vertical translation safety catch, the one end in the first joint is rotatably connected on passive joint, one end of second joint and the other end in the first joint are rotatably connected, integrated operating theater instruments driving device is arranged on the other end of second joint

Vertical translation safety catch comprises base assembly, guide assembly and outer end interface connector, described base assembly comprises casing, balancing weight and at least one optical axis assembly, at least one optical axis assembly is arranged on casing, described optical axis assembly comprises optical axis body and two optical axis pressure rings, on the end face that two optical axis pressure rings are fixedly connected on casing respectively and bottom surface, optical axis passes two optical axis pressure rings successively from top to bottom and is fixedly connected in casing, described balancing weight is positioned at casing and is arranged on optical axis, guide assembly comprises supporting base, helical rack, assembly pulley and two slide rails, assembly pulley is arranged on the end face of supporting base, the bottom surface of described supporting base is fixedly connected on the upper surface of casing, the sidewall of described supporting base is processed with the groove vertically arranged, described helical rack and two slide rails are all vertically arranged in groove, described helical rack is positioned in the middle of two slide rails, described outer end interface connector comprises connection pedestal, gear case assembly, slide block assembly, article two, connecting rope, the upper surface of described connection pedestal is processed with outer end interface, the outer wall of described connection pedestal is fixedly connected with slide block assembly, described connection pedestal is slidably matched by slide block assembly and two slide rails, connect in pedestal and be provided with gear case assembly, gear case assembly and helical rack are equipped with, connecting rope and assembly pulley one_to_one corresponding are arranged, one end of every bar connecting rope is detachably connected on balancing weight, the assembly pulley that the other end of every bar connecting rope walks around its correspondence be detachably connected on connect pedestal upper surface on,

First joint comprises the first driven unit, support housing, transmission component and the first absolute encoder; First driven unit comprises the first motor, band wheeling supporting frame, driving pulley and drive shaft; First driven unit is arranged in the below supporting cavity; First motor is arranged on band wheeling supporting frame, and drive shaft is rotatably installed in be with on wheeling supporting frame and to be connected with the output shaft of the first motor, and driving pulley is sleeved in drive shaft, and band wheeling supporting frame is connected with support cavity; Transmission component comprises joint shaft, first harmonic decelerator, drive pulley and driving-belt; Transmission component is arranged in and supports in cavity; Joint shaft is inserted into also through drive pulley on first harmonic decelerator, and drive pulley is in transmission connection by driving-belt and driving pulley, and the first absolute encoder is arranged in and supports in cavity and be arranged on joint shaft; The mounting flange of first harmonic decelerator is connected with support cavity;

Second joint comprises assembly support and the second driven unit; Second driven unit comprises the second motor, second harmonic decelerator, the second absolute encoder, conveyer belt, first wheel, the second wheel hub and joint transmission axle; Second driven unit is arranged on assembly support, and the output flange of first harmonic decelerator is connected with assembly support; The output shaft shaft joint K2-8-4 of the second motor is connected with joint transmission axle, joint transmission axle is arranged on the wave producer of second harmonic decelerator, the flexbile gear of second harmonic decelerator is connected with first wheel, the firm wheel of second harmonic decelerator is connected with assembly support, first wheel and the second wheel hub are set up in parallel and the two is rotatably installed on assembly support, one end of conveyer belt is connected with first wheel, and the other end of conveyer belt is connected with the second wheel hub, and the second absolute encoder is connected with first wheel;

One end of passive joint is rotatably arranged on the interface connector of outer end, is rotationally connected in the other end of passive joint and the support housing in the first joint;

Integrated operating theater instruments driving device comprises power source assembly, decoupling zero transitioning component, interface module and Duo Gen are wound around silk, power source assembly, decoupling zero transitioning component and interface module from the bottom to top successively slidably interfolded and by many winding silks be connected with the canoe of decoupling zero, power source assembly comprises driving gripper shoe, driven unit, guide wheel assembly and slide block assembly, driven unit is arranged on and drives first of gripper shoe to drive on gripper shoe end face, guide wheel assembly is arranged on respectively and drives second of gripper shoe to drive gripper shoe end face, 3rd drives on gripper shoe end face and four-wheel drive gripper shoe end face, slide block assembly is arranged on and drives the 5th of gripper shoe the to drive on gripper shoe end face, decoupling zero transitioning component comprises transition gripper shoe, the combination of transition rail plate and the combination of transition guide wheel, transition gripper shoe is rectangular supporting board, First Transition guide wheel in the combination of transition guide wheel, second transition guide wheel and the 3rd transition guide wheel are arranged on the First Transition gripper shoe end face of transition gripper shoe respectively, on second transition gripper shoe end face and the 3rd transition gripper shoe end face, the combination of transition rail plate is arranged on the 4th transition gripper shoe end face of transition gripper shoe respectively and five faults in diagnosis and treatment crosses on gripper shoe end face, slide block assembly combines with the transition rail plate in transition gripper shoe and is slidably connected, interface module comprises support body, from driving helix wheel assembly, interface guide wheel assembly and interface slide block assembly, be arranged on support body from driving helix wheel assembly, multiple interface guide wheel is arranged on support body and the both sides be positioned at from driving helix wheel assembly, interface slide block assembly is arranged on the bottom of support body and is slidably connected with the transition rail plate assembly on transition gripper shoe upper surface.

The present invention is as follows relative to the beneficial effect of prior art:

1, the present invention discloses a kind of integrated operating theater instruments driving device of decoupling zero, comprises power source assembly, decoupling zero transitioning component and interface module.Interface module is for deployment instrument interface, decoupling zero transitioning component is used for transitional function, mainly identical relative to the speed of hypomere with stage casing relative to stage casing speed in order to realize epimere, power source assembly is for placing motor for driving operating theater instruments, and this part is integrated with altogether 5 motors in interface module and 3 driver A-8.Make that platform is compact can realize decoupling zero than being easier to by Integration Design and the design of platform syllogic.With one-part form; Platform is compared, and can reduce the working region taken in operation process like this, reduces collision probability.

2, driving device of the present invention has 5 degree of freedom, one of them is translation freedoms, for realizing the rectilinear motion of operating theater instruments, other four is rotary freedom, for driving operating theater instruments around self rod member rotary motion, wrist motion and two operating forceps rotary motions.Directly operating theater instruments is driven to increase the driving moment in translation joint with motor, and then comparatively heavy motor can be selected, volume and the quality of whole device can be increased like this, in order to reduce the driving moment needed for rectilinear motion, reduce the larger space selecting heavy motor to bring, adopt steel wire drive mode, drive motors is rearmounted.Due to the coupled problem that drive motors is rearmounted brought, realize decoupling zero by adopting special structure and cord layout design.

3, four degree of freedom drive motors of the present invention are rearmounted, pass motion to operating theater instruments interface arrangement by steel wire rope, drive operating theater instruments.This apparatus structure is compact, and the volume and the mass body sum quality that decrease whole driving device reduce 50%, improve the safety of this driving device, and safety is mainly driven by two steel wires and realizes.Non-coupling motion can be realized.

4, the present invention adopt helix wheel can ensure steel wire rope be wound around time can ensure same diameter.

5, potentiometer of the present invention is the absolute measurement realizing angle according to the principle of slide rheostat, is mainly used in finding zero point to four rotatable interfaces, so that comparatively spacing for convenience of what realize docking with operating theater instruments with four degree of freedom in operating theater instruments.

6, spring C-2-2 is arranged on interface board drive rod C-2-1 lower end by the present invention, the centre position of helix wheel C-2-9 is provided with the protruding C-2-9-1 of straight-line guidance rectangular guideway, the bar portion of interface board drive rod C-2-1 offers two straight-line guidance rectangular guideway groove C-2-1-1, the upward-downward translation of interface board drive rod can be realized when being placed on by spring on interface board drive rod, be arranged on by interface board on interface board drive rod, such helix wheel passes motion to operating theater instruments by interface board.Be placed in column by spring pin C-12, be placed on by floating disc on spring pin C-12, floating disc can move up and down under the effect of elastic force.An important function of floating disc is exactly that floating disc moves down, and interface board is departed from operating theater instruments under operating theater instruments top board active force, and operating theater instruments can be extracted, and is convenient for changing apparatus.

7, the present invention is by rearmounted for drive motors assembly A-2, this makes it possible to reduce the larger driving moment owing to producing when more multimass concentrates on away from axis.Because motor is placed perpendicular to apparatus translational plane, integrated model can be made so compact.Due to motor postposition, during apparatus translational motion, can coupled motions be produced, in order to remove coupling influence, devise a kind of decoupling mechanism, in structural design, adopting steel wire to drive, mechanism can be made so compact.Translational motion simultaneously, by Steel rope drive, improves reverse drive like this, is convenient to preoperative adjustment.

8, mechanical arm mainly contain centralized and distributed layout type, centralized layout type often considers that the convenient optional position arrived in space needs at least 6 degree of freedom, but in order to evade the collision between mechanical arm, therefore increase a redundant degree of freedom.Which increase pass joint number and the connecting rod number of arm, reduce the rigidity of system.And adopt distributed way can utilize three degree of freedom in plane, therefore close joint number and connecting rod number reduces, improve the rigidity of system.

Accompanying drawing explanation

Fig. 1 is decoupled integration operating theater instruments driving device schematic diagram; Fig. 2 is the enlarged drawing of Fig. 1 at M place; Fig. 3 is the decoupled integration operating theater instruments driving device schematic diagram with being wound around silk; Fig. 4 is that operating theater instruments interface baffle plate C-7-2 drives wirerope-winding front view; Fig. 5 is the side view of Fig. 4; Fig. 6 is that operating theater instruments interface baffle plate C-7-3 drives wirerope-winding front view; Fig. 7 is the side view of Fig. 6; Fig. 8 is that operating theater instruments interface baffle plate C-7-4 drives wirerope-winding front view; Fig. 9 is the side view of Fig. 8; Figure 10 is that translational motion drives steel wire cabling schematic front view; Figure 11 is the side view of Figure 10; Figure 12 is the decomposing schematic representation of interface module; Figure 13 is the structural representation from driving helix wheel assembly; Figure 14 is that the structural representation of helix wheel C-2-9 is in order to illustrate that drive rod C-2-1 realizes moving up and down on helix wheel C-2-9; Figure 15 is the structural representation of interface board drive rod C-2-1; Figure 16 is the structural representation of interface guide wheel C-3; Figure 17 is the structural representation that interface is wound around silk fixation kit C-5; Figure 18 is the structural representation of decoupling zero transitioning component B; Figure 19 is the structural representation of power source assembly A; Figure 20 is the structural representation of the 5th guide wheel A-3-e; Figure 21 is the structural representation of the 3rd guide wheel A-3-c and the 4th guide wheel A-3-d; Figure 22 is the 3rd structural representation driving guide wheel A-3-a; Figure 23 is the structural representation of driven unit A-2; Figure 24 is the structural representation driving helix wheel A-2-4; Figure 25 is that operating theater instruments interface baffle plate C-7-1 drives wirerope-winding front view; Figure 26 is the side view of Figure 25; Figure 27 is that operating theater instruments interface baffle plate C-7-1 and C-7-2 drives steel wire rope decoupling principle figure; Figure 28 is that operating theater instruments interface baffle plate C-7-3 and C-7-4 drives steel wire rope decoupling principle figure; Figure 29 is steel wire rope V and VII cabling schematic diagram; Figure 30 is steel wire rope VI and VIII cabling schematic diagram; Figure 31 is the structural representation driving different end face on gripper shoe A-1; Figure 32 is the structural representation of the first driving gripper shoe end face A-1-a; Figure 33 is the decomposition texture schematic diagram of driven unit A-2-b; Figure 34 is the structural representation driving helix wheel A-2-9; Figure 35 is the structural representation of operating theater instruments interface baffle plate C-7.Figure 36 is the installation diagram of vertical translation safety catch, Figure 37 is the installation diagram of the base assembly 1 of vertical translation safety catch, Figure 38 is the installation diagram of the guide assembly 2 of vertical translation safety catch, Figure 39 is the installation diagram of the outer end interface connector 3 of vertical translation safety catch, Figure 40 is the installation diagram of the gear case assembly 3-2 of vertical translation safety catch, Figure 41 is the installation diagram of the assembly pulley 2-3 of vertical translation safety catch, Figure 42 is the balancing weight 1-2 of vertical translation safety catch, pulley axle 2-3-2, connecting rope 3-4 and the connection status schematic diagram connected between pedestal 3-1, Figure 43 is using state figure of the present invention.Figure 44 is the exploded view in the first joint, and Figure 45 is the exploded view of the first driven unit, and Figure 46 is the exploded view of transmission component, Figure 47 is the exploded view of second joint, Figure 48 is the exploded view of the second driven unit, and Figure 49 is overall structure schematic diagram of the present invention, and Figure 50 is the exploded view of passive joint P2.

Detailed description of the invention

Detailed description of the invention one: composition graphs 1-Figure 49 illustrates present embodiment, present embodiment comprises vertical translation safety catch, passive joint P2, first joint K1, second joint K2 and integrated operating theater instruments driving device, one end of passive joint P2 is rotatably arranged on the top of vertical translation safety catch, one end of first joint K1 is rotatably connected on passive joint P2, one end of second joint K2 and the other end of the first joint K1 are rotatably connected, integrated operating theater instruments driving device is arranged on the other end of second joint K2, vertical translation safety catch comprises base assembly 1, guide assembly 2 and outer end interface connector 3, described base assembly 1 comprises casing 1-1, balancing weight 1-2 and at least one optical axis assembly, at least one optical axis assembly is arranged on casing 1-1, described optical axis assembly comprises optical axis body 1-3 and two optical axis pressure ring 1-4, on the end face that two optical axis pressure ring 1-4 are fixedly connected on casing 1-1 respectively and bottom surface, optical axis 1-3 passes two optical axis pressure ring 1-4 successively from top to bottom and is fixedly connected in casing 1-1, described balancing weight 1-2 is positioned at casing 1-1 and is arranged on optical axis 1-3, guide assembly 2 comprises supporting base 2-1, helical rack 2-2, assembly pulley 2-3 and two slide rail 2-4, assembly pulley 2-3 is arranged on the end face of supporting base 2-1, the bottom surface of described supporting base 2-1 is fixedly connected on the upper surface of casing 1-1, the sidewall of described supporting base 2-1 is processed with the groove 2-1-1 vertically arranged, a described helical rack 2-2 and two slide rail 2-4 is all vertically arranged in groove 2-1-1, described helical rack 2-2 is positioned in the middle of two slide rail 2-4, described outer end interface connector 3 comprises and connects pedestal 3-1, gear case assembly 3-2, slide block assembly 3-3, article two, connecting rope 3-4, the upper surface of described connection pedestal 3-1 is processed with outer end interface, the outer wall of described connection pedestal 3-1 is fixedly connected with slide block assembly 3-3, described connection pedestal 3-1 is slidably matched by slide block assembly 3-3 and two slide rail 2-4, connect in pedestal 3-1 and be provided with gear case assembly 3-2, gear case assembly 3-2 and helical rack 2-2 is equipped with, connecting rope 3-4 and assembly pulley 2-3 one_to_one corresponding are arranged, one end of every bar connecting rope 3-4 is detachably connected on balancing weight 1-2, the assembly pulley 2-3 that the other end of every bar connecting rope 3-4 walks around its correspondence be detachably connected on connect pedestal 3-1 upper surface on, first joint K1 comprises the first driven unit K1-2, support housing K1-5, transmission component K1-6 and the first absolute encoder K1-7, first driven unit K1-2 comprises the first motor K1-2-10, band wheeling supporting frame K1-2-1, driving pulley K1-2-5 and drive shaft K1-2-6, first driven unit K1-2 is arranged in the below supporting cavity K1-5, first motor K1-2-10 is arranged on band wheeling supporting frame K1-2-1, drive shaft K1-2-6 is rotatably installed in and is with on wheeling supporting frame K1-2-1 and is connected with the output shaft of the first motor K1-2-10, driving pulley K1-2-5 is sleeved on drive shaft K1-2-6, and band wheeling supporting frame K1-2-1 is connected with support cavity K1-5, transmission component K1-6 comprises joint shaft K1-6-7, first harmonic decelerator K1-6-2, drive pulley K1-6-3 and driving-belt K1-6-6, transmission component K1-6 is arranged in and supports in cavity K1-5, joint shaft K1-6-7 to be inserted on first harmonic decelerator K1-6-2 and through drive pulley K1-6-3, drive pulley K1-6-3 is in transmission connection by driving-belt K1-6-6 and driving pulley K1-2-5, and the first absolute encoder K1-7 is arranged in and supports in cavity K1-5 and be arranged on joint shaft K1-6-7, the mounting flange of first harmonic decelerator K1-6-2 is connected with support cavity K1-5, second joint K2 comprises assembly support K2-10 and the second driven unit K2-8, second driven unit K2-8 comprises the second motor K2-8-1, second harmonic decelerator K2-8-8, the second absolute encoder K2-8-20, conveyer belt K2-8-29, first wheel K2-8-9, the second wheel hub K2-8-13 and joint transmission axle K2-8-28, second driven unit K2-8 is arranged on assembly support K2-10, and the output flange of first harmonic decelerator K1-6-2 is connected with assembly support K2-10, the output shaft shaft joint K2-8-4 of the second motor K2-8-1 is connected with joint transmission axle K2-8-28, joint transmission axle K2-8-28 is arranged on the wave producer K2-8-8 of second harmonic decelerator K2-8-8, the flexbile gear K2-8-25 of second harmonic decelerator K2-8-8 is connected with first wheel K2-8-9, the firm K2-8-26 of wheel of second harmonic decelerator K2-8-8 is connected with assembly support K2-10, first wheel K2-8-9 and the second wheel hub K2-8-13 is set up in parallel and the two is rotatably installed on assembly support K2-10, one end of conveyer belt K2-8-29 is connected with first wheel K2-8-9, the other end of conveyer belt K2-8-14 is connected with the second wheel hub K2-8-13, second absolute encoder K1-2-20 is connected with first wheel K2-8-9, one end of passive joint P2 is rotatably arranged on outer end interface connector 3, is rotationally connected in the other end of passive joint P2 and the support housing K1-5 of the first joint K1, all electricity loss brake is installed after the motor of outer end interface connector 3 and passive joint P2.Integrated operating theater instruments driving device comprises power source assembly A, decoupling zero transitioning component B, interface module C and Duo Gen is wound around silk D, power source assembly A, decoupling zero transitioning component B and interface module C slidably interfolded being connected with the canoe of decoupling zero by many winding silk D successively from the bottom to top, power source assembly A comprises driving gripper shoe A-1, driven unit A-2, guide wheel assembly A-3 and slide block assembly A-4, driven unit A-2 is arranged on and drives first of gripper shoe A-1 to drive on gripper shoe end face A-1-a, guide wheel assembly A-3 is arranged on respectively and drives second of gripper shoe A-1 to drive gripper shoe end face A-1-b, 3rd drives on gripper shoe end face A-1-c and four-wheel drive gripper shoe end face A-1-d, slide block assembly A-4 is arranged on and drives the 5th of gripper shoe A-1 the to drive on gripper shoe end face A-1-e, decoupling zero transitioning component B comprises transition gripper shoe B-1, transition rail plate combination B-2 and transition guide wheel combination B-3, transition gripper shoe B-1 is rectangular supporting board, First Transition guide wheel B-3-a in transition guide wheel combination B-3, second transition guide wheel B-3-b and the 3rd transition guide wheel B-3-c is arranged on the First Transition gripper shoe end face B-1-a of transition gripper shoe B-1 respectively, on second transition gripper shoe end face B-1-b and the 3rd transition gripper shoe end face B-1-c, transition rail plate combination B-2 is arranged on the 4th transition gripper shoe end face B-1-d of transition gripper shoe B-1 respectively and five faults in diagnosis and treatment crosses on gripper shoe end face B-1-e, slide block assembly A-4 combines B-2 with the transition rail plate on transition gripper shoe B-1 and is slidably connected, interface module C comprises support body C-1, from driving helix wheel assembly C-2, interface guide wheel assembly C-3 and interface slide block assembly C-4, be arranged on support body C-1 from driving helix wheel assembly C-2, multiple interface guide wheel C-3 is arranged on support body C-1 and the both sides be positioned at from driving helix wheel assembly C-2, interface slide block assembly C-4 is arranged on the bottom of support body C-1 and is slidably connected with the transition rail plate assembly B-2 on transition gripper shoe B-1 upper surface.

The base assembly 1 of present embodiment also comprises baffle plate 1-5, push rod 1-6, at least one guide pin bushing 1-7 and multiple castor 1-8, the one side process operation mouth of described casing 1-1, described baffle plate 1-5 is detachably connected on gathering hole place, the upper surface of casing 1-1 is fixedly connected with push rod 1-6, multiple castor 1-8 is arranged on the lower surface of casing 1-1, guide pin bushing 1-7 and optical axis 1-3 one_to_one corresponding are arranged, and the optical axis 1-3 that guide pin bushing 1-7 is sleeved on its correspondence is positioned at the below of balancing weight 1-2.The guide assembly 2 of present embodiment comprises four slide rail block 2-5, and the top and bottom of every bar slide rail 2-4 are fixedly connected with a slide rail block 2-5.The connecting rope 3-4 of present embodiment is steel wire rope.

The outer end seam of present embodiment China and foreign countries end interface connector 3 is used for passive joint P2, can be used in surgical operation.Balancing weight 1-2 under the traction of connecting rope 3-4 along with optical axis 1-3 moves up and down, connecting rope 3-4 by assembly pulley 2-3 by balancing weight 1-2 be connected pedestal 3-1 and be connected.Optical axis assembly is the best when being set to two, i.e. two optical axis body 1-3 and four optical axis pressure ring 1-4, each optical axis body 1-3 correspondence is provided with two optical axis pressure ring 1-4, adopt optical axis 1-3 as the guide of balancing weight 1-2, make balancing weight 1-2 to realize comparatively reposefully pumping on optical axis 1-3.Guide assembly 2 also comprises outer baffle 2-6, is arranged on the rear side of supporting seat 2-1, in order to block connecting rope 3-4.

Present embodiment middle pulley group 2-3 comprises bracing frame 2-3-1, two pulley axle 2-3-2, four jump ring 2-3-3, multiple pulley 2-3-4 and four bearing 2-3-5, two pulley axle 2-3-2 are all positioned at bracing frame 2-3-1, each pulley axle 2-3-2 is set with multiple pulley 2-3-4, the two ends of each pulley axle 2-3-2 are respectively provided with a jump ring 2-3-3 and bearing 2-3-5, and jump ring 2-3-3 is adjacent to bearing 2-3-5 phase.The lasting rub resistance of steel wire rope of present embodiment, the two ends of every bar steel wire rope are provided with a steel wire rope snap close 3-4-1, balancing weight 1-2 is provided with two the first cliver 1-2-1, connect on pedestal 3-1 and be provided with two the second cliver 3-1-1, first cliver 1-2-1, second cliver 3-1-1 and connecting rope 3-4 one_to_one corresponding are arranged, first the first cliver 1-2-1 on balancing weight 1-2 is passed in one end of steel cable, then with steel wire rope snap close 3-4-1, steel wire rope is compressed, the other end of steel wire rope is connected on the second cliver 3-1-1 of connecting on pedestal 3-1 walking around assembly pulley 2-3, tense wire rope, then with steel wire rope snap close 3-4-1, steel wire rope is compressed, another steel cable connected mode and said process are in like manner.Two steel wire ropes are set and improve safety when the present invention operates.

Vertical translation safety catch adopts electricity loss brake brake disc and electricity loss brake armature to cooperatively interact and brakes, and brake after making power-off of the present invention, safety is higher.Compared with motor drive nut leading screw form in prior art, the present invention adopts balancing weight and connecting rope to coordinate type of drive, is convenient to manually adjustment and uses flexible energy-saving environmental protection.The present invention adopts helical gear and helical rack engagement system, and which motion mode is relatively more steady and noise is little.Vertical translation safety catch is the meshing relation relying on helical rack 2-2 and helical gear 3-2-5.The first electricity loss brake 3-2-14 and the second electricity loss brake 3-2-15 is provided with at the two ends of helical gear 3-2-5, when energized, first electricity loss brake 3-2-14 and the second electricity loss brake 3-2-15 all opens, helical gear 3-2-5 is in free state, can rotate freely, outer end interface connector 3 moves up and down along guide assembly 2, when after power-off, first electricity loss brake 3-2-14 and the second electricity loss brake 3-2-15 is all closed, helical gear 3-2-5 can not move under the first electricity loss brake 3-2-14 and the second electricity loss brake 3-2-15 retrains jointly, and then realize outer end interface connector 3 and keep resting state.

Detailed description of the invention two: in conjunction with Figure 19 explanation, the power source assembly A of present embodiment also comprises the winding silk fixation kit A-7 at power source cover body A-5, driver A-8, axis of guide A-6 and power source place, power source cover body A-5 covers on and drives on bracing frame A-1 and multiple driven unit A-2, the winding silk fixation kit A-7 at power source place is arranged on and drives on gripper shoe A-1, and driver A-8 and axis of guide A-6 is arranged on and drives on bracing frame A-1.So arrange present embodiment, power provides more stable.In present embodiment, undocumented technical characteristic is identical with detailed description of the invention one.

Detailed description of the invention three: in conjunction with Figure 23 and Figure 33 explanation, the driven unit A-2 of present embodiment comprises five motor drive components, first motor drive component A-2-a respectively, second motor drive component A-2-b, 3rd motor drive component A-2-c, 4th motor drive component A-2-d and the 5th motor drive component A-2-e, wherein the structure of five motor drive components identical unlike, the helix wheel of the second motor drive component A-2-b is double wire reel A-2-9, first motor drive component A-2-a comprises drive motors A-2-1, motor support support body A-2-2, harmonic speed reducer A-2-3, drive helix wheel A-2-4, drive rotating shaft A-2-5, drive spiral branches bracer A-2-6 and drive cover body A-2-7, drive motors A-2-1 is arranged on one end of motor support support body A-2-2, one end of helical axis A-2-5 is driven to be connected with the flexbile gear of harmonic speed reducer A-2-3, driving helical axis A-2-5 and flexbile gear realized axial location and fastening with fastening assembly A-2-8, the wave producer of harmonic speed reducer A-2-3 is connected with the output shaft of drive motors A-2-1, drive helix wheel A-2-4 to be sleeved on and drive on rotating shaft A-2-5, spiral branches bracer A-2-6 is driven to be arranged on the other end driving rotating shaft A-2-5, cover body A-2-7 is driven to be connected successively with motor support support body A-2-2 with the firm wheel of harmonic speed reducer A-2-3, cover body A-2-7 is covered on harmonic speed reducer A-2-3.So present embodiment is set, drives effective.In present embodiment, undocumented technical characteristic is identical with detailed description of the invention one or two.

In conjunction with Figure 24 and Figure 25 explanation, helix wheel A-2-4 is driven to comprise key A-2-4-1, first drives helix wheel A-2-4-2, second drives helix wheel A-2-4-3 and drives helical clamping collar A-2-4-4, key A-2-4-1 is connected with driving rotating shaft A-2-5, first driving helix wheel A-2-4-2 is sleeved on and drives on rotating shaft A-2-5 and be connected with key A-2-4-1, second driving helix wheel A-2-4-3 is sleeved on and drives on rotating shaft A-2-5 and be positioned at the first driving helix wheel A-2-4-2 side, drive helical clamping collar A-2-4-4 to be arranged on the second driving helix wheel A-2-4-3 and drive on helical axis A-2-5, and drive on helix wheel A-2-4-3 by screw fastening second, helix wheel A-2-9 is driven to comprise key A-2-9-1, first drives helix wheel A-2-9-2 and second to drive helix wheel A-2-9-3, drive helical clamping collar A-2-9-4, key A-2-9-1 is connected with driving rotating shaft A-2-5, first driving helix wheel A-2-9-2 is sleeved on and drives on rotating shaft A-2-5 and be connected with key A-2-9-1, second driving helix wheel A-2-9-3 is sleeved on and drives on rotating shaft A-2-5 and be positioned at the first driving helix wheel A-2-9-2 side, drive helical clamping collar A-2-9-4 to be arranged on the second driving helix wheel A-2-9-3 and drive on helical axis A-2-5, and driven on helix wheel A-2-9-3 second by screw fastening.

Detailed description of the invention four: in conjunction with Figure 19 explanation, the guide wheel assembly A-3 of present embodiment has 5 assemblies, be the first guide wheel A-3-a, the second guide wheel A-3-b, the 3rd guide wheel A-3-c, the 4th guide wheel A-3-d and the 5th guide wheel A-3-e respectively, and the second driving gripper shoe end face A-1-b, second being arranged on driving bracing frame A-1 respectively drive gripper shoe end face A-1-b, the 3rd to drive gripper shoe end face A-1-c, the 3rd to drive gripper shoe end face A-1-c and four-wheel drive gripper shoe end face A-1-d.So arrange present embodiment, structure is simple, and it is convenient to be wound around.Undocumented technical characteristic and detailed description of the invention one in present embodiment, two or three identical.

In conjunction with Figure 20 explanation, the guide wheel A-3 on the four-wheel drive gripper shoe end face A-1-d of gripper shoe A-1 is driven to be defined as the first driving guide wheel A-3-e in present embodiment, first drives guide wheel A-3-e to comprise the first driving back shaft A-3-e-1, multiple first drive pulley A-3-e-2, the first back-up ring A-3-e-3 and first is driven to drive baffle plate A-3-e-4, first drives one end of back shaft A-3-e-1 with connection end, first drive pulley A-3-e-2 is sleeved on the first driving back shaft A-3-e-1, be provided with one between adjacent two the first drive pulley A-3-e-2 and drive the first back-up ring A-3-e-3, first drives baffle plate A-3-e-4 to be arranged on the other end of the first driving back shaft A-3-e-1.Structure is simple, is convenient to meet the cabling being wound around silk, and the quantity of the first drive pulley A-3-e-2 is 6.

In conjunction with Figure 21 explanation, in present embodiment, two upper and lower interlaced arrangement of guide wheel A-3 are positioned at the end face of the A-1-c driving gripper shoe A-1, these two guide wheel A-3 are defined as the second driving guide wheel A-3-c and A-3-d, second drives guide wheel A-3-c to comprise the second driving back shaft A-3-c-1, second drives guide roller A-3-c-2, second drive pulley A-3-c-3 and second drives pad A-3-c-4, second drives guide roller A-3-c-2 and multiple second drive pulley A-3-c-3 to be sleeved on the second driving back shaft A-3-c-1, be provided with one second between adjacent two the second drive pulley A-3-c-3 and drive pad A-3-c-4.The quantity of the second drive pulley A-3-2-3 is 12.

In conjunction with Figure 22 explanation, drive the guide wheel A-3 of the A-1-b end face of gripper shoe A-1 to be defined as the 3rd in present embodiment and drive guide wheel A-3-a, 3rd drives guide wheel A-3-a to comprise the 3rd drives back shaft A-3-a-1, 3rd drive pulley A-3-a-2, 3rd drives guide roller A-3-a-3, 3rd drives baffle plate A-3-a-4 and the multiple 3rd to drive pad A-3-a-5, 3rd drive pulley A-3-a-2 and the 3rd drives guide roller A-3-a-3 to be sleeved on the 3rd driving back shaft A-3-a-1, be provided with one the 3rd between adjacent two the 3rd drive pulley A-3-a-2 and drive pad A-3-a-5.The quantity of the 3rd drive pulley A-3-3-2 is 4.

Detailed description of the invention five: in conjunction with Figure 18 explanation, the decoupling zero transitioning component B of present embodiment also comprises winding silk transition support member B-7, transition slide block baffle plate B-4, guide rail clip B-5 and two is wound around silk baffle plate B-6, being wound around silk transition support member B-7 is arranged on transition gripper shoe B-1, a transition slide block baffle plate B-4 is installed at the two ends of every root transition rail plate combination B-2 respectively, the end face outside being positioned at two transition rail plates combination B-2 of the same side of transition gripper shoe B-1 length direction is provided with a guide rail clip B-5, two are wound around the two ends up and down that silk baffle plate B-6 is arranged on transition gripper shoe B-1 respectively.So present embodiment is set, connects more smooth and easy.Undocumented technical characteristic and detailed description of the invention one in present embodiment, two, three or four identical.

Detailed description of the invention six: in conjunction with Figure 18 explanation, the transition guide wheel combination B-3 of the decoupling zero transitioning component B of present embodiment has 3 guide wheel assemblies, the the one the first guide wheel assembly B-3-a, the second guide wheel assembly B-3-b and the three or three guide wheel assembly B-3-c respectively, on First Transition gripper shoe end face B-1-a, the second transition gripper shoe end face B-1-b that the one the first guide wheel assembly B-3-a, the second guide wheel assembly B-3-b and the three or three guide wheel assembly B-3-c are arranged on transition gripper shoe B-1 respectively and the 3rd transition gripper shoe end face B-1-c.So arrange present embodiment, transition effect is good.Undocumented technical characteristic and detailed description of the invention one in present embodiment, two, three, four or five identical.

Detailed description of the invention seven: in conjunction with Figure 12 explanation, the interface module C of present embodiment also comprises interface and is wound around silk fixation kit C-5, interface is wound around silk shutter C-6, operating theater instruments interface baffle plate C-7, floating disc C-8, interface upper body C-9, interface transitions housing C-10 and column keyway C-11, column keyway C-11 is arranged on the upper surface of support body C-1, interface is wound around silk fixation kit C-5 and is arranged on the lower surface of support body C-1, interface is wound around silk shutter C-6 spiral-lock in the middle part of the lower surface of support body C-1, floating disc C-8, operating theater instruments interface baffle plate C-7, interface upper body C-9 and interface transitions housing C-10 is from top to bottom installed on support body C-1 successively.So present embodiment is set, is convenient to be connected smoothly with other components.Undocumented technical characteristic and detailed description of the invention one in present embodiment, two, three, four, five or six identical.

In conjunction with Figure 17 explanation, interface is wound around silk fixation kit C-5 and comprises winding silk bracing frame C-5-1, be wound around silk thread wheel C-5-2 and be wound around pin C-5-3, be wound around on silk bracing frame C-5-1 and offer four connecting holes, being wound around pin C-5-3 is arranged on winding silk bracing frame C-5-1, each winding pin C-5-3 is set with one and is wound around silk thread wheel C-5-2.

Detailed description of the invention eight: in conjunction with Figure 13 explanation, present embodiment comprise interface board drive rod C-2-1 from driving helix wheel assembly C-2, spring C-2-2, potentiometer C-2-3, upper lines wheeling supporting frame C-2-4, multiple helix wheel bearing C-2-5, multiple directive wheel back shaft C-2-6, multiple leading block C-2-7, lower line wheeling supporting frame C-2-8 and multiple helix wheel C-2-9, upper lines wheeling supporting frame C-2-4 and lower line wheeling supporting frame C-2-8 be arranged in parallel up and down, multiple helix wheel C-2-9 is arranged between upper lines wheeling supporting frame C-2-4 and lower line wheeling supporting frame C-2-8, axial two ends in each helix wheel C-2-9 are respectively provided with a helix wheel bearing C-2-5, and the two ends up and down of each helix wheel C-2-9 are arranged on lower line wheeling supporting frame C-2-8 and upper lines wheeling supporting frame C-2-4 respectively by a helix wheel bearing C-2-5, the bar portion of each interface board drive rod C-2-1 is set with a spring C-2-2, the end of each interface board drive rod C-2-1 is connected with after a potentiometer C-2-3 successively through upper lines wheeling supporting frame C-2-4, a helix wheel C-2-9 and lower line wheeling supporting frame C-2-8, multiple directive wheel back shaft C-2-6 to be arranged between upper lines wheeling supporting frame C-2-4 and lower line wheeling supporting frame C-2-8 and to support upper lines wheeling supporting frame C-2-4 and lower line wheeling supporting frame C-2-8, multiple leading block C-2-7 is arranged on the support body C-1 outside multiple helix wheel C-2-9.So present embodiment is set, is convenient to the winding of steel wire rope.Undocumented technical characteristic and detailed description of the invention one in present embodiment, two, three, four, five, six or seven identical.

The interface baffle plate of present embodiment coordinates shown in groove C-7-01 Figure 35 being provided with a U-type groove C-7-00 and one two U-shaped formation in the radial direction of upper surface with operating theater instruments, and two groove planes of symmetry are same planes, but two grooves and axis are not symmetrical, it is consistent with interface board for zero point that operating theater instruments is convenient in such design, when symmetrical, may produce the error of 180 °, and this design can reduce operating theater instruments connecting pin positional precision in radial directions.The lower surface that described interface board coordinates with drive rod is provided with the groove of two U-shaped formation in the radial direction, and this design can reduce operating theater instruments connecting pin positional precision in radial directions.

Detailed description of the invention nine: composition graphs 3 illustrates, many of present embodiment are wound around silk D and are steel wire rope.So arrange present embodiment, structure is more firm, ensureing winding precision, avoiding causing winding running precision to reduce because using the rope of other materials for a long time.Undocumented technical characteristic and detailed description of the invention one in present embodiment, two, three, four, five, six, seven or eight identical.

Detailed description of the invention ten: composition graphs 4 to Figure 11, Figure 25 and Figure 26 explanation, the operating theater instruments interface baffle plate assembly C-7 of present embodiment has four operating theater instruments interface baffle plates, the first operation instrument interface baffle plate C-7-1 respectively, second operation instrument interface baffle plate C-7-2, 3rd operating theater instruments interface baffle plate C-7-3 and the 4th operating theater instruments interface baffle plate C-7-4, the steel wire rope cabling of the first operation instrument interface baffle plate C-7-1 is as follows: be wound around silk and step up ring through the individual Kong Houyong of helix wheel A-2-4-2 on the 3rd motor drive component A-2-c will to be wound around silk fastening, be wound around the other end of silk successively through axis of guide A-6, 3rd guide wheel A-3-c, 4th guide wheel A-3-d, first guide wheel A-3-a, 3rd guide wheel assembly B-3-c, guide wheel assembly C-3-2, be wrapped in after guide wheel assembly C-2-7-1 after walking around guide wheel assembly C-2-7-1 again after helix wheel C-2-9-b two encloses and walk around guide wheel assembly C-3-2 successively, 3rd guide wheel assembly B-3-c, first guide wheel A-3-a, 4th guide wheel A-3-d, 3rd guide wheel A-3-c, on wrap wire wheel A-2-4-2, a circle is wound around after axis of guide A-6, winding silk to be fixed on the 3rd motor drive component A-2-c on helix wheel A-2-4-3 with stepping up ring, respectively helix wheel A-2-4-2 and helix wheel A-2-4-3 is reversely rotated, after silk pretension will be wound around, with screw and pressure ring A-2-4-4 by fastening for helix wheel A-2-4-3 and rotating shaft A-2-5, the steel wire rope cabling of the second operation instrument interface baffle plate C-7-2 is as follows: be wound around silk and step up ring through individual Kong Houyong of the upper helix wheel A-2-4-2 of the 5th motor drive component A-2-e will to be wound around silk fastening, the other end of winding silk passes axis of guide A-6 successively, 3rd guide wheel A-3-c, 4th guide wheel A-3-d, first guide wheel A-3-a, 3rd guide wheel assembly B-3-c, guide wheel assembly C-3-2, be wrapped in after guide wheel assembly C-2-7-2 after walking around guide wheel assembly C-2-7-2 again after helix wheel C-2-9-a two encloses and walk around guide wheel assembly C-3-2 successively, 3rd guide wheel assembly B-3-c, first guide wheel A-3-a, 4th guide wheel A-3-d, 3rd guide wheel A-3-c, on wrap wire wheel A-2-4-2, a circle is wound around after axis of guide A-6, winding silk to be fixed on the 5th motor drive component A-2-e on helix wheel A-2-4-3 with stepping up ring, respectively helix wheel A-2-4-2 and helix wheel A-2-4-3 is reversely rotated, after being wound around silk pretension, with screw and pressure ring A-2-4-4 by fastening for helix wheel A-2-4-3 and rotating shaft A-2-5, the steel wire rope cabling of the 3rd operating theater instruments interface baffle plate C-7-3 is as follows: be wound around silk and step up ring through individual Kong Houyong of the upper helix wheel A-2-4-2 of the first motor drive component A-2-a will to be wound around silk fastening, the other end of winding silk passes axis of guide A-6 successively, 3rd guide wheel A-3-c, 4th guide wheel A-3-d, 5th guide wheel A-3-e, first guide wheel assembly B-3-a, guide wheel assembly C-3-1, be wrapped in after guide wheel assembly C-2-7-3 after walking around guide wheel assembly C-2-7-3 again after helix wheel C-2-9-d two encloses and walk around guide wheel assembly C-3-1 successively, first guide wheel assembly B-3-a, 5th guide wheel A-3-e, 4th guide wheel A-3-d, 3rd guide wheel A-3-c, on wrap wire wheel A-2-4-2, a circle is wound around after axis of guide A-6, winding silk to be fixed on the first motor drive component A-2-a on helix wheel A-2-4-3 with stepping up ring, respectively helix wheel A-2-4-2 and helix wheel A-2-4-3 is reversely rotated, after being wound around silk pretension, with screw and pressure ring A-2-4-4 by fastening for helix wheel A-2-4-3 and rotating shaft A-2-5, the steel wire rope cabling of the 4th operating theater instruments interface baffle plate C-7-4 is as follows: be wound around silk and step up ring through individual Kong Houyong of the upper helix wheel A-2-4-2 of the 4th motor drive component A-2-d will to be wound around silk fastening, the other end of winding silk passes axis of guide A-6 successively, 3rd guide wheel A-3-c, 4th guide wheel A-3-d, 5th guide wheel A-3-e, first guide wheel assembly B-3-a, guide wheel assembly C-3-1, be wrapped in after guide wheel assembly C-2-7-4 after walking around guide wheel assembly C-2-7-4 again after helix wheel C-2-9-c two encloses and walk around guide wheel assembly C-3-1 successively, first guide wheel assembly B-3-a, 5th guide wheel A-3-e, 4th guide wheel A-3-d, 3rd guide wheel A-3-c, on wrap wire wheel A-2-4-2, a circle is wound around after axis of guide A-6, winding silk to be fixed on the 4th motor drive component A-2-d on helix wheel A-2-4-3 with stepping up ring, respectively helix wheel A-2-4-2 and helix wheel A-2-4-3 is reversely rotated, after being wound around silk pretension, with screw and pressure ring A-2-4-4 by fastening for helix wheel A-2-4-3 and rotating shaft A-2-5, platform drives winding silk cabling to comprise 4 altogether and is wound around silks, be respectively the first winding silk V, second is wound around silk VI, 3rd is wound around silk VII and the 4th is wound around silk VIII, its concrete cabling is as follows: first is wound around silk V cabling is: be wound around silk one end and be fixed on winding silk fixture A-7-2 with stepping up ring, then be wound around silk successively through the second guide wheel A-3-b, guide wheel assembly B-3-b, be wound around the hole of silk fixation kit support member C-5-1 afterwards through interface after, ring SS is stepped up through two, be wound around another hole of silk fixation kit support member C-5-1 through interface after walking around pulley C-5-a, again successively through guide wheel assembly B-3-b, after guide wheel assembly A-3-b, behind fixture A-7-2 hole, with stepping up ring SS, will to be wound around silk fastening, second is wound around silk VI cabling is: be wound around silk one end and be fixed on winding silk fixture A-7-1 with stepping up ring, then be wound around silk through behind the first guide wheel assembly B-3-a, the rear hole through interface winding silk fixation kit support member C-5-1, ring SS is stepped up through two, be wound around another hole of silk fixation kit support member C-5-1 through interface after walking around pulley C-5-b, behind the first guide wheel assembly B-3-a, fixture A-7-1 hole, with stepping up ring SS, will to be wound around silk fastening, 3rd is wound around silk VII cabling is: be wound around silk one end and be fixed on bifilar helix wheel A-2-9-3 with stepping up ring, after being wound around a circle left and right, successively through axis of guide A-6, 3rd guide wheel A-3-c, 4th guide wheel A-3-d, 5th guide wheel A-3-e, after stepping up ring SS through two behind hole through winding silk fixture bracing frame B-7-c, pass after being wound around another hole of silk fixture bracing frame B-7-c after walking around pulley B-7-a, walk around the 5th guide wheel A-3-e successively, 4th guide wheel A-3-d, 3rd guide wheel A-3-c, after axis of guide A-6, after being wrapped in the upper circle half of bifilar helix wheel A-2-9-3, with stepping up ring, will to be wound around silk fastening, 4th is wound around silk VIII cabling is: be wound around silk one end and be fixed on bifilar helix wheel A-2-9-2 with stepping up ring, after being wound around three circles, successively through axis of guide A-6, 3rd guide wheel A-3-c, 4th guide wheel A-3-d, second guide wheel A-3-b, after stepping up ring SS through two behind hole through winding silk fixture bracing frame B-7-c, pass after being wound around another hole of silk fixture bracing frame B-7-c after walking around pulley B-7-a, walk around the second guide wheel A-3-b successively, 4th guide wheel A-3-d, 3rd guide wheel A-3-c, after axis of guide A-6, after being wrapped in the upper circle half of bifilar helix wheel A-2-9-3, with stepping up ring, will to be wound around silk fastening, helix wheel A-2-9-2 and helix wheel A-2-9-3 is reversely rotated, after silk pretension will be wound around, with screw and pressure ring A-2-9-4 by fastening for helix wheel A-2-9-3 and rotating shaft A-2-5.Undocumented technical characteristic and detailed description of the invention one in present embodiment, two, three, four, five, six, seven, eight or nine identical.

According to Fig. 1-Figure 11, Figure 25 to Figure 26, operating theater instruments driving device is mainly made up of power source assembly A, decoupling zero transitioning component B, interface module C and stamp card 5.Interface module C to be connected with decoupling zero transitioning component B by line slideway and to realize rectilinear motion, and decoupling zero transitioning component B to be connected with power source assembly A by line slideway and to realize rectilinear motion.

According to shown in Figure 27 to Figure 28, are all the Uncoupled procedure schematic diagrams under the different conditions of four driving wheel steel wire cablings, Figure 27 adopts C-7-1 and C-7-2 to represent two driving wheel steel wire ropes above in two driving wheel steel wire rope Fig. 3 above; Decoupling principle figure, Figure 28 are two driving wheel steel wire rope (C-7-3 and C-7-4 represents two driving wheel steel wire ropes below) decoupling principle figure below.E in Figure 27 refers to interface guide wheel assembly C-3-2, transition that f refers to the 3rd guide wheel assembly B-3-c, transition that g refers to first guide wheel A-3-a, h the e' referred in the 3rd guide wheel A-3-c and A-3-d and Figure 28 refer to interface guide wheel assembly C-3-1, transition that f' refers to first guide wheel assembly B-3-a, transition that g' refers to the 5th guide wheel A-3-e, it is power source assembly A that h' refers to the 3rd guide wheel A-3-c and A-3-d, propelling sheave position 100 in decoupling zero transitioning component B and interface module C represents interface module C, 200 represent decoupling zero transitioning component B, 300 represent power source assembly A.When 1 speed relative to 2 equals 2 speed relative to 3, then ef section rope stretch or shorten length and equal fg section steel wire rope and shorten or extended length, in like manner then e'f' section rope stretch or shorten length and equal f'g' section steel wire rope and shorten or extended length.

According to shown in Figure 29 to Figure 30, be realize 100 speed relative to 200 to equal 200 velocity principle figure relative to 300.100 represent interface module C, and 200 represent decoupling zero transitioning component B, and 300 represent power source assembly A.In figure 1 and 300 is expressed as the winding silk fixture in interface module C and power source assembly A.Ee in Figure 29 refers to guide wheel assembly C-5-a, ff refers to the second transition guide wheel B-3-b, gg refers to the second guide wheel A-3-b, hh refers to fixture A-7-2, II (institute refers to guide wheel assembly B-7-b), JJ (institute refers to the 5th guide wheel A-3-e), ee' in KK (refer to the 3rd guide wheel A-3-c and the 4th guide wheel A-3-d) and Figure 30 refers to guide wheel assembly C-5-a, ff' refers to the first guide wheel assembly B-3-a, gg' refers to fixture A-7-1, hh refers to guide wheel assembly B-7-a, II' refers to the second guide wheel assembly B-3-b, JJ'(refer to the 3rd guide wheel A-3-c and the 4th guide wheel A-3-d) in propelling sheave position.100 represent interface module C, 200 represent decoupling zero transitioning component B, 300 represent power source assembly A, rope capacity in Figure 29 between eegg is constant, under steel wire rope ffhh draws, move down Δ x when 2 sections, then ffgg section steel wire rope increases Δ x, then eeff section steel wire rope shortens Δ x, then 100 sections move down Δ x relative to 200 sections, then realize the move downward speed of A relative to 200 and equal 200 and move downward speed relative to 100.In Figure 30, ee'gg' rope capacity is certain, when hh'II' steel wire rope shortens Δ x, 200 sections of Δ x that to move up relative to 300 sections, then ff'gg' rope stretch Δ x, ee'ff' steel wire rope shortens Δ x, 100 sections of relative 200 sections of Δ x that move up, existing 100 sections of historical facts or anecdotes equals 200 sections of relative 300 sections of speed that move up relative to 200 sections of speed of moving up.

After the complete rear operating theater instruments driving device of assembling described above, as stated above after lay winding wire ropes, 5 degree of freedom that so just can realize on driving device are free to can not produce coupled motions between motion.Motor drive component A-2-c rotarily drives and is attached thereto the oblique wave decelerator A-2-3 connect and moves, pass motion to after driving rotating shaft A-2-5, drive and drive helix wheel A-2-4 motion, and then drive steel wire rope I to move, after walking around each propelling sheave by aforementioned manner, pass motion to helix wheel C-2-9-b, and then drive operating theater instruments interface baffle plate assembly C-7-1 motion, thus drive the corresponding joint motions of operating theater instruments.Motor drive component A-2-e rotarily drives and is attached thereto the oblique wave decelerator A-2-3 connect and moves, pass motion to after driving rotating shaft A-2-5, drive and drive helix wheel A-2-4 motion, and then drive steel wire rope II to move, after walking around each propelling sheave by aforementioned manner, pass motion to helix wheel C-2-9-a, and then drive operating theater instruments interface baffle plate assembly C-7-2 motion, thus drive the corresponding joint motions of operating theater instruments.Motor drive component A-2-a rotarily drives and is attached thereto the oblique wave decelerator A-2-3 connect and moves, pass motion to after driving rotating shaft A-2-5, drive and drive helix wheel A-2-4 motion, and then drive steel wire rope III to move, after walking around each propelling sheave by aforementioned manner, pass motion to helix wheel C-2-9-d, and then drive operating theater instruments interface baffle plate assembly C-7-3 motion, thus drive the corresponding joint motions of operating theater instruments.Motor drive component A-2-d rotarily drives and is attached thereto the oblique wave decelerator A-2-3 connect and moves, pass motion to after driving rotating shaft A-2-5, drive and drive helix wheel A-2-4 motion, and then drive steel wire rope IV to move, after walking around each propelling sheave by aforementioned manner, pass motion to helix wheel C-2-9-c, and then drive operating theater instruments interface baffle plate assembly C-7-4 motion, thus drive the corresponding joint motions of operating theater instruments.Motor drive component A-2-b rotarily drives and is attached thereto the oblique wave decelerator A-2-3 connect and moves, pass motion to after driving rotating shaft A-2-5, drive and drive helix wheel A-2-9 motion, and then drive steel wire rope VII and VIII to move, after walking around each propelling sheave by the way, pass motion to steel wire rope stiff end B-3, drive transitioning component 3, and then drive steel wire rope V and VI to move, and then drive interface module C motion.And then realize translational motion.

Illustrate in conjunction with Figure 36 to Figure 42, the gear case assembly 3-2 of present embodiment comprises helical gear 3-2-5, bearing plate 3-2-3, second adjustment pad 3-2-4, first electricity loss brake 3-2-14, second electricity loss brake 3-2-15, rotating shaft 3-2-10, gear-box pedestal 3-2-11, two first adjustment pad 3-2-2, two fixing head 3-2-1, two bearing 3-2-12 and two shaft end pressure plate 3-2-13, the middle part of described rotating shaft 3-2-10 is set with helical gear 3-2-5, helical gear 3-2-5 is outside equipped with gear-box pedestal 3-2-11, a shaft end pressure plate 3-2-13, a fixing head 3-2-1, one first adjustment pad 3-2-2, first electricity loss brake 3-2-14, a bearing plate 3-2-3, one second adjustment pad 3-2-4, bearing 3-2-12 to be sleeved on successively from right to left on rotating shaft 3-2-10 and to be positioned at the left side of gear-box pedestal 3-2-11, another shaft end pressure plate 3-2-13, another fixing head 3-2-1, another first adjustment pad 3-2-2, the second electricity loss brake 3-2-15 and another bearing 3-2-12 to be sleeved on successively from left to right on rotating shaft 3-2-10 and to be positioned at the right side of gear-box pedestal 3-2-11.In present embodiment, the first electricity loss brake 3-2-14 is identical with the second electricity loss brake 3-2-15 structure, second electricity loss brake comprises brake disc 3-2-8 and brake armature 3-2-9, and brake disc 3-2-8 is provided with brake armature 3-2-9 away from one end of helical gear 3-2-5.Present embodiment middle gear box assembly 3-2 is in energising situation, and helical gear 3-2-5 can rotate, and during power-off, adsorbs brake disc 3-2-8, make helical gear 3-2-5 can not rotate thus realize braking effect by brake armature 3-2-9.The present invention adopts helical gear 3-2-5 and the helical rack 2-2 theory of engagement, engage realization by helical gear 3-2-5 and helical rack 2-2 to be interconnected, during due to power-off, brake disc 3-2-8 is adsorbed by brake armature 3-2-9, helical gear 3-2-5 can not be rotated, make outer end interface connector 3 stop at optional position on guide assembly 2.Because the present invention adopts helical gear 3-2-5 and the helical rack 2-2 theory of engagement, therefore the present invention is when normally working, the stable movement of outer end interface connector 3 on guide assembly 2, and manual adjustment does not have noise, compare with spur rack mode with spur gear in prior art, bearing capacity is larger.Slide rail 2-4 is line slideway, and movement limit of the present invention is a translation freedoms by applicable line guide rail, realizes moving up and down, and helical gear 3-2-5 and the additional electricity loss brake of the helical rack 2-2 theory of engagement therefore can be utilized can to realize braking effect of the present invention.Connected by the first flat key 3-2-16 between helical gear 3-2-5 and rotating shaft 3-2-10 in gear case assembly 3-2, connected by the second flat key 3-2-17 between fixing head 3-2-1 and rotating shaft 3-2-10.

Illustrate in conjunction with Figure 44 to Figure 46, the first joint K1 of present embodiment also comprises the first motor driver K1-8 and lower cover K1-1; First motor driver K1-8 is arranged in and supports in cavity K1-5, and the first motor driver K1-8 is for controlling the rotating speed of the first motor K1-2-10 and turning to, and lower cover K1-1 covers on the first driven unit K1-2.Illustrate in conjunction with Figure 47 and Figure 48, the second joint K2 of present embodiment also comprises the first cover body K2-3, the second cover body K2-7 and the second motor driver K2-9; Second motor driver K2-9 is arranged on assembly support K2-10, second motor driver K2-9 is for controlling the rotating speed of the second motor K2-8-1 and turning to, first cover body K2-3 mounts cover on the top of assembly support K2-10, and the second cover body K2-7 mounts cover in the bottom of assembly support K2-10.

Illustrate in conjunction with Figure 44 to Figure 48, the driving-belt K1-6-6 of present embodiment is Timing Belt.The conveyer belt K2-8-29 of present embodiment is steel band, and steel band is the first steel band K2-8-10, the second steel band K2-8-11 and the 3rd steel band K2-8-18 respectively; One end of 3rd steel band K2-8-18 is connected with first wheel K2-8-9, the other end of the 3rd steel band K2-8-18 and the second wheel hub K2-8-13, one end of first steel band K2-8-10 is connected with first wheel K2-8-9, one end of second steel band K2-8-11 is connected with first wheel K2-8-9, and the first steel band K2-8-10 other end is connected with the other end of the second steel band K2-8-11.Second driven unit K2-8 also comprises shaft coupling K2-8-3, and the output shaft of the second motor K2-8-1 is connected with joint transmission axle K2-8-28 by shaft coupling K2-8-3.

Illustrate in conjunction with Figure 50, passive joint P2 comprises the first rotary joint, connecting rod P2-15, second rotary joint, first shutter P-14, driver P2-13 and the second shutter P2-16, the first rotary joint comprises the first bracket P2-17, first adjustment pad P2-18, first electricity loss brake brake disc P2-19, first electricity loss brake armature P2-20, second bracket P2-21, second adjustment pad P2-22, clutch shaft bearing P2-23, second bearing P2-24, first axle head P2-25, first encoder rotating shaft P2-26, first encoder gripper shoe P2-27 and the first encoder P2-28 forms, and the second rotary joint comprises the second encoder rotating shaft P2-1, 3rd bracket P2-2, 3rd adjustment pad P2-3, second electricity loss brake brake disc P2-4, second electricity loss brake armature P2-5, 4th bracket P2-6, 4th adjustment pad P2-7, 3rd bearing P2-8, 4th bearing P2-9, second axle head P2-10, second encoder P2-11 and the second encoder gripper shoe P2-12, the connection pedestal 3-1 of the first axle head P2-25 of the first rotary joint and the outer end interface connector 3 of column is fixed together, and the support housing K1-5 of the second rotary joint second axle head P2-10 and the first joint K1 is fixed together.

The installation steps of passive joint P2 are as follows: be arranged on by the second bearing P2-24 on the first axle head P2-25, then it is encased in from top to bottom in the hole P2-15-1 of connecting rod P2-15, then clutch shaft bearing P2-23 is arranged on the first axle head P2-25 in the hole P2-15-1 of upper end loading connecting rod P2-15, second adjustment pad P2-22 is arranged on the first axle head P2-25 near clutch shaft bearing P2-23, second bracket P2-21 is arranged on the end of the first axle head P2-25, with screw by fastening for the second bracket P2-21 and the first axle head P2-25, by adjusting the pretension that the second adjustment pad P2-22 realizes the first and second bearings.First electricity loss brake armature P2-20 is arranged on the first bracket P2-17, by screw by fastening for the first electricity loss brake armature P2-20 and the second bracket P2-21.With screw by fastening for the first electricity loss brake brake disc P2-19 and the first bracket P2-17, then the first adjustment pad P2-18 is placed on the P2-15-1 upper end, hole of connecting rod P2-15, mounted for upper step assembly is placed in the hole P2-15-1 of connecting rod P2-15.With screw, itself and connecting rod P2-15 is fastening.The gap adjusted between the first electricity loss brake brake disc P2-19 and the first electricity loss brake armature P2-20 by the thickness adjusting the first adjustment pad P2-18 meets electricity loss brake working condition.Then by the first encoder rotating shaft P2-26 from top to bottom through the hole P2-15-1 of connecting rod P2-15, with screw, itself and the first bracket P2-17 is fastening.With screw, the first encoder gripper shoe P2-27 is fixed the lower end of the first axle head P2-25, the mesopore of the first encoder P2-28 is coordinated with the first encoder rotating shaft P2-26, by screw, it is fastening, then encoder is fixed on the first encoder gripper shoe P2-27.First encoder P2-28 is used for recording the absolute position that connecting rod P2-15 connects pedestal 3-1 relatively.

4th bearing P2-9 is arranged on the second axle head P2-10, then it is encased in from top to bottom in the hole P2-15-2 of connecting rod P2-15, then the 3rd bearing P2-8 is arranged on the second axle head P2-10 in the hole P2-15-2 of upper end loading connecting rod P2-15,3rd adjustment pad P2-7 is arranged on the second axle head P2-10 near the 3rd bearing P2-8,4th bracket P2-6 is arranged on the end of the second axle head P2-10, with screw by fastening for the 4th bracket P2-6 and the second axle head P2-10, by adjusting the pretension that the 4th adjustment pad P2-7 realizes the third and fourth bearing.Second electricity loss brake armature P2-5 is arranged on the 4th bracket P2-6, by screw by fastening for the second electricity loss brake armature P2-5 and the 4th bracket P2-6.With screw by fastening for the second electricity loss brake brake disc P2-4 and three bracket P2-2, then the 3rd adjustment pad P2-3 is placed on the P2-15-2 upper end, hole of connecting rod P2-15, mounted for upper step assembly is placed in the hole P2-15-2 of connecting rod P2-15.With screw, itself and connecting rod P2-15 is fastening.The gap adjusted between the second electricity loss brake brake disc P2-4 and the second electricity loss brake armature P2-5 by the thickness adjusting the 3rd adjustment pad meets electricity loss brake working condition.Then by the second encoder rotating shaft P2-1 from top to bottom through the hole P2-15-2 of connecting rod P2-15, with screw by fastening for the first bracket P2-2 of itself and the second electricity loss brake.With screw, the second encoder gripper shoe P2-12 is fixed the lower end of the second axle head P2-10, the mesopore of the second encoder P2-11 is coordinated with the second encoder rotating shaft P2-1, by screw, it is fastening, then encoder is fixed on the second encoder gripper shoe P2-12.First encoder P2-11 is used for the absolute position of the relative connecting rod P2-15 of record first joint K1.

Claims

1. the armed mechanical arm of minimally invasive robot, it is characterized in that: it comprises vertical translation safety catch, passive joint (P2), first joint (K1), second joint (K2) and integrated operating theater instruments driving device, one end of passive joint (P2) is rotatably arranged on the top of vertical translation safety catch, the one end in the first joint (K1) is rotatably connected on passive joint (P2), one end of second joint (K2) and the other end of the first joint (K1) are rotatably connected, integrated operating theater instruments driving device is arranged on the other end of second joint (K2),

Vertical translation safety catch comprises base assembly (1), guide assembly (2) and outer end interface connector (3), described base assembly (1) comprises casing (1-1), balancing weight (1-2) and at least one optical axis assembly, at least one optical axis assembly is arranged on casing (1-1), described optical axis assembly comprises optical axis body (1-3) and two optical axis pressure rings (1-4), on the end face that two optical axis pressure rings (1-4) are fixedly connected on casing (1-1) respectively and bottom surface, optical axis (1-3) passes two optical axis pressure rings (1-4) successively from top to bottom and is fixedly connected in casing (1-1), described balancing weight (1-2) is positioned at casing (1-1) and is arranged on optical axis (1-3), guide assembly (2) comprises supporting base (2-1), helical rack (2-2), assembly pulley (2-3) and two slide rails (2-4), assembly pulley (2-3) is arranged on the end face of supporting base (2-1), the bottom surface of described supporting base (2-1) is fixedly connected on the upper surface of casing (1-1), the sidewall of described supporting base (2-1) is processed with the groove (2-1-1) vertically arranged, described helical rack (2-2) and two slide rails (2-4) are all vertically arranged in groove (2-1-1), described helical rack (2-2) is positioned in the middle of two slide rails (2-4), described outer end interface connector (3) comprises and connects pedestal (3-1), gear case assembly (3-2), slide block assembly (3-3), article two, connecting rope (3-4), the upper surface of described connection pedestal (3-1) is processed with outer end interface, the outer wall of described connection pedestal (3-1) is fixedly connected with slide block assembly (3-3), described connection pedestal (3-1) is slidably matched by slide block assembly (3-3) and two slide rails (2-4), connect in pedestal (3-1) and be provided with gear case assembly (3-2), gear case assembly (3-2) and helical rack (2-2) are equipped with, connecting rope (3-4) and assembly pulley (2-3) one_to_one corresponding are arranged, one end of every bar connecting rope (3-4) is detachably connected on balancing weight (1-2), the assembly pulley (2-3) that the other end of every bar connecting rope (3-4) walks around its correspondence be detachably connected on connect pedestal (3-1) upper surface on,

First joint (K1) comprises the first driven unit (K1-2), support housing (K1-5), transmission component (K1-6) and the first absolute encoder (K1-7); First driven unit (K1-2) comprises the first motor (K1-2-10), band wheeling supporting frame (K1-2-1), driving pulley (K1-2-5) and drive shaft (K1-2-6); First driven unit (K1-2) is arranged in the below supporting cavity (K1-5); First motor (K1-2-10) is arranged on band wheeling supporting frame (K1-2-1), drive shaft (K1-2-6) is rotatably installed in be with wheeling supporting frame (K1-2-1) upper and to be connected with the output shaft of the first motor (K1-2-10), driving pulley (K1-2-5) is sleeved in drive shaft (K1-2-6), and band wheeling supporting frame (K1-2-1) is connected with support cavity (K1-5); Transmission component (K1-6) comprises joint shaft (K1-6-7), first harmonic decelerator (K1-6-2), drive pulley (K1-6-3) and driving-belt (K1-6-6); Transmission component (K1-6) is arranged in and supports in cavity (K1-5); Joint shaft (K1-6-7) is inserted into first harmonic decelerator (K1-6-2) and goes up and pass drive pulley (K1-6-3), drive pulley (K1-6-3) is in transmission connection by driving-belt (K1-6-6) and driving pulley (K1-2-5), and the first absolute encoder (K1-7) is arranged in and supports in cavity (K1-5) and be arranged on joint shaft (K1-6-7); The mounting flange of first harmonic decelerator (K1-6-2) is connected with support cavity (K1-5);

Second joint (K2) comprises assembly support (K2-10) and the second driven unit (K2-8), second driven unit (K2-8) comprises the second motor (K2-8-1), second harmonic decelerator (K2-8-8), the second absolute encoder (K2-8-20), conveyer belt (K2-8-29), first wheel (K2-8-9), the second wheel hub (K2-8-13) and joint transmission axle (K2-8-28), second driven unit (K2-8) is arranged on assembly support (K2-10), and the output flange of first harmonic decelerator (K1-6-2) is connected with assembly support (K2-10), the output shaft of the second motor (K2-8-1) is connected with joint transmission axle (K2-8-28) by shaft coupling (K2-8-4), joint transmission axle (K2-8-28) is arranged on the wave producer (K2-8-8) of second harmonic decelerator (K2-8-8), the flexbile gear (K2-8-25) of second harmonic decelerator (K2-8-8) is connected with first wheel (K2-8-9), the firm wheel (K2-8-26) of second harmonic decelerator (K2-8-8) is connected with assembly support (K2-10), first wheel (K2-8-9) and the second wheel hub (K2-8-13) are set up in parallel and the two is rotatably installed on assembly support (K2-10), one end of conveyer belt (K2-8-29) is connected with first wheel (K2-8-9), the other end of conveyer belt (K2-8-14) is connected with the second wheel hub (K2-8-13), second absolute encoder (K1-2-20) is connected with first wheel (K2-8-9), one end of passive joint (P2) is rotatably arranged on outer end interface connector (3), is rotationally connected in the other end of passive joint (P2) and the support housing (K1-5) of the first joint (K1),

Integrated operating theater instruments driving device comprises power source assembly (A), decoupling zero transitioning component (B), interface module (C) and many windings silk (D), power source assembly (A), decoupling zero transitioning component (B) and interface module (C) from the bottom to top successively slidably interfolded and by many windings silk (D) be connected with the canoe of decoupling zero, power source assembly (A) comprises driving gripper shoe (A-1), driven unit (A-2), guide wheel assembly (A-3) and slide block assembly (A-4), driven unit (A-2) is arranged on and drives first of gripper shoe (A-1) to drive in gripper shoe end face (A-1-a), guide wheel assembly (A-3) is arranged on respectively and drives second of gripper shoe (A-1) to drive gripper shoe end face (A-1-b), 3rd drives on gripper shoe end face (A-1-c) and four-wheel drive gripper shoe end face (A-1-d), slide block assembly (A-4) is arranged on and drives the 5th of gripper shoe (A-1) the to drive in gripper shoe end face (A-1-e), decoupling zero transitioning component (B) comprises transition gripper shoe (B-1), transition rail plate combination (B-2) and transition guide wheel combination (B-3), transition gripper shoe (B-1) is rectangular supporting board, First Transition guide wheel (B-3-a) in transition guide wheel combination (B-3), second transition guide wheel (B-3-b) and the 3rd transition guide wheel (B-3-c) are arranged on the First Transition gripper shoe end face (B-1-a) of transition gripper shoe (B-1) respectively, on second transition gripper shoe end face (B-1-b) and the 3rd transition gripper shoe end face (B-1-c), transition rail plate combination (B-2) is arranged on the 4th transition gripper shoe end face (B-1-d) of transition gripper shoe (B-1) respectively and five faults in diagnosis and treatment crosses on gripper shoe end face (B-1-e), slide block assembly (A-4) combines (B-2) with the transition rail plate in transition gripper shoe (B-1) and is slidably connected, interface module (C) comprises support body (C-1), from driving helix wheel assembly (C-2), interface guide wheel assembly (C-3) and interface slide block assembly (C-4), be arranged on support body (C-1) from driving helix wheel assembly (C-2), multiple interface guide wheel (C-3) is arranged on support body (C-1) and goes up and be positioned at the both sides from driving helix wheel assembly (C-2), interface slide block assembly (C-4) is arranged on the bottom of support body (C-1) and is slidably connected with the transition rail plate assembly (B-2) on transition gripper shoe (B-1) upper surface.

2. the armed mechanical arm of a kind of minimally invasive robot according to claim 1, it is characterized in that: power source assembly (A) also comprises the winding silk fixation kit (A-7) at power source cover body (A-5) and power source place, power source cover body (A-5) covers on and drives on bracing frame (A-1) and multiple driven unit (A-2), and the winding silk fixation kit (A-7) at power source place is arranged on and drives in gripper shoe (A-1).

3. the armed mechanical arm of a kind of minimally invasive robot according to claim 2, it is characterized in that: driven unit (A-2) comprises five motor drive components, first motor drive component (A-2-a) respectively, second motor drive component (A-2-b), 3rd motor drive component (A-2-c), 4th motor drive component (A-2-d) and the 5th motor drive component (A-2-e), the structure of five motor drive components identical unlike, the helix wheel of the second motor drive component (A-2-b) is double wire reel (A-2-9), first motor drive component (A-2-a) comprises drive motors (A-2-1), motor support support body (A-2-2), harmonic speed reducer (A-2-3), drive helix wheel (A-2-4), drive rotating shaft (A-2-5), drive spiral branches bracer (A-2-6) and drive cover body (A-2-7), drive motors (A-2-1) is arranged on one end of motor support support body (A-2-2), one end of helical axis (A-2-5) is driven to be connected with the flexbile gear of harmonic speed reducer (A-2-3), helical axis (A-2-5) and flexbile gear will be driven to realize axial location and fastening with fastening assembly (A-2-8), the wave producer of harmonic speed reducer (A-2-3) is connected with the output shaft of drive motors (A-2-1), drive helix wheel (A-2-4) to be sleeved on and drive on rotating shaft (A-2-5), spiral branches bracer (A-2-6) is driven to be arranged on the other end driving rotating shaft (A-2-5), cover body (A-2-7) is driven to be connected successively with motor support support body (A-2-2) with the firm wheel of harmonic speed reducer (A-2-3), cover body (A-2-7) will be driven to cover on harmonic speed reducer (A-2-3).

4. the armed mechanical arm of a kind of minimally invasive robot according to claim 3, it is characterized in that: decoupling zero transitioning component (B) also comprises winding silk transition support member (B-7), transition slide block baffle plate (B-4), guide rail clip (B-5) and two windings silk baffle plate (B-6), being wound around silk transition support member (B-7) is arranged in transition gripper shoe (B-1), a transition slide block baffle plate (B-4) is installed at the two ends of every root transition rail plate combination (B-2) respectively, the end face outside being positioned at two transition rail plates combination (B-2) of the same side of transition gripper shoe (B-1) length direction is provided with a guide rail clip (B-5), two are wound around the two ends up and down that silk baffle plate (B-6) is arranged on transition gripper shoe (B-1) respectively.

5. the armed mechanical arm of a kind of minimally invasive robot according to claim 1 or 4, it is characterized in that: interface module (C) also comprises interface and is wound around silk fixation kit (C-5), interface is wound around silk shutter (C-6), operating theater instruments interface baffle plate (C-7), floating disc (C-8), interface upper body (C-9), interface transitions housing (C-10) and column keyway (C-11), column keyway (C-11) is arranged on the upper surface of support body (C-1), interface is wound around silk fixation kit (C-5) and is arranged on the lower surface of support body (C-1), interface is wound around silk shutter (C-6) spiral-lock in the middle part of the lower surface of support body (C-1), floating disc (C-8), operating theater instruments interface baffle plate (C-7), interface upper body (C-9) and interface transitions housing (C-10) are from top to bottom installed on support body (C-1) successively.

6. the armed mechanical arm of a kind of minimally invasive robot according to claim 5, it is characterized in that: comprise interface board drive rod (C-2-1) from driving helix wheel assembly (C-2), spring (C-2-2), potentiometer (C-2-3), upper lines wheeling supporting frame (C-2-4), multiple helix wheel bearing (C-2-5), multiple directive wheel back shaft (C-2-6), multiple leading block (C-2-7), lower line wheeling supporting frame (C-2-8) and multiple helix wheel (C-2-9), upper lines wheeling supporting frame (C-2-4) and lower line wheeling supporting frame (C-2-8) be arranged in parallel up and down, multiple helix wheel (C-2-9) is arranged between upper lines wheeling supporting frame (C-2-4) and lower line wheeling supporting frame (C-2-8), axial two ends in each helix wheel (C-2-9) are respectively provided with a helix wheel bearing (C-2-5), and the two ends up and down of each helix wheel (C-2-9) are arranged on lower line wheeling supporting frame (C-2-8) and upper lines wheeling supporting frame (C-2-4) respectively by a helix wheel bearing (C-2-5), the bar portion of each interface board drive rod (C-2-1) is set with a spring (C-2-2), the end of each interface board drive rod (C-2-1) is connected with after a potentiometer (C-2-3) successively through upper lines wheeling supporting frame (C-2-4), a helix wheel (C-2-9) and lower line wheeling supporting frame (C-2-8), multiple directive wheel back shaft (C-2-6) to be arranged between upper lines wheeling supporting frame (C-2-4) and lower line wheeling supporting frame (C-2-8) and to support upper lines wheeling supporting frame (C-2-4) and lower line wheeling supporting frame (C-2-8), multiple leading block (C-2-7) is arranged on the support body (C-1) in multiple helix wheel (C-2-9) outside.

7. the armed mechanical arm of a kind of minimally invasive robot according to claim 1 or 6, it is characterized in that: operating theater instruments interface baffle plate assembly (C-7) has four operating theater instruments interface baffle plates, is the first operation instrument interface baffle plate (C-7-1), the second operation instrument interface baffle plate (C-7-2), the 3rd operating theater instruments interface baffle plate (C-7-3) and the 4th operating theater instruments interface baffle plate (C-7-4) respectively.

8. the armed mechanical arm of a kind of minimally invasive robot according to claim 7, is characterized in that: gear case assembly (3-2) comprises helical gear (3-2-5), bearing plate (3-2-3), second adjustment pad (3-2-4), first electricity loss brake (3-2-14), second electricity loss brake (3-2-15), rotating shaft (3-2-10), gear-box pedestal (3-2-11), two first adjustment pad (3-2-2), two fixing heads (3-2-1), two bearings (3-2-12) and two shaft end pressure plate (3-2-13), the middle part of described rotating shaft (3-2-10) is set with helical gear (3-2-5), helical gear (3-2-5) is outside equipped with gear-box pedestal (3-2-11), a shaft end pressure plate (3-2-13), a fixing head (3-2-1), one first adjustment pad (3-2-2), first electricity loss brake (3-2-14), a bearing plate (3-2-3), one second adjustment pad (3-2-4), a bearing (3-2-12) is sleeved on rotating shaft (3-2-10) from right to left successively and goes up and the left side being positioned at gear-box pedestal (3-2-11), another shaft end pressure plate (3-2-13), another fixing head (3-2-1), another first adjustment pad (3-2-2), the second electricity loss brake (3-2-15) and another bearing (3-2-12) are sleeved on rotating shaft (3-2-10) from left to right successively and go up and the right side being positioned at gear-box pedestal (3-2-11).

9. the armed mechanical arm of a kind of minimally invasive robot according to claim 1 or 8, it is characterized in that: passive joint (P2) comprises the first rotary joint, connecting rod (P2-15), second rotary joint, first shutter (P-14), driver (P2-13) and the second shutter (P2-16), first rotary joint and the second rotary joint are arranged on the two ends, left and right of connecting rod (P2-15) respectively, first shutter (P-14) and the second shutter (P2-16) are arranged on the two ends up and down of connecting rod (P2-15), driver (P2-13) is arranged in connecting rod (P2-15).

10. the armed mechanical arm of a kind of minimally invasive robot according to claim 9, is characterized in that: the first joint (K1) also comprises the first motor driver (K1-8) and lower cover (K1-1); First motor driver (K1-8) is arranged in and supports in cavity (K1-5), first motor driver (K1-8) is for controlling the rotating speed of the first motor (K1-2-10) and turning to, lower cover (K1-1) covers on the first driven unit (K1-2), and second joint (K2) also comprises the first cover body (K2-3), the second cover body (K2-7) and the second motor driver (K2-9); Second motor driver (K2-9) is arranged on assembly support (K2-10), second motor driver (K2-9) is for controlling the rotating speed of the second motor (K2-8-1) and turning to, first cover body (K2-3) mounts cover on the top of assembly support (K2-10), and the second cover body (K2-7) mounts cover in the bottom of assembly support (K2-10).