Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a mechanical decoupling quick-change mechanism for a minimally invasive single-hole surgical robot, which is convenient to assemble and disassemble, easy to adjust, accurate in positioning, high in rigidity, reasonable in layout, small in size and light in weight, and can clamp a surgical tool to assist a doctor in performing minimally invasive single-hole surgical operation.
The invention provides a mechanical decoupling quick-change mechanism for a minimally invasive single-hole surgical robot, which is convenient to assemble and disassemble, easy to adjust, accurate in positioning, high in rigidity, reasonable in layout, and light in weight, and the specific scheme is as follows:
a quick-change mechanism for mechanical decoupling of a minimally invasive surgical single-hole surgical robot comprises a fixed seat, wherein a first joint driving mechanism, a second joint driving mechanism, a third joint driving mechanism, a fourth joint driving mechanism, a fifth joint driving mechanism, a sixth joint driving mechanism, a seventh joint driving mechanism and an eighth joint driving mechanism are arranged on the fixed seat;
The first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms are arranged on the same base, and the first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms are respectively connected with the surgical execution instrument through an interface clutch disc;
the first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms correspondingly drive the first, second, third, fourth, fifth, sixth, seventh and eighth joint executing mechanisms of the surgical instrument executing mechanism M to rotate respectively through steel wire ropes;
The first joint driving mechanism comprises a motor, the motor drives the gear shaft to be rotationally connected, and the gear shaft is connected with the corresponding interface clutch disc;
The second, third, fourth, fifth and sixth joint driving mechanisms have the same structure and respectively comprise a motor, the motor drives a sun gear shaft to rotate, a large sun gear and a small sun gear are arranged on the sun gear shaft, the large sun gear and the small sun gear are meshed with three planetary gears arranged on a planet carrier gear shaft, the three planetary gears are externally meshed with the small sun gear, the three planetary gears are internally meshed with the large sun gear, the three planetary gears are uniformly distributed around the axis of the sun gear shaft, and the planet carrier gear shaft is connected with an interface clutch disc corresponding to the planetary gear shaft;
The seventh joint driving mechanism and the eighth joint driving mechanism have the same structure and respectively comprise a motor, the motors drive a sun gear shaft to rotate, a large sun gear and a small sun gear are arranged on the sun gear shaft, the large sun gear and the small sun gear are meshed with three planetary gears arranged on a planet carrier, the three planetary gears are externally meshed with the small sun gear, the three planetary gears are internally meshed with the large sun gear, the three planetary gears are uniformly distributed around the axis of the sun gear shaft, and the planet carrier is connected with an interface clutch disc corresponding to the planetary carrier;
a transition gear shaft is arranged among the first, second, third, fourth, fifth and sixth joint driving mechanisms, a transition gear shaft is arranged among the sixth and seventh joint driving mechanisms and the eighth joint driving mechanism respectively, and no transition gear shaft is arranged among the seventh and eighth joint driving mechanisms;
The gear shaft of the first joint driving mechanism is externally meshed with the transition gear shaft between the first joint driving mechanism and the second joint driving mechanism, and the transition gear shaft between the first joint driving mechanism and the second joint driving mechanism is externally meshed with the large sun gear of the second joint driving mechanism;
The planet carrier gear shaft of the second joint driving mechanism is externally meshed with the transition gear shafts between the second joint driving mechanism and the third joint driving mechanism, and the transition gear shafts between the second joint driving mechanism and the third joint driving mechanism are externally meshed with the large sun gear of the third joint driving mechanism;
The planet carrier gear shaft of the third joint driving mechanism is externally meshed with the transition gear shafts between the third joint driving mechanism and the fourth joint driving mechanism, and the transition gear shafts between the third joint driving mechanism and the fourth joint driving mechanism are externally meshed with the large sun gear of the fourth joint driving mechanism;
The planet carrier gear shaft of the fourth joint driving mechanism is externally meshed with the transition gear shafts between the fourth joint driving mechanism and the fifth joint driving mechanism, and the transition gear shafts between the fourth joint driving mechanism and the fifth joint driving mechanism are externally meshed with the large sun gear of the fifth joint driving mechanism;
The planet carrier gear shaft of the fifth joint driving mechanism is externally meshed with the transition gear shafts between the fifth joint driving mechanism and the sixth joint driving mechanism, and the transition gear shafts between the fifth joint driving mechanism and the sixth joint driving mechanism are externally meshed with the large sun gear of the sixth joint driving mechanism;
The planet carrier gear shaft of the sixth joint driving mechanism is externally meshed with the transition gear shafts between the sixth joint driving mechanism and the seventh joint driving mechanism, and the transition gear shafts between the sixth joint driving mechanism and the seventh joint driving mechanism are externally meshed with the large sun gear of the seventh joint driving mechanism;
The planet carrier gear shaft of the sixth joint driving mechanism is externally meshed with the transition gear shafts between the sixth joint driving mechanism and the eighth joint driving mechanism, and the transition gear shafts between the sixth joint driving mechanism and the eighth joint driving mechanism are externally meshed with the large sun gear of the eighth joint driving mechanism.
Furthermore, the two ends of the gear shaft of the first joint driving mechanism are axially fixed through bearings, and the bearings are fixed on the base.
Further, one end of the planet carrier gear shaft of the second, third, fourth, fifth and sixth joint driving mechanisms extends out of the three pin shafts, the three pin shafts of the planet carrier gear shaft are respectively inserted into the center holes of the three planet gears, one end of the planet carrier gear shaft is axially fixed through the bearings, the other end of the planet carrier gear shaft is axially fixed through the three planet gears, two ends of the sun gear shaft and two ends of the large sun gear are respectively axially fixed through the bearings, one bearing is fixed on the sun gear shaft and the large sun gear, the other two bearings are fixed on the base, and one end of the planet carrier gear shaft is in interference fit with the interface clutch disc.
Further, one end of the planet carrier of the seventh joint driving mechanism and one end of the planet carrier of the eighth joint driving mechanism extend out of the three pin shafts, the three pin shafts of the planet carrier are respectively inserted into the central holes of the three planet gears, one end of the planet carrier is axially fixed through the bearings, the other end of the planet carrier is axially fixed through the three planet gears, two ends of the sun gear shaft and the large sun gear are respectively axially fixed through the bearings, one bearing is fixed on the sun gear shaft and the large sun gear, the other two bearings are fixed on the base, and one end of the planet carrier is in interference fit with the interface clutch disc.
Further, two ends of a transition gear shaft arranged among the first, second, third, fourth, fifth and sixth joint driving mechanisms and among the sixth joint driving mechanism, the seventh joint driving mechanism and the eighth joint driving mechanism are axially fixed through bearings, and the bearings are fixed on the base.
Further, the cross sections of the small sun wheel and the sun wheel shaft of the second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms are in a D shape, the small sun wheel and the D-shaped cross sections of the sun wheel shaft form interference fit, and the small sun wheel and the sun wheel shaft are circumferentially fixed through the D-shaped cross sections.
Further, the first, second, third, fourth, fifth and sixth joint driving mechanisms are arranged in series on the base in sequence in a single row, and the seventh joint driving mechanism, the eighth joint driving mechanism and the sixth joint driving mechanism are arranged on the base in parallel.
Further, the base include base casing and base dustcoat, base casing on be equipped with twice location boss, base casing both sides face is equipped with two long bolt holes respectively, long bolt hole link to each other with the base dustcoat.
Furthermore, the two base covers are respectively arranged and fixed on two sides of the base shell, the upper surface of the base cover is provided with a guide chute, the top end of the guide chute is in a horn mouth shape so as to facilitate the installation of the surgical instrument executing mechanism, the tail end of the guide chute and the bottom of the middle part of the guide chute are in an arc shape, the opening directions of the tail end of the guide chute and the bottom of the middle part of the arc chute are perpendicular to the axial direction of the guide chute, and the tail end of the arc-shaped guide chute and the bottom of the middle part of the guide chute are in interference fit with a fixed pin roll of the surgical instrument executing mechanism so as to prevent the fixed pin roll of the surgical instrument executing mechanism from sliding out from the tail end of the guide chute and the bottom of the middle part of the guide chute on the base cover, thereby leading the surgical instrument executing mechanism to be separated from the quick-change mechanism;
Furthermore, the surgical instrument actuating mechanism can be arranged on the quick-change mechanism along the guide chute on the base housing, two long bolt holes are designed on the base housing, the two long bolt holes on the base housing are perpendicular to the long hole axis of the long bolt hole on the base housing, and the installation relative position of the base housing and the base housing can be conveniently adjusted when the base housing is installed and fixed on the base housing.
Further, the quick-change mechanism base for the minimally invasive surgical single-hole surgical robot further comprises a locking mechanism used for fixing the surgical instrument executing mechanism on the base, each locking mechanism comprises two groups, each group comprises a locking hook, one end of each locking hook is rotatably arranged on the same base outer cover, the other end of each locking hook is provided with a groove, a boss is arranged at a corresponding position on the surgical instrument executing mechanism shell, and the grooves on the locking hooks are matched with the bosses at the corresponding positions on the surgical instrument executing mechanism shell to fix the surgical instrument executing mechanism.
The beneficial effects are that:
compared with the prior art, the quick-change mechanism for mechanical decoupling of the minimally invasive surgical single-hole surgical robot has the following beneficial effects:
1. The quick-change mechanism for mechanical decoupling of the minimally invasive surgical single-hole surgical robot is convenient to assemble and disassemble, easy to adjust, accurate in positioning, high in rigidity, reasonable in layout, small in size and light in weight.
2. The surgical instrument quick-change mechanism adopts mechanical decoupling, and the problem of mutual motion coupling generated when each joint of the surgical instrument actuating mechanism swings is completely solved.
3. Through adjusting the relative mounted position between base dustcoat and the base casing, can adjust the relative mounted position between the interface clutch disc on the guide chute on the base dustcoat and the base casing to when making surgical instrument actuating mechanism M install quick change mechanism N, interface clutch disc on the surgical instrument actuating mechanism M can cooperate the transmission in place just with the interface clutch disc on the base casing, can not lead to interface clutch disc on the surgical instrument actuating mechanism M and the interface clutch disc on the base casing unable cooperation because of interfering.
4. The top of the guide chute on the cutter holder outer cover is made into a horn mouth, so that the surgical instrument executing mechanism M is more convenient and quicker to install into the quick-change mechanism N, the curve of the guide chute can ensure that the cutter driving disc naturally slides to be abutted without interference, and the tail end of the guide chute and the bottom of the middle part of the guide chute adopt interference fit, so that the relative installation position of the surgical instrument executing mechanism M and the quick-change mechanism N can be accurately positioned. The surgical instrument executing mechanism M is installed and taken in and removed from the front upper side of the quick change mechanism N, accords with the customary operation direction, and reduces the installation and removal difficulty.
5. The hook locking mechanism can accurately and reliably fix the surgical instrument executing mechanism M on the quick-change mechanism N, and can conveniently lock and unlock the surgical instrument executing mechanism M.
6. The interface clutch disc on the quick-change mechanism N adopts single-row arrangement, so that the force arm between the fixed points of the surgical instrument executing mechanism M on the base is longer, and the fixation of the surgical instrument executing mechanism M on the base is more favorable for ensuring.
7. The interface clutch disc on the quick-change mechanism N is arranged in a single row, and the motors and the interface clutch disc are coaxially arranged, so that the motors of the second joint driving mechanism, the third joint driving mechanism, the fourth joint driving mechanism, the fifth joint driving mechanism, the sixth joint driving mechanism, the seventh joint driving mechanism and the eighth joint driving mechanism can be arranged in a single row, the possibility of interference when a plurality of quick-change mechanisms act cooperatively is reduced, and the space arrangement is reasonable.
8. The mechanical decoupling mechanism is designed on the quick-change mechanism N and is not designed on the surgical instrument executing mechanism M, so that the structural design of the surgical instrument executing mechanism M can be simplified, and the mass production of the surgical instrument executing mechanism M is facilitated.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The explanation of the reference numerals is specifically omitted among the reference numerals described below: 1_4 to 8_10 are represented by: 1_4, 2_10, 3_10, 4_10, 5_10, 6_10, 7_10, 8_10, and 2_3 to 8_3 are represented by: 2_3, 3_3, 4_3, 5_3, 6_3, 7_3, 8_3, 2_4 to 8_4 are represented by 2_4, 3_4, 5_4, 6_4, 7_4, 8_4, 2_10 to 6_10 are represented by 2_10, 3_10, 4_10, 5_10, 6_10, 2_3 to 6_3 are represented by 2_3, 3_3, 4_3, 5_3, 6_3, 2_6_6 to 2 are represented by 2_6, 2_7, 2_8 are represented by 3_6, 3_7, 3_8, 4_6 to 4_8 are represented by 4_6, 4_7, 4_8 are represented by 5_6 to 5_8, 5_8 are represented by 6_6, 6_76, 7, 1_7, 2_8 are represented by 2_6, 2_7, 2_8 are represented by 2_4_8, 2_8 are represented by 2_6, 2_4_8, 2_8 are represented by 2_4_8, 2_5_8 are represented by 3_6, 2_5_8, 5_6, 5_8 are represented by 2_5_6, 2_4 are represented by 3_1, 2_4, 2_1 are represented by 2_4, 2_2_4, 2_4, 2_2 represented by 2 each 2 by 2 each 2.2 each 2 each and each and.
Example 1
The mechanical decoupling quick-change mechanism for the minimally invasive single-hole surgical robot according to the present embodiment is described with reference to fig. 1 to 3, 6 to 9, and 14 to 18, and includes a fixing seat 1_1, and a first joint driving mechanism 1, a second joint driving mechanism 2, a third joint driving mechanism 3, a fourth joint driving mechanism 4, a fifth joint driving mechanism 5, a sixth joint driving mechanism 6, a seventh joint driving mechanism 7, an eighth joint driving mechanism 8, and the like, which are mounted on the fixing seat 1_1.
The first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 are arranged on the same base 1_1, and the first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 are respectively connected with the surgical instrument executing mechanism M through an interface clutch disc 1_4-8_10;
The first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 correspondingly drive the rotation of the first joint executing mechanism 9, the second joint executing mechanism 10, the third joint executing mechanism 11, the fourth joint executing mechanism 12, the fifth joint executing mechanism 13, the sixth joint executing mechanism 14, the seventh joint executing mechanism 15 and the eighth joint executing mechanism 16 of the surgical instrument executing mechanism M through steel wire ropes respectively;
The first joint driving mechanism 1 comprises a motor 1_7, wherein the motor 1_7 is connected with a gear shaft 1_9 through a coupler 1_8, and the gear shaft 1_9 is connected with a corresponding interface clutch disc 1_4;
The second joint driving mechanism 2 comprises a motor 2_1, the motor 2_1 is connected with a sun gear shaft 2_3 through a coupling 2_2, a large sun gear 2_5 and a small sun gear 2_4 are arranged on the sun gear shaft 2_3, the large sun gear 2_5 and the small sun gear 2_4 are meshed with three planetary gears 2_6-2_8 arranged on a planet carrier gear shaft 2_9, the three planetary gears 2_6-2_8 are meshed with the small sun gear 2_4, the three planetary gears 2_6-2_8 are meshed with the large sun gear 2_5, the three planetary gears 2_6-2_8 are uniformly distributed around the sun gear shaft 2_3, and a planet carrier gear shaft 2_9 is connected with an interface clutch disc 2_10 corresponding to the planetary gear shaft;
The third joint driving mechanism 3 comprises a motor 3_1, the motor 3_1 is connected with a sun gear shaft 3_3 through a coupler 3_2, a large sun gear 3_5 and a small sun gear 3_4 are arranged on the sun gear shaft 3_3, the large sun gear 3_5 and the small sun gear 3_4 are meshed with three planetary gears 3_6-3_8 arranged on a planet carrier gear shaft 3_9, the three planetary gears 3_6-3_8 are meshed with the small sun gear 3_4, the three planetary gears 3_6-3_8 are meshed with the large sun gear 3_5, the three planetary gears 3_6-3_8 are uniformly distributed around the sun gear shaft 3_3, and a planet carrier gear shaft 3_9 is connected with an interface clutch disc 3_10 corresponding to the planetary gear shaft;
The fourth joint driving mechanism 4 comprises a motor 4_1, the motor 4_1 is connected with a sun gear shaft 4_3 through a coupler 4_2, a large sun gear 4_5 and a small sun gear 4_4 are arranged on the sun gear shaft 4_3, the large sun gear 4_5 and the small sun gear 4_4 are meshed with three planetary gears 4_6-4_8 arranged on a planet carrier gear shaft 4_9, the three planetary gears 4_6-4_8 are meshed with the small sun gear 4_4, the three planetary gears 4_6-4_8 are meshed with the large sun gear 4_5, the three planetary gears 4_6-4_8 are uniformly distributed around the sun gear shaft 4_3, and a planet carrier gear shaft 4_9 is connected with an interface clutch disc 4_10 corresponding to the planetary gear shaft;
The fifth joint driving mechanism 5 comprises a motor 5_1, the motor 5_1 is connected with a sun gear shaft 5_3 through a coupling 5_2, a large sun gear 5_5 and a small sun gear 5_4 are arranged on the sun gear shaft 5_3, the large sun gear 5_5 and the small sun gear 5_4 are meshed with three planetary gears 5_6-5_8 arranged on a planet carrier gear shaft 5_9, the three planetary gears 5_6-5_8 are meshed with a small sun gear 5_4 externally, the three planetary gears 5_6-5_8 are meshed with the large sun gear 5_5 internally, the three planetary gears 5_6-5_8 are uniformly distributed around the axis of the sun gear shaft 5_3, and the planet carrier gear shaft 5_9 is connected with an interface clutch disc 5_10 corresponding to the planetary carrier gear shaft;
The sixth joint driving mechanism 6 comprises a motor 6_1, the motor 6_1 is connected with a sun gear shaft 6_3 through a coupler 6_2, a large sun gear 6_5 and a small sun gear 6_4 are arranged on the sun gear shaft 6_3, the large sun gear 6_5 and the small sun gear 6_4 are meshed with three planetary gears 6_6-6_8 arranged on a planet carrier gear shaft 6_9, the three planetary gears 6_6-6_8 are meshed with a small sun gear 6_4 externally, the three planetary gears 6_6-6_8 are meshed with a large sun gear 6_5 internally, the three planetary gears 6_6-6_8 are uniformly distributed around a sun gear shaft 6_3 axis, and the planet carrier gear shaft 6_9 is connected with an interface clutch disc 6_10 corresponding to the planetary gear shaft 6_9;
The seventh joint driving mechanism 7 comprises a motor 7_1, the motor is connected with a sun gear shaft 7_3 through a coupling 7_2, a large sun gear 7_5 and a small sun gear 7_4 are arranged on the sun gear shaft 7_3, the large sun gear 7_5 and the small sun gear 7_4 are meshed with three planetary gears 7_6-7_8 arranged on a planet carrier 7_8, the three planetary gears 7_6-7_8 are meshed with the small sun gear 7_4 externally, the three planetary gears 7_6-7_8 are meshed with the large sun gear 7_5 internally, the three planetary gears 7_6-7_8 are evenly distributed around the sun gear shaft 7_3, and the planet carrier 7_9 is connected with an interface clutch disc 7_10 corresponding to the planetary carrier 7_9;
The eighth joint driving mechanism 8 comprises a motor 8_1 which is connected with a sun gear shaft 8_3 through a coupler 8_2, a large sun gear 8_5 and a small sun gear 8_4 are arranged on the sun gear shaft 8_3, the large sun gear 8_5 and the small sun gear 8_4 are meshed with three planetary gears 8_6-8_8 arranged on a planet carrier 8_8, the three planetary gears 8_6-8_8 are meshed with the small sun gear 8_4 externally, the three planetary gears 8_6-8_8 are meshed with the large sun gear 8_5 internally, the three planetary gears 8_6-8_8 are uniformly distributed around the axis of the sun gear shaft 8_3, and the planet carrier 8_9 is connected with an interface clutch disc 8_10 corresponding to the planetary gear carrier 8_9;
A transition gear shaft 1_2_1-5_6_1 is arranged among the first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6;
A transition gear shaft 6_7_1 and a transition gear shaft 6_8_1 are respectively arranged between the sixth joint driving mechanism 6 and the seventh joint driving mechanism 7 and between the sixth joint driving mechanism 8;
a transition gear shaft is not arranged between the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8;
The gear shaft 1_9 of the first joint driving mechanism 1 is externally meshed with the transition gear shaft 1_2_1 between the first joint driving mechanism 1 and the second joint driving mechanism 2, and the transition gear shaft 1_2_1 between the first joint driving mechanism 1 and the second joint driving mechanism 2 is externally meshed with the large sun gear 2_5 of the second joint driving mechanism 2;
The gear shaft 2_3 of the second joint driving mechanism 2 is externally meshed with the transition gear shaft 2_3_1 between the second joint driving mechanism 2 and the third joint driving mechanism 3, and the transition gear shaft 2_3_1 between the second joint driving mechanism 2 and the third joint driving mechanism 3 is externally meshed with the large sun gear 3_5 of the third joint driving mechanism 3;
The planet carrier gear shaft 3_9 of the third joint driving mechanism 3 is externally meshed with the transition gear shaft 3_4_1 between the third joint driving mechanism 3 and the fourth joint driving mechanism 4, and the transition gear shaft 3_4_1 between the third joint driving mechanism 3 and the fourth joint driving mechanism 4 is externally meshed with the large sun gear 4_5 of the fourth joint driving mechanism 4;
The planet carrier gear shaft 4_9 of the fourth joint driving mechanism 4 is externally meshed with the transition gear shaft 4_5_1 between the fourth joint driving mechanism 4 and the fifth joint driving mechanism 5, and the transition gear shaft 4_5_1 between the fourth joint driving mechanism 4 and the fifth joint driving mechanism 5 is externally meshed with the large sun gear 5_5 of the fifth joint driving mechanism 5;
the planet carrier gear shaft 5_9 of the fifth joint driving mechanism 5 is externally meshed with the transition gear shaft 5_6_1 between the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6, and the transition gear shaft 5_6_1 between the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6 is externally meshed with the large sun gear 6_5 of the sixth joint driving mechanism 6;
The planet carrier gear shaft 6_9 of the sixth joint driving mechanism 6 is externally meshed with the transition gear shaft 6_7_1 between the sixth joint driving mechanism 6 and the seventh joint driving mechanism 7, and the transition gear shaft 6_7_1 between the sixth joint driving mechanism 6 and the seventh joint driving mechanism 7 is externally meshed with the large sun gear 7_5 of the seventh joint driving mechanism 7;
The planet carrier gear shaft 6_9 of the sixth joint driving mechanism 6 is externally meshed with the transition gear shaft 6_8_1 between the sixth joint driving mechanism 6 and the eighth joint driving mechanism 8, and the transition gear shaft 6_8_1 between the sixth joint driving mechanism 6 and the eighth joint driving mechanism 8 is externally meshed with the large sun gear 8_5 of the eighth joint driving mechanism 8;
Further, two ends of the gear shaft 1_9 of the first joint driving mechanism 1 are axially fixed through a bearing 1_5 and a bearing 1_6, and the bearing 1_5 and the bearing 1_6 are fixed on the base 1_3.
Further, one end of the planet carrier gear shaft 2_9 of the second joint driving mechanism 2 extends out of three pins, the three pins of the planet carrier gear shaft 2_9 are respectively inserted into the central holes of the three planet gears 2_6-2_8, one end of the planet carrier gear shaft 2_9 is axially fixed through a bearing 2_11, the other end of the planet carrier gear shaft 2_9 is axially fixed through the three planet gears 2_6-2_8, two ends of the sun gear shaft 2_3 and the large sun gear 2_5 are respectively axially fixed through a bearing 2_12 and a bearing 2_13, the bearing 2_12 is fixed on the sun gear shaft 2_3 and the large sun gear 2_5, the bearing 2_11 and the bearing 2_13 are fixed on the base 1_3, and one end of the planet carrier gear shaft 2_9 and the interface clutch disc 2_10 form interference fit.
Further, one end of the planet carrier gear shaft 3_9 of the third joint driving mechanism 3 extends out of three pins, the three pins of the planet carrier gear shaft 3_9 are respectively inserted into the central holes of the three planet gears 3_6-3_8, one end of the planet carrier gear shaft 3_9 is axially fixed through a bearing 3_11, the other end of the planet carrier gear shaft 3_9 is axially fixed through the three planet gears 3_6-3_8, two ends of the sun gear shaft 3_3 and the large sun gear 3_5 are respectively axially fixed through a bearing 3_12 and a bearing 3_13, the bearing 3_12 is fixed on the sun gear shaft 3_3 and the large sun gear 3_5, the bearing 3_11 and the bearing 3_13 are fixed on the base 1_3, and one end of the planet carrier gear shaft 3_9 and the interface clutch disc 3_10 form interference fit.
Further, one end of the planet carrier gear shaft 4_9 of the fourth joint driving mechanism 4 extends out of three pins, the three pins of the planet carrier gear shaft 4_9 are respectively inserted into the central holes of the three planet gears 4_6-4_8, one end of the planet carrier gear shaft 4_9 is axially fixed through a bearing 4_11, the other end of the planet carrier gear shaft 4_9 is axially fixed through the three planet gears 4_6-4_8, two ends of the sun gear shaft 4_3 and the large sun gear 4_5 are respectively axially fixed through a bearing 4_12 and a bearing 4_13, the bearing 4_12 is fixed on the sun gear shaft 4_3 and the large sun gear 4_5, the bearing 4_11 and the bearing 4_13 are fixed on the base 1_3, and one end of the planet carrier gear shaft 4_9 and the interface clutch disc 4_10 form interference fit.
Further, one end of the planet carrier gear shaft 5_9 of the fifth joint driving mechanism 5 extends out of three pin shafts, the three pin shafts of the planet carrier gear shaft 5_9 are respectively inserted into the central holes of the three planet gears 5_6-5_8, one end of the planet carrier gear shaft 5_9 is axially fixed through a bearing 5_11, the other end of the planet carrier gear shaft 5_9 is axially fixed through the three planet gears 5_6-5_8, two ends of the sun gear shaft 5_3 and the large sun gear 5_5 are respectively axially fixed through a bearing 5_12 and a bearing 5_13, the bearing 5_12 is fixed on the sun gear shaft 5_3 and the large sun gear 5_5, the bearing 5_11 and the bearing 5_13 are fixed on the base 1_3, and one end of the planet carrier gear shaft 5_9 and the interface clutch disc 5_10 form interference fit.
Further, one end of the planet carrier gear shaft 6_9 of the sixth joint driving mechanism 6 extends out of three pins, the three pins of the planet carrier gear shaft 6_9 are respectively inserted into the central holes of the three planet gears 6_6 to 6_8, one end of the planet carrier gear shaft 6_9 is axially fixed through a bearing 6_11, the other end of the planet carrier gear shaft 6_9 is axially fixed through the three planet gears 6_6 to 6_8, two ends of the sun gear shaft 6_3 and the large sun gear 6_5 are respectively axially fixed through a bearing 6_12 and a bearing 6_13, the bearing 6_12 is fixed on the sun gear shaft 6_3 and the large sun gear 6_5, the bearing 6_11 and the bearing 6_13 are fixed on the base 1_3, and one end of the planet carrier gear shaft 6_9 and the interface clutch disc 6_10 form interference fit.
Further, one end of the planet carrier 7_9 of the seventh joint driving mechanism 7 extends out of three pins, the three pins of the planet carrier 7_9 are respectively inserted into the central holes of the three planet gears 7_6-7_8, one end of the planet carrier 7_9 is axially fixed through a bearing 7_11, the other end of the planet carrier 7_9 is axially fixed through the three planet gears 7_6-7_8, two ends of the sun gear shaft 7_3 and the large sun gear 7_5 are respectively axially fixed through a bearing 7_12 and a bearing 7_13, the bearing 7_12 is fixed on the sun gear shaft 7_3 and the large sun gear 7_5, the bearing 7_11 and the bearing 7_13 are fixed on the base 1_3, and one end of the planet carrier gear shaft 7_9 and the interface clutch disc 7_10 form interference fit.
Further, one end of the planet carrier 8_9 of the eighth joint driving mechanism 8 extends out of three pins, the three pins of the planet carrier 8_9 are respectively inserted into the central holes of the three planet gears 8_6-8_8, one end of the planet carrier 8_9 is axially fixed through a bearing 8_11, the other end of the planet carrier 8_9 is axially fixed through the three planet gears 8_6-8_8, two ends of the sun gear shaft 8_3 and the large sun gear 8_5 are respectively axially fixed through a bearing 8_12 and a bearing 8_13, the bearing 8_12 is fixed on the sun gear shaft 8_3 and the large sun gear 8_5, the bearing 8_11 and the bearing 8_13 are fixed on the base 1_3, and one end of the planet carrier gear shaft 8_9 and the interface clutch disc 8_10 form interference fit.
Further, the two ends of the transition gear shafts 1_2_1 to 6_8_1 installed between the first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6 and between the sixth joint driving mechanism 6 and the seventh joint driving mechanism 7 and between the eighth joint driving mechanism 8 are respectively and axially fixed through bearings 1_2_2 to 6_8_3, and the bearings 1_2_2 to 6_8_3 are fixed on the base 1_3.
Further, the sections of the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 are in a shape of D, the sections of the small sun gears 2_4-8_4 and the sun gear shafts 2_3-8_3 are in interference fit, and the sections of the small sun gears 2_4-8_4 and the sun gear shafts 2_3-8_3 are circumferentially fixed through the sections of the D.
Further, the first joint driving mechanism 1, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6 are sequentially arranged in series in a single row on the base 1_3, and the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 are arranged in parallel with the sixth joint driving mechanism 6 on the base 1_3.
Further, the base 1_3 includes a base housing 1_3_1 and a base housing 1_3_2, two positioning bosses are disposed on the base housing 1_3_1, two long bolt holes are respectively disposed on two sides of the base housing 1_3_1, and the long bolt holes are connected with the base housing 1_3_2.
Furthermore, the two base outer covers 1_3_2 are respectively arranged and fixed on two sides of the base shell 1_3_1, a guide chute is designed on the base outer cover 1_3_2, the top end of the guide chute is in a horn mouth shape so as to facilitate the installation of the surgical instrument executing mechanism M, the tail end of the guide chute and the bottom of the middle part of the guide chute on the base outer cover 1_3_2 are in an arc shape, the opening directions of the bottom of the arc-shaped chute at the tail end and the bottom of the middle part of the guide chute are perpendicular to the axial direction of the guide chute, and the tail end and the bottom of the middle part of the arc-shaped guide chute and the fixed pin shaft 1_3_4 of the surgical instrument executing mechanism M form interference fit to prevent the fixed pin shaft 1_3_4 of the surgical instrument executing mechanism M from sliding out from the tail end of the guide chute on the base outer cover 1_3_2 and the bottom of the middle part of the guide chute, so that the surgical instrument executing mechanism M and the quick-change mechanism N are separated;
Furthermore, the surgical instrument executing mechanism M can be installed on the quick-change mechanism N along a guide chute on the base housing 1_3_2, two long bolt holes are designed on the base housing 1_3_2, the two long bolt holes on the base housing 1_3_2 are perpendicular to the long bolt hole axes on the base housing 1_3_1, and the installation relative positions of the base housing 1_3_2 and the base housing 1_3_1 can be conveniently adjusted when the base housing 1_3_2 is installed and fixed on the base housing 1_3_1.
Further, the quick-change mechanism N base 1_3 for the minimally invasive surgery single-hole surgical robot further comprises a locking mechanism 1_3_3 for fixing the surgical instrument executing mechanism M on the base 1_3, wherein each locking mechanism 1_3_3 comprises two groups, each group comprises a locking hook, namely, the locking hook 1_3_3_1 and the locking hook 1_3_3_2, one end of each locking hook 1_3_1 and one end of each locking hook 1_3_2 are rotatably arranged on the same base housing 1_3_2, grooves are formed in the other ends of the locking hooks 1_3_3_1 and the locking hooks 1_3_3_2, bosses are formed in corresponding positions on the outer shell of the surgical instrument executing mechanism M, and the grooves on the locking hooks 1_3_1 and 1_3_2 are matched with the bosses on corresponding positions on the outer shell of the surgical instrument executing mechanism M for fixing the surgical instrument executing mechanism M.
The working principle of the invention is as follows:
The interface clutch disc 1_4 of the first joint driving mechanism 1 rotates clockwise around the axis of the gear shaft 1_9, namely, the motor 1_7 on the first joint driving mechanism 1 is started to rotate the output shaft of the motor clockwise, so that the coupler 1_8 and the gear shaft 1_9 on the first joint driving mechanism 1 are driven to rotate clockwise, and the interface clutch disc 1_4 on the first joint driving mechanism 1 is driven to rotate clockwise around the axis of the gear shaft 1_9. The first arm segment 9_2 of the surgical instrument actuator M is actively rotated clockwise relative to the end-effector junction box 1_10 to change the relative angle between the first arm segment 9_2 and the end-effector junction box 1_10.
The gear shaft 1_9 of the first joint driving mechanism 1 is externally meshed with the transition gear shaft 1_2_1 between the first joint driving mechanism 1 and the second joint driving mechanism 2, and the transition gear shaft 1_2_1 between the first joint driving mechanism 1 and the second joint driving mechanism 2 is externally meshed with the large sun gear 2_5 of the second joint driving mechanism 2; at this time, the gear shaft 1_9 of the first joint driving mechanism 1 drives the transition gear shaft 1_2_1 between the first joint driving mechanism 1 and the second joint driving mechanism 2 to rotate anticlockwise, the transition gear shaft 1_2_1 between the first joint driving mechanism 1 and the second joint driving mechanism 2 drives the external gear of the large sun gear 2_5 on the second joint driving mechanism 2 to rotate clockwise, the three planetary gears 2_6-2_8 on the second joint driving mechanism 2 are meshed with the large sun gear 2_5, each planetary gear 2_6-2_8 rotates clockwise around the axis of the planetary gear while rotating clockwise around the axis of the sun gear shaft 2_3, the three planetary gears 2_6-2_8 drive the planet carrier gear shaft 2_9 to rotate clockwise around the axis of the sun gear shaft 2_3, and the planet carrier gear shaft 2_9 drives the interface clutch disc 2_10 to rotate clockwise around the axis of the sun gear shaft 2_3 at this time, and the small sun gears 2_4 and the sun gear shaft 2_3 on the second joint driving mechanism 2 do not rotate clockwise. When the first joint 9_1 swings clockwise and the second joint 10_1 swings clockwise at the same time, the second joint 10_1 and the first joint 9_1 are set to have the same steering direction and the same rotating speed, and the first arm segment 9_2 of the surgical instrument executing mechanism M actively swings clockwise relative to the tail end transmission box connecting sleeve 1_10 to change the relative included angle between the first arm segment 9_2 and the tail end transmission box connecting sleeve 1_10, the second arm segment 10_2 does not swing passively relative to the first arm segment 9_2 to change the relative included angle between the second arm segment 10_2 and the first arm segment 9_2, and the purpose of decoupling is achieved through a mechanical structure.
The gear shaft 2_3 of the second joint driving mechanism 2 is externally meshed with the transition gear shaft 2_3_1 between the second joint driving mechanism 2 and the third joint driving mechanism 3, the transition gear shaft 2_3_1 between the second joint driving mechanism 2 and the third joint driving mechanism 3 is externally meshed with the large sun gear 3_5 of the third joint driving mechanism 3, at the moment, the gear shaft 2_3 of the second joint driving mechanism 2 drives the transition gear shaft 2_3_1 between the second joint driving mechanism 2 and the third joint driving mechanism 3 to rotate anticlockwise, the transition gear shaft 2_3_1 between the second joint driving mechanism 2 and the third joint driving mechanism 3 drives an external gear of the large sun gear 3_5 on the third joint driving mechanism 3 to rotate clockwise, the three planetary gears 3_6-3_8 on the third joint driving mechanism 3 are internally meshed with the large sun gear 3_5, each planetary gear 3_6-3_8 rotates clockwise around the axis of the sun gear shaft 3_5 while rotating clockwise around the self-axis, the three planetary gears 3_6-3_8 drive the planetary gear shaft to rotate clockwise around the axis of the sun gear shaft 3_3_3, the three planetary gear shafts 3_6-3_8 drive the planetary gear shaft to rotate clockwise around the sun gear shaft 3_3_5, and the planetary carrier 3_3_4 rotates clockwise around the sun gear shaft 3_4, and the sun gear shaft 3_4 rotates clockwise. The second joint 10_1 swings clockwise and the third joint 11_1 swings clockwise, the proper proportion is set, the third joint 11_1 and the first joint 9_1 are identical in steering, the rotating speeds are equal, and when the first arm section 9_2 of the surgical instrument executing mechanism M swings clockwise relative to the tail end transmission box connecting sleeve 1_10 actively, the relative included angle between the first arm section 9_2 and the tail end transmission box connecting sleeve 1_10 is changed, the third arm section 11_2 does not swing passively relative to the second arm section 10_2, the relative included angle between the third arm section 11_2 and the second arm section 10_2 is not changed, and the aim of decoupling is achieved through a mechanical structure.
The planet carrier gear shaft 3_9 of the third joint driving mechanism 3 is externally meshed with the transition gear shaft 3_4_1 between the third joint driving mechanism 3 and the fourth joint driving mechanism 4, the transition gear shaft 3_4_1 between the third joint driving mechanism 3 and the fourth joint driving mechanism 4 is externally meshed with the large sun gear 4_5 of the fourth joint driving mechanism 4, at the moment, the planet carrier gear shaft 3_9 of the third joint driving mechanism 3 drives the transition gear shaft 3_4_1 between the third joint driving mechanism 3 and the fourth joint driving mechanism 4 to rotate anticlockwise, the transition gear shaft 3_4_1 between the third joint driving mechanism 3 and the fourth joint driving mechanism 4 drives the outer gear of the large sun gear 4_5 on the fourth joint driving mechanism 4 to rotate clockwise, the three planet gears 4_6-4_8 on the fourth joint driving mechanism 4_5 are internally meshed with the large sun gear 4_5, at the moment, the planet gears 4_6-4_8 rotate clockwise around the axis of the sun gear shaft 4_3 while rotating clockwise around the self-axis, the planet carrier gear shaft 3_4_4_1 drives the planet gears to rotate clockwise around the sun gear shaft 3_4_1, and the planet carrier 4_4_4_4_4_4_4_4 rotates clockwise around the sun gear shaft 3, and the planet carrier 4_4_4_4_4 rotates clockwise around the sun gear shaft 4_4_4_4_4 rotates clockwise, and the planet carrier 4_4_4_4 rotates the sun gear 4_4_4_4_4 and the sun gear 4 rotates clockwise. The third joint 11_1 swings clockwise and the fourth joint 12_1 swings clockwise at the same time, the right proportion is set, the fourth joint 12_1 and the first joint 9_1 are identical in steering, the rotating speed is equal, and when the first arm section 9_2 of the surgical instrument executing mechanism M swings clockwise relative to the tail end transmission box connecting sleeve 1_10 actively, the relative included angle between the first arm section 9_2 and the tail end transmission box connecting sleeve 1_10 is changed, the fourth arm section 12_2 does not swing passively relative to the third arm section 11_2, the relative included angle between the fourth arm section 12_2 and the third arm section 11_2 is not changed, and the aim of decoupling is achieved through a mechanical structure.
The planet carrier gear shaft 4_9 of the fourth joint driving mechanism 4 is externally meshed with the transition gear shaft 4_5_1 between the fourth joint driving mechanism 4 and the fifth joint driving mechanism 5, the transition gear shaft 4_5_1 between the fourth joint driving mechanism 4 and the fifth joint driving mechanism 5 is externally meshed with the large sun gear 5_5 of the fifth joint driving mechanism 5, at the moment, the planet carrier gear shaft 4_9 of the fourth joint driving mechanism 4 drives the transition gear shaft 4_5_1 between the fourth joint driving mechanism 4 and the fifth joint driving mechanism 5 to rotate anticlockwise, the transition gear shaft 4_5_1 between the fourth joint driving mechanism 4 and the fifth joint driving mechanism 5 drives the outer gear of the large sun gear 5_5 on the fifth joint driving mechanism 5 to rotate clockwise, the three planet gears 5_6-5_8 on the fifth joint driving mechanism 5 are internally meshed with the large sun gear 5_5, at the moment, the planet gears 5_6-5_8 rotate clockwise around the axis of the sun gear shaft 5_3 simultaneously, the three planet gears 5_6-5_8 rotate clockwise around the axis of the sun gear shaft 5_3, the planet carrier 5_5_1 drives the planet carrier 5_5_3 to rotate clockwise around the sun gear shaft 5_3, and the planet carrier 5_5_9 does not rotate clockwise around the sun gear shaft 5_3 rotates clockwise, and the planet carrier 5_5_5_3 rotates clockwise around the sun gear shaft 5_3, and the sun gear shaft 5_5_3 rotates clockwise around the sun gear shaft 5_3, and the sun carrier 5_5_5 rotates clockwise, and the sun gear 5_3 rotates the sun gear shaft 5_5_5_5. The fourth joint 12_1 swings clockwise and the fifth joint 13_1 swings clockwise, the proper proportion is set, the fifth joint 13_1 and the first joint 9_1 are identical in steering, the rotating speeds are equal, and when the first arm section 9_2 of the surgical instrument executing mechanism M swings clockwise relative to the tail end transmission box connecting sleeve 1_10 actively, the relative included angle between the first arm section 9_2 and the tail end transmission box connecting sleeve 1_10 is changed, the fifth arm section 13_2 does not swing passively relative to the fourth arm section 12_2, the relative included angle between the fifth arm section 13_2 and the fourth arm section 12_2 is not changed, and the aim of decoupling is achieved through a mechanical structure.
The planet carrier gear shaft 5_9 of the fifth joint driving mechanism 5 is externally meshed with the transition gear shaft 5_6_1 between the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6, the transition gear shaft 5_6_1 between the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6 is externally meshed with the large sun gear 6_5 of the sixth joint driving mechanism 6, at the moment, the planet carrier gear shaft 5_9 of the fifth joint driving mechanism 5 drives the transition gear shaft 5_6_1 between the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6 to rotate anticlockwise, the transition gear shaft 5_6_1 between the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6 drives the outer gear of the large sun gear 6_5 on the sixth joint driving mechanism 6 to rotate clockwise, the three planet gears 6_6-6_8 on the sixth joint driving mechanism 6 are all internally meshed with the large sun gear 6_5, each planet gear 6_6-6_8 rotates clockwise around the axis of the sun gear shaft 6_3 at the same time, the planet gears 6-6_8 rotate clockwise around the axis of the sun gear shaft, the planet carrier gear shaft 5_6_6_1 drives the planet gears to rotate clockwise around the axis of the sun gear shaft 6_3, the planet carrier shaft 5_6_6_8 drives the planet carrier shaft 5_6_8 to rotate clockwise around the sun gear shaft axis of the sun gear shaft 6_3, and the planet carrier gear shaft 5_35 drives the planet carrier shaft 5_6_5 rotates clockwise around the sun gear shaft 5_35 to rotate clockwise, and the sun gear shaft axis 5 rotates clockwise, and the planet carrier shaft axis of the sun gear shaft 5 rotates the sun gear shaft 5_5_5 is driven to rotate clockwise, and the sun gear shaft 5 is driven. The fifth joint 13_1 swings clockwise and the sixth joint 14_1 swings clockwise, the proper proportion is set, the sixth joint 14_1 and the first joint 9_1 are identical in steering direction and rotation speed, when the first arm section 9_2 of the surgical instrument executing mechanism M swings clockwise relative to the tail end transmission box connecting sleeve 1_10 actively, and the relative included angle between the first arm section 9_2 and the tail end transmission box connecting sleeve 1_10 is changed, the sixth arm section 14_2 does not swing passively relative to the fifth arm section 13_2, and the relative included angle between the sixth arm section 14_2 and the fifth arm section 13_2 does not change, so that the aim of decoupling is achieved through a mechanical structure.
The planet carrier gear shaft 6_9 of the sixth joint driving mechanism 6 is externally meshed with the transition gear shaft 6_7_1 between the sixth joint driving mechanism 6 and the seventh joint driving mechanism 7, the transition gear shaft 6_7_1 between the sixth joint driving mechanism 6 and the seventh joint driving mechanism 7 is externally meshed with the large sun gear 7_5 of the seventh joint driving mechanism 7, at the moment, the planet carrier gear shaft 6_9 of the sixth joint driving mechanism 6 drives the transition gear shaft 6_7_1 between the sixth joint driving mechanism 6 and the seventh joint driving mechanism 7 to rotate anticlockwise, the transition gear shaft 6_7_1 between the sixth joint driving mechanism 6 and the seventh joint driving mechanism 7 drives the outer gear of the large sun gear 7_5 on the seventh joint driving mechanism 7 to rotate clockwise, the three planet gears 7_6-7_8 on the seventh joint driving mechanism 7 are internally meshed with the large sun gear 7_5, each planet gear 7_6-7_8 rotates clockwise around the axis of the planet gears while rotating clockwise around the axis of the sun gear shaft 7_3, the three planet gears 7_6-7_8 drive the planet gears to rotate clockwise around the axis of the sun gear shaft 7_3, the planet carrier 7_9 rotates clockwise around the axis of the sun gear shaft 4, and the planet carrier 7_9 rotates clockwise around the axis 4 of the sun gear shaft 3. The sixth joint 14_1 swings clockwise and the seventh joint 15_1 swings clockwise, the proper proportion is set, the seventh joint 15_1 and the first joint 9_1 are identical in steering direction and rotation speed, when the first arm section 9_2 of the surgical instrument executing mechanism M swings clockwise relative to the tail end transmission box connecting sleeve 1_10 actively, and the relative included angle between the first arm section 9_2 and the tail end transmission box connecting sleeve 1_10 is changed, the first arm section seven 15_2 does not swing passively relative to the first arm section six 14_2, and the relative included angle between the first arm section seven 15_2 and the first arm section six 14_2 does not change, so that the aim of decoupling is achieved through a mechanical structure.
The planet carrier gear shaft 6_9 of the sixth joint driving mechanism 6 is externally meshed with the transition gear shaft 6_8_1 between the sixth joint driving mechanism 6 and the eighth joint driving mechanism 8, the transition gear shaft 6_8_1 between the sixth joint driving mechanism 6 and the eighth joint driving mechanism 8 is externally meshed with the large sun gear 8_5 of the eighth joint driving mechanism 8, at the moment, the planet carrier gear shaft 6_9 of the sixth joint driving mechanism 6 drives the transition gear shaft 6_8_1 between the sixth joint driving mechanism 6 and the eighth joint driving mechanism 8 to rotate anticlockwise, the transition gear shaft 6_8_1 between the sixth joint driving mechanism 6 and the eighth joint driving mechanism 8 drives the outer gear of the large sun gear 8_5 on the eighth joint driving mechanism 8 to rotate clockwise, the three planet gears 8_6-8_8 on the eighth joint driving mechanism 8 are internally meshed with the large sun gear 8_5, each planet gear 8_6-8 rotates clockwise around the axis line of the planet gears while rotating clockwise around the axis of the sun gear shaft 8_3, the three planet gears 6-8_8 rotate clockwise around the axis line of the planet carrier 8_3 to rotate clockwise around the sun gear shaft 8_4, and the planet carrier 538-8-rotates clockwise around the axis of the sun gear shaft 3276. The eighth joint 16_1 is clockwise swung while the sixth joint 14_1 is clockwise swung, and the proper proportion is set, so that the eighth joint 16_1 and the first joint 9_1 are the same in steering and equal in rotating speed, and when the first arm segment 9_2 of the surgical instrument executing mechanism M is clockwise actively swung relative to the tail end transmission box connecting sleeve 1_10 to change the relative included angle between the first arm segment 9_2 and the tail end transmission box connecting sleeve 1_10, the eighth arm segment 16_2 is not passively swung relative to the sixth arm segment 14_2, and the relative included angle between the eighth arm segment 16_2 and the sixth arm segment 14_2 is not changed, so that the aim of decoupling is fulfilled through a mechanical structure.
The interface clutch disc 1_4 of the first joint driving mechanism 1 realizes a counterclockwise rotation around the axis of the gear shaft 1_9. The counterclockwise rotation around the axis of the gear shaft 1_9 of the interface clutch disc 1_4 of the first joint driving mechanism 1 is the same as the clockwise rotation around the axis of the gear shaft 1_9 of the interface clutch disc 1_4 of the first joint driving mechanism 1 in a transmission line, and the directions are opposite.
The second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5 and the axes of the interface clutch plates 2_10-6_10 around the gear shafts 2_3-6_3 of the sixth joint driving mechanism 6 realize clockwise rotation, which is similar to the clockwise rotation of the axes of the interface clutch plates 1_4 around the gear shafts 1_3 of the first joint driving mechanism 1 in a transmission mode, the joint driving mechanisms actively rotate, and simultaneously the motion is transmitted to all joint driving mechanisms on one side close to the tail end joint (joint seven 15_1 and joint eight 16_1) of the surgical instrument executing mechanism M step by step, and the proper proportion is set, so that all joint driving mechanisms on the back side of the active rotation joint driving mechanism (on one side close to the tail end joint (joint seven 15_1 and joint eight 16_1) of the surgical instrument executing mechanism M) are the same as the active rotation driving mechanism, the rotation speed is equal, the arm section of the surgical instrument M controlled by the active rotation joint driving mechanism is enabled to rotate relative to the front adjacent arm section (joint seven sections are far away from the tail end joint 15_1 and the tail end joint 1) of the surgical instrument executing mechanism M and the front end joint eight (joint eight-16_1) of the surgical instrument executing mechanism is enabled to change the included angle between the front end joint segment and the front end joint 1 (joint 1) of the surgical instrument executing mechanism) to rotate correspondingly, all the joint driving mechanisms at the back of the active rotary joint driving mechanism (the side close to the joint at the tail end of the surgical instrument executing mechanism M (the side of the joint seven 15_1 and the joint eight 16_1)) correspondingly control the arm section of the surgical instrument executing mechanism M relative to the arm section of the surgical instrument executing mechanism M controlled by the active rotary joint driving mechanism, so that the arm section of the surgical instrument executing mechanism M correspondingly controlled by all the joint driving mechanisms at the back of the active rotary joint driving mechanism (the side close to the joint at the tail end of the surgical instrument executing mechanism M (the side of the joint seven 15_1 and the joint eight 16_1)) and the arm section of the surgical instrument executing mechanism M controlled by the active rotary joint driving mechanism do not change relative angles, and the aim of decoupling is achieved through a mechanical structure.
The axes of the interface clutch discs 2_10-6_10 of the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6 around the gear shafts 2_3-6_3 realize anticlockwise rotation, wherein the axes of the interface clutch discs 2_10-6_10 of the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6 around the gear shafts 2_3-6_3 realize anticlockwise rotation which is the same as the driving route of the clockwise rotation of the axes of the interface clutch discs 2_10-6_10 around the gear shafts 2_3-6_3 of the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5 and the interface clutch discs 2_10-6_10 of the sixth joint driving mechanism 6 realize anticlockwise rotation, and the driving route is opposite in direction.
Starting a motor 7_1 on the seventh joint driving mechanism 7 to enable an output shaft of the motor 7_1 to rotate clockwise, driving a coupler 7_2, a sun gear shaft 7_3 and a small sun gear 7_4 on the seventh joint driving mechanism 7 to rotate clockwise, enabling three planetary gears 7_6-7_8 to be meshed with the small sun gear 7_4, enabling each planetary gear 7_6-7_8 to rotate anticlockwise around an axis of the planetary gear shaft 7_3 and simultaneously enabling the three planetary gears 7_6-7_8 to drive a planet carrier 7_9 to rotate clockwise around an axis of the sun gear shaft 7_3, and enabling the planet carrier 7_9 to drive the interface clutch plate 7_10 to rotate clockwise around the axis of the sun gear shaft 7_3. The external gear of the large sun gear 7_5 on the seventh joint driving mechanism 7 and the seventh joint driving mechanism 7 are externally meshed with the transition gear shaft 6_7_1 of the sixth joint driving mechanism 6, and at this time, the large sun gear 7_5 on the seventh joint driving mechanism 7 is not rotated. The arm segment seven 15_2 of the surgical instrument actuating mechanism M actively swings clockwise relative to the arm segment six 14_2 to change the relative included angle between the arm segment seven 15_2 and the arm segment six 14_2.
The interface clutch disc 7_10 of the seventh joint driving mechanism 7 rotates anticlockwise around the axis of the sun gear shaft 7_3, and the anticlockwise rotation of the interface clutch disc 7_10 of the seventh joint driving mechanism 7 around the axis of the sun gear shaft 7_3 is the same as the clockwise rotation of the interface clutch disc 7_10 of the seventh joint driving mechanism 7 around the axis of the sun gear shaft 7_3 by a transmission route, and the directions are opposite.
The interface clutch disc 8_10 of the eighth joint driving mechanism 8 rotates clockwise around the axis of the sun wheel shaft 8_3, namely, a motor 8_1 on the eighth joint driving mechanism 8 is started to enable an output shaft of the motor 8_1 to rotate clockwise, a coupler 8_2, a sun wheel shaft 8_3 and a small sun wheel 8_4 on the eighth joint driving mechanism 8 are driven to rotate clockwise, three planetary wheels 8_6-8_8 are meshed with the small sun wheel 8_4, each planetary wheel 8_6-8_8 rotates anticlockwise around the axis of the planetary wheel shaft 3435 and simultaneously rotates clockwise around the axis of the sun wheel shaft 8_3, and a planet carrier 8_9 drives the interface clutch disc 8_10 to rotate clockwise around the axis of the sun wheel shaft 8_3. The external gear of the large sun gear 8_5 on the eighth joint driving mechanism 8 and the eighth joint driving mechanism 8 are externally meshed with the transition gear shaft 6_8_1 of the sixth joint driving mechanism 6, and at this time, the large sun gear 8_4 on the eighth joint driving mechanism 8 is not rotated. The arm segment eight 16_2 of the surgical instrument actuating mechanism M actively swings clockwise relative to the arm segment six 14_2 to change the relative included angle between the arm segment eight 16_2 and the arm segment six 14_2.
The interface clutch disc 8_10 of the eighth joint drive mechanism 8 performs a counter-clockwise rotation about the axis of the sun gear shaft 8_3. The interface clutch disc 8_10 of the eighth joint drive mechanism 8 performs a counter-clockwise rotation about the axis of the sun gear shaft 8_3 in the same "transmission line" as the interface clutch disc 8_10 of the eighth joint drive mechanism 8 performs a clockwise rotation about the axis of the sun gear shaft 8_3, with opposite directions.
Adjustment of the relative mounting position between the base housing 1_3_2 and the base housing 1_3_1:
two long bolt holes are designed on the base housing 1_3_2, two long bolt holes are respectively designed on two side surfaces of the base housing 1_3_1, the two long bolt holes on the base housing 1_3_2 are perpendicular to long bolt hole axes on the base housing 1_3_1, and when the two base housings 1_3_2 are fixed on the base housing 1_3_1, the installation relative positions of the base housing 1_3_2 and the base housing 1_3_1 can be adjusted by adjusting the relative fixed positions of the long bolt holes of the base housing 1_3_2 and the base housing 1_3_1.
Mounting and dismounting between the surgical instrument actuator M and the joint driving mechanism N:
When the surgical instrument executing mechanism M is installed in the joint driving mechanism N, the surgical instrument executing mechanism M slides into the tail end and the middle groove bottom of the guide sliding groove on the base housing 1_3_2 along the top end of the guide sliding groove in the shape of a horn mouth on the base housing 1_3_2, the tail end and the middle groove bottom of the guide sliding groove on the base housing 1_3_2 form interference fit with the fixed pin shaft of the surgical instrument executing mechanism M, and simultaneously the two locking hooks 1_3_1 and 1_3_2 on the two base housings 1_3_2 are respectively rotated, so that the grooves on the locking hooks 1_3_1 and 1_3_3_2 are matched with the bosses on the corresponding positions on the outer housing of the surgical instrument executing mechanism M, and the fixed pin shaft 1_3_4 of the surgical instrument executing mechanism M is prevented from sliding out of the guide sliding groove on the base housing 1_3_2, so that the surgical instrument executing mechanism M is separated from the joint driving mechanism N. Meanwhile, two positioning bosses on the base shell 1_3_1 can position and fix the surgical instrument executing mechanism M;
When the surgical instrument executing mechanism M is separated from the joint driving mechanism N, the two locking hooks 1_3_3_1 and 1_3_3_2 on the two base outer covers 1_3_2 are rotated respectively, so that the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 are separated from the bosses on the corresponding positions on the outer cover of the surgical instrument executing mechanism M, the surgical instrument executing mechanism M slides out of the base outer cover 1_3_2 from the top end of the guide chute on the base outer cover 1_3_2 and the bottom of the middle part of the guide chute in a horn shape, and the surgical instrument executing mechanism M is separated from the joint driving mechanism N.
Example 2
The present embodiment will be described with reference to fig. 10 to 13, in which the layout of the quick-change mechanism for mechanical decoupling of the minimally invasive surgical single-hole surgical robot can be changed to the structure of fig. 10 to 13 based on the technical solution of the first embodiment. Namely, the layout of the quick-change mechanism for mechanical decoupling of the minimally invasive surgical single-hole surgical robot in the technical scheme of the first embodiment is adjusted to the technical scheme of the second embodiment, and meanwhile, the layout of the transmission box of the surgical instrument executing mechanism M is also adjusted to the technical scheme of the second embodiment, so that the mechanical decoupling can be correctly driven.
The quick-change mechanism N for mechanical decoupling of the minimally invasive surgery single-hole surgical robot can be applied to driving and mechanical decoupling of double-head instruments, such as clamping instruments and shearing instruments, and the eighth joint driving mechanism 8 of the quick-change mechanism for mechanical decoupling of the minimally invasive surgery single-hole surgical robot is omitted, as shown in fig. 4 and 5, and the quick-change mechanism for mechanical decoupling of the minimally invasive surgery single-hole surgical robot can be applied to driving and mechanical decoupling of single-head instruments, such as cutting instruments and 30-degree cavity mirror instruments. The seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 of the mechanical decoupling quick-change mechanism for the minimally invasive single-hole surgical robot are omitted, and the mechanical decoupling quick-change mechanism for the minimally invasive single-hole surgical robot can be applied to driving and mechanical decoupling of 360-degree endoscopic instruments.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.