CN111374775B

CN111374775B - Medical robot manipulator

Info

Publication number: CN111374775B
Application number: CN201811644683.9A
Authority: CN
Inventors: 何跃春; 李欣生; 吴庆军; 何俊峰; 唐玉豪; 张应洪; 上官希坤; 刘志勇
Original assignee: Dakewe Shenzhen Medical Equipment Co ltd
Current assignee: Dakewe Shenzhen Medical Equipment Co ltd
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2024-08-30
Anticipated expiration: 2038-12-29
Also published as: CN111374775A

Abstract

The invention relates to a medical robot mechanical manipulator which comprises a horizontal pre-adjusting arm, a pitching swinging pre-adjusting arm, a turning arm and a pitching mechanical arm; the horizontal pre-adjusting arm comprises a plurality of rotating arms which are connected in turn in a rotating way, and a locking mechanism which is locked relatively is arranged between the adjacent rotating arms; the pitching and swinging pre-adjusting arm comprises a pitching pre-adjusting arm and a swinging pre-adjusting arm, wherein the pitching pre-adjusting arm and the swinging pre-adjusting arm are respectively provided with a fine-tuning self-locking mechanism, and the pitching pre-adjusting arm is arranged on the outermost rotating arm; the crank arm is arranged on a driving disc of the swing pre-adjusting arm, and a power driving mechanism is arranged on the crank arm; the pitching mechanical arm is driven by an output shaft on the power driving mechanism to work, and a driven arm, a fixed arm and a driving arm of the pitching mechanical arm are respectively provided with a synchronous device for linking adjacent adjusting arms. The invention has the advantages of quick adjustment, high safety performance, better stability and stability, and relatively saving manufacturing cost to a certain extent.

Description

Medical robot manipulator

Technical Field

The invention relates to the technical field of medical robots, in particular to a medical robot manipulator.

Background

Minimally invasive surgery is a medical technology research hotspot, and is a trend of future surgery, mainly because of the advantages of minimally invasive medical treatment: such as small trauma, short hospital stay, quick recovery, fewer postoperative complications, etc. However, the conventional endoscope operation has various drawbacks such as low operation accuracy, small visual field range, small operation freedom, and easy fatigue and tremble of doctors. With the development of scientific technology, the robotic medical assistance technology can well solve the problems. The robot auxiliary technology can provide a 3D visual field, is convenient for doctors to operate, greatly increases the flexibility of operation, enables doctors to perform finer operation, and simultaneously adds an ergonomic design to reduce the fatigue of the doctors.

In a common scenario of surgical operations with the assistance of a surgical robot, a doctor manipulates a master hand end of the robot at a location remote from a patient, in accordance with a master-slave manipulation control scheme, to control movement of surgical instruments of the patient-side robot at a surgical site. The form of the master arm includes, but is not limited to, a series of isomorphic robotic arms, a series of heterogeneous robotic arms, a parallel robotic arm, exoskeletal gloves, etc., by which the position and orientation of the surgical instrument at the surgical site can be controlled. Generally, patient-end robots have multiple robotic arms that hold surgical instruments and endoscopes. In such use cases, there will be a very important question of how to make an accurate and efficient adjustment of the robot arm.

The crank arm of the existing minimally invasive surgery robot is somewhat deficient in stability in the running process, and is always directly driven by a simple motor, so that a certain hidden danger exists in a driving mode relative to surgery, the surgery needs to be relatively fine, vibration caused by mechanical running is not allowed, or excessive noise is not allowed, a relatively quiet environment and stable auxiliary functions are required to be provided for the surgery, but the direct driving mode cannot achieve better refinement to a certain extent, and the surgical robot has a certain potential safety hazard and uncertainty.

At present, the robot mechanical arm used in medical surgery at home and abroad has higher requirements, when the relative position between the mechanical arms needs to be adjusted after the end part of the instrument is accurately positioned on a certain part of the body of a patient, the end part of the instrument acting on the certain part of the body of the patient needs to be ensured not to deviate, and only the mechanical arm needs to correspondingly displace. Therefore, the problem to be solved is how to realize the displacement process of the mechanical arm in the medical field, so that the end part of an instrument acting on a certain part of a patient body can not be deviated, and meanwhile, the higher stability of the mechanical arm can be ensured when the mechanical arm is displaced, and the safety of medical surgery is further improved.

The motion adjusting mechanism of the existing minimally invasive surgical robot often carries out horizontal adjustment before adjusting the surgical arm of the robot, and how to realize stable rotation and facilitate rotation locking of the horizontal position is a problem to be solved; meanwhile, the mechanical arm in the medical field is more applied, a large number of control chips, control motors and control systems are adopted for linkage, but the stability requirement of the mechanical arm is higher than other control requirements for the mechanical arm, so that how to realize quick, convenient and stable adjustment for the mechanical handle in the medical field is a problem to be solved.

Disclosure of Invention

The invention aims to provide a medical robot manipulator which has the advantages of rapid adjustment, high safety performance, good stability and stability, and relatively low manufacturing cost to a certain extent.

The technical aim of the invention is realized by the following technical scheme:

a medical robot manipulator comprises a horizontal pre-adjusting arm, a pitching swinging pre-adjusting arm, a turning arm and a pitching mechanical arm;

the horizontal pre-adjusting arm comprises a plurality of rotating arms which are connected in turn in a rotating way, and a locking mechanism which is locked relatively is arranged between the adjacent rotating arms;

The pitching pre-adjusting arm and the swinging pre-adjusting arm are both provided with fine-tuning self-locking mechanisms, and are arranged on the outermost rotating arm;

the crank arm is arranged on a driving disc of the swing pre-adjusting arm, and a power driving mechanism is arranged on the crank arm;

The pitching mechanical arm is driven by an output shaft on the power driving mechanism to work, the pitching mechanical arm comprises a driven arm, a fixed arm and a driving arm which are kept relatively parallel all the time, the head end and the tail end of the driving arm are respectively hinged with the tail end of the driven arm and the head end of the fixed arm, and a synchronous device which enables adjacent adjusting arms to be linked is arranged in the driven arm, the fixed arm and the driving arm.

Through adopting above-mentioned technical scheme, utilize to change from movable arm, every single move pendulum to change the cooperation of adjusting arm, turning arm, every single move arm for the manipulator has the regulation and is quick, and the security performance is high, and stability are better, and to a certain extent, comparatively saves manufacturing cost's advantage.

The invention is further provided with: adjacent rotating arms in the horizontal pre-adjusting arms are connected with each other in a rotating way through a first rotating shaft, one end of the first rotating shaft extends into one rotating arm and is fixedly connected with the rotating arm, and the other end of the first rotating shaft extends into the other rotating arm and is connected with the rotating arm in a rotating way; the locking mechanism is arranged on the first rotating shaft between the adjacent rotating arms.

Through adopting above-mentioned technical scheme, utilize locking mechanism to realize the stable locking relation between the two adjacent rotating arms, it is very convenient to the quick adjustment of rotation angle moreover, has ensured certain security performance in the operation process simultaneously.

The invention is further provided with: the structure of the locking mechanism is as follows: a first brake is fixedly arranged in the rotating arm fixedly connected with one end of the first rotating shaft, a first through hole for the first rotating shaft to pass through is formed in the first brake, and a gap is reserved between the first through hole and the first rotating shaft; the end face of the rotating arm which is rotationally connected with the other end of the first rotating shaft is provided with a first through hole for the first rotating shaft to pass through, and the first through hole is fixedly connected with the first brake.

Through adopting above-mentioned technical scheme, utilize this locking mechanism of first stopper can be nimble use, through the break-make to the circular telegram of first stopper control, and then reach the state of locking or unblock, can be when the arm needs to adjust, to first stopper circular telegram can, and after the outage, first stopper gets into the locking state, this design can also be used as the saving of electric power energy when nimble realization is adjusted and the locking, in addition, this design can not appear the potential safety hazard when cutting off the power supply suddenly during the use, the security of using has further been improved.

The invention is further provided with: the orifice of the first perforation extends outwards to form an installation body, and the first brake is fixedly installed on a port of the installation body.

Through adopting above-mentioned technical scheme, set up the fixed first stopper of installation body, then further promote locking structure's stability to the steady operation of this structure provides good safety guarantee.

The invention is further provided with: the first rotating shaft penetrates through the mounting body and is in rotating connection with the mounting body through a first bearing; the end face, opposite to the mounting body, of the rotating arm fixedly connected with one end of the first rotating shaft is provided with a rotating hole for the mounting body to insert, and the mounting body is rotationally connected with the rotating hole through a first bearing.

Through adopting above-mentioned technical scheme, utilize first bearing complex rotation relation, can make stable rotation between first pivot, installation body, the rotation hole three, mutually noninterfere, can prolong the life of equipment moreover, improved the motion flexibility between the rotor arm.

The invention is further provided with: the first rotating shaft is provided with a shrinking neck part at the position corresponding to the installation body, the outer side wall of the installation body corresponding to the rotating hole and near the port of the installation body, the first bearings are sleeved on the corresponding neck parts.

Through adopting above-mentioned technical scheme, utilize the setting of shrink neck, can guarantee that the relative position of first bearing is stable, can not cause the trouble of equipment.

The invention is further provided with: the rotating arm rotationally connected with the other end of the first rotating shaft is internally provided with a rotating angle detection mechanism matched with the first rotating shaft, and the rotating angle detection mechanism has the structure that: the rotating arm which is rotationally connected with the other end of the first rotating shaft is internally provided with a mounting hole, a first encoder is arranged in the mounting hole, and a first input shaft of the first encoder is fixedly connected with the first rotating shaft.

Through adopting above-mentioned technical scheme, utilize the cooperation between first encoder and the first pivot, can more accurately detect the rotation angle between two rotating arms, when the use occasion of high accuracy is needed, provide more assistance for the user.

The invention is further provided with: the first rotating shaft is in matched rotation connection with the mounting hole through a first bearing; one side of the first rotating shaft, which is close to the mounting hole, is provided with an annular limiting protrusion, and the first bearing is mounted on the first rotating shaft between the limiting protrusion and the mounting hole.

By adopting the technical scheme, the first rotating shaft and the mounting hole can stably rotate by utilizing the rotation relation of the first bearing, the mutual interference is avoided, the service life of equipment can be prolonged, and the first encoder is also protected to a certain extent; by means of the design mode of the limiting protrusions, the relative position between the first rotating shaft and the mounting hole can be effectively guaranteed when the first rotating shaft shakes and runs or collides, and meanwhile the protection effect of the first encoder is further enhanced.

The invention is further provided with: openings are formed in one end of each of the pitching pre-adjusting arm and the swinging pre-adjusting arm, the hinge shaft is fixedly arranged on the side wall of the opening of the swinging pre-adjusting arm, and the opening end of the pitching pre-adjusting arm is hinged to the hinge shaft; the first driving piece is fixedly arranged on the hinge shaft in the opening of the swinging pre-adjusting arm, the fine-tuning self-locking mechanism is arranged in the pitching pre-adjusting arm, and the fine-tuning self-locking mechanism drives the first driving piece to rotate so as to adjust the pitch angle of the pitching arm.

Through adopting above-mentioned technical scheme, can conveniently quick to pitching arm adjust, wait simultaneously to adjust after ending, this mechanism can carry out relative locking through the structure of self for the position after the locking is relatively stable, has guaranteed the security at medical surgery, can have a lot of convenience and maneuverability, controllability to the user simultaneously.

The invention is further provided with: the structure of the fine adjustment self-locking mechanism in the pitching pre-adjustment arm is as follows: two opposite sides in the pitching pre-adjusting arm are respectively provided with a second bearing, a pitching adjusting worm with the axis perpendicular to the axis of the hinging shaft is arranged between the two second bearings, one end part of the pitching adjusting worm penetrates through the corresponding second bearing and is provided with a pinion at the end part extending out of the second bearing, a main gear meshed with the pinion is rotationally arranged in the pitching pre-adjusting arm, and the main gear is arranged on a fine adjusting shaft with one end extending out of the pitching pre-adjusting arm.

Through adopting above-mentioned technical scheme, utilize the mixed collocation setting of every single move adjustment worm, gear structure for this mechanism have good adjustability and self-locking function, when needs fine setting, only need rotate the fine setting axle can.

The invention is further provided with: the first mounting tables are arranged at positions in the pitching pre-adjusting arm corresponding to the second bearings, through holes are respectively formed in the two first mounting tables, and the two second bearings are respectively arranged in the corresponding first mounting tables.

Through adopting above-mentioned technical scheme, because medical surgery robot uses the restriction of scene, also has comparatively strict demand to the occupation space of robot, and this design utilizes first mount table to fix the second bearing, can effectively utilize the space in the every single move preset arm, can carry out effectual utilization in the space between the inner wall of first mount table and corresponding every single move preset arm like this for the occupation space of this product further reduces.

The invention is further provided with: the adjusting table is arranged at the position, corresponding to the fine adjustment shaft, in the pitching pre-adjusting arm, a second through hole is formed in the adjusting table, and the inner end of the fine adjustment shaft extends into the second through hole and is matched with the second through hole through a second bearing.

Through adopting above-mentioned technical scheme, set up the regulating table, on the one hand can carry out effectual utilization to the space in the every single move preset arm, on the other hand can improve the stability when the regulation of fine setting axle, when avoiding using the instrument to adjust the fine setting axle, make the holding power of regulating table fine setting axle receive certain sharing, its main reason is, occupation space of this product is less relatively, inside spare part is also less relatively, consequently, need carry out abundant utilization and sharing to the atress, avoid operating excessively, lead to spare part damage.

The invention is further provided with: the transmission ratio between the main gear and the auxiliary gear is smaller than 1; the first driving member is a sector worm wheel meshed with the pitch adjusting worm.

By adopting the technical scheme, the design of the transmission ratio can further improve the accuracy of adjustment, and under the condition of smaller transmission, even if larger force is applied accidentally, the adjustment range of the mechanism is extremely small, so that the safety of medical surgery can be ensured to a great extent; the fan-shaped worm wheel can be well matched with the pitching adjusting worm, can effectively drive the swinging pre-adjusting arm to synchronously rotate, can have a good self-locking function with the pitching adjusting worm, and improves the use safety.

The invention is further provided with: the swing pre-adjustment arm is rotationally provided with a first rotating shaft, one end of the first rotating shaft extends out of one side opposite to the opening, a driving disc is arranged on the first rotating shaft extending out of one side opposite to the opening, and a fine adjustment self-locking mechanism which is matched with the first rotating shaft to adjust the rotating angle of the first rotating shaft is arranged in the swing pre-adjustment arm.

Through adopting above-mentioned technical scheme, set up fine setting self-locking mechanism to first axis of rotation in the swing pre-adjustment arm to form the second fine setting structure, can revise once more the position after fine setting of fine setting mechanism, improved the precision that this product used.

The invention is further provided with: the structure of the fine adjustment self-locking mechanism in the swing pre-adjustment arm is as follows: the middle part of the first rotating shaft is provided with a worm wheel, a swing adjusting worm meshed with the worm wheel is arranged in a swing pre-adjusting arm at one side of the worm wheel, and two ends of the swing adjusting worm extend out of two opposite side walls of the swing pre-adjusting arm and are in rotating connection with the two side walls; the end parts of the swing adjusting worms extending out of the two opposite side walls of the swing pre-adjusting arm are respectively provided with adjusting threads, the end parts of the corresponding swing adjusting worms are respectively provided with adjusting nuts which are connected with the adjusting threads in a matched mode, and the swing adjusting worms and the worm gears are double-lead worm gears.

By adopting the technical scheme, through the structural arrangement of the worm and gear, the fine adjustment function is realized, the self-locking function is also realized, the fine adjustment accuracy is also ensured, and the adjustment is also convenient and quick; meanwhile, the abrasion of the worm gear and worm in the use process can be effectively compensated by utilizing the design of the double-lead worm and worm gear, the inaccuracy in fine adjustment is avoided, and the unsafe property in medical surgery is eliminated.

The invention is further provided with: and a second encoder is arranged at a position corresponding to the inner end of the swing adjusting worm in the swing pre-adjusting arm, and a shaft sleeve of the second encoder is fixedly connected with the swing adjusting worm.

Through adopting above-mentioned technical scheme, utilize the second encoder can monitor the rotation angle of first axis of rotation in real time, can play fine auxiliary role to user's regulation, also can help the user to carry out quick adjustment moreover to can in time discover the influence degree of worm and gear loss in the aforesaid to medical surgery.

The invention is further provided with: the power driving device comprises two motor assemblies installed through crank arms, wherein one motor assembly is fixedly installed on one end of each crank arm, an output shaft of the motor assembly penetrates through each crank arm to be fixedly connected with an outer shell of the other motor assembly, and an output shaft of the other motor assembly drives the pitching mechanical arm to work.

Through adopting above-mentioned technical scheme, through one of them motor assembly of crank arm installation, and this motor assembly drives another motor assembly and rotate, can make the variable angle of manipulator more like this, improved the flexibility of manipulator, simultaneously, have very big assistance to the promotion of precision.

The invention is further provided with: the motor assembly comprises an outer shell with two open ends, a stator and a rotor are arranged in the outer shell, the stator is arranged on an outer ring of the rotor, a separation wall is arranged in the middle of an inner cavity of the outer shell, the separation wall divides the inner cavity of the outer shell into a driving cavity and a braking cavity, the stator and the rotor are arranged in the driving cavity and fixedly arranged on the separation wall, the rotor is sleeved on the rotating sleeve, the rotating sleeve penetrates through the separation wall and extends into the braking cavity, a second brake is arranged in the braking cavity, and a shaft sleeve of the second brake is fixedly sleeved on the rotating sleeve; the opening of the driving cavity is fixedly provided with a harmonic reducer, the power input end of the harmonic reducer is fixedly connected with the rotating sleeve, and the power output end is fixedly provided with a first flange plate.

Through adopting above-mentioned technical scheme, improve the structure of motor, utilize the separation wall to separate the shell body for actuating chamber and braking chamber, make inside space obtain more effective utilization, and this scheme is less relatively to the actual use power of motor, so can carry out suitable adjustment to the utilization of space, fixed mounting stator on the separation wall in actuating chamber, will with the direct complex axle of rotor change into the rotating sleeve, and through the linkage cooperation between the power input of rotating sleeve and harmonic reducer, reduce the drive stroke, reduce transmission loss and the noise between axle and the axle, simultaneously, utilize the braking intracavity to install the second stopper, can carry out real-time braking to the rotating sleeve under corresponding demand, the security performance is high, stability can be better, and under the prerequisite of not increasing product occupation space to a certain extent, comparatively save manufacturing cost.

The invention is further provided with: the power input end of the harmonic reducer is a second input shaft, a second perforation penetrating through two ends of the second input shaft is arranged in the second input shaft, and the second input shaft is fixedly connected with the corresponding end part of the rotating sleeve; the power output end is provided with a rigid wheel of the harmonic reducer, and the rigid wheel is fixedly connected with the first flange plate.

Through adopting above-mentioned technical scheme, utilize the connection of first ring flange for fixed connection's installation face increases, and makes the corresponding reinforcing of steadiness also, has avoided using the problem that shaft connection increases occupation space, has also avoided under the condition of shaft connection simultaneously, and transmission structure's stability is also relatively poor problem.

The invention is further provided with: the outer shell is internally provided with a first center shaft penetrating through the baffle wall and sleeved in the rotating sleeve, and a gap is reserved between the outer wall of the first center shaft and the inner wall of the rotating sleeve; one end of the first center shaft, which faces the harmonic reducer, passes through the second perforation and is fixedly connected with the first flange, and a gap is reserved between the first center shaft and the second perforation; one sides of the first center shaft and the rotating sleeve, which are far away from the first flange plate, are respectively provided with a detection piece.

Through adopting above-mentioned technical scheme, utilize the setting of first centraxonial, can be under the structure of each part not mutually interfered condition, detect rolling disc and rotating sleeve in real time.

The invention is further provided with: the first flange plate is fixedly connected with the rigid wheel through a rotating plate, the second input shaft extends out of the harmonic speed reducer towards one end of the first flange plate and is close to the first flange plate, and the rotating plate is arranged on the second input shaft through a third bearing.

Through adopting above-mentioned technical scheme, utilize the setting of rolling disc, increased the bearing strength of first ring flange, utilize the rotation relation of connection of rolling disc simultaneously for the effectual stationarity of the transmission of force between first ring flange and the rigid gear that has improved.

The invention is further provided with: an annular second mounting table is arranged in the braking cavity and is far away from the inner wall of one side of the separation wall, a mounting cavity is formed between the second mounting table and a port of one side of the outer shell body far away from the harmonic reducer, and a detection part fixedly connected with the first center shaft is arranged in the mounting cavity and is a third encoder.

Through adopting above-mentioned technical scheme, utilize the third encoder can carry out real-time supervision to the rotational speed of rolling disc, numerical value such as rotation angle, reached the effect that the convenience was controlled.

The invention is further provided with: the inner diameter of the mounting cavity is smaller than that of the braking cavity, and the inner diameter of the second mounting table is smaller than that of the braking cavity; the second mounting table is provided with another detection part, the detection part is a fourth encoder, and the fourth encoder is fixedly connected with the rotating sleeve; a sealing cover is arranged on the opening of the mounting cavity.

By adopting the technical scheme, the inner diameters of the mounting cavity, the braking cavity and the second mounting table are adjusted, so that electromagnetic interference among all structures can be well reduced, and the accuracy of products is higher; the fourth encoder can be used for monitoring the rotating speed, the rotating angle and other numerical values of the rotating sleeve in real time, so that the effect of convenient operation is achieved, and meanwhile, the difference between the input and the output of the harmonic reducer can be monitored in real time; the sealing cover can ensure the safety of the working environment of the encoder, and can facilitate the disassembly, assembly and maintenance of the encoder.

The invention is further provided with: a third through hole penetrating through the two axial ends of the first center shaft is formed in the first center shaft; the middle part of one end of the first flange plate far away from the harmonic reducer is concavely provided with a fixed groove, the end part of the first center shaft corresponding to the first flange plate stretches into the fixed groove and outwards stretches to form a fixed ring, and the fixed ring is matched with the fixed groove and is fixed in the fixed groove.

By adopting the technical scheme, the design of the third through hole can increase the use of materials in the manufacturing process, reduce the manufacturing difficulty, improve the usability of the first center shaft and greatly reduce the actual weight of the product; the design of fixed ring and fixed slot can strengthen the fixed area between first ring flange and the first axis, has not only strengthened joint strength, has improved the stability of product moreover.

The invention is further provided with: the structure of the synchronous device is as follows: a main driving component and a first crank connecting rod mechanism are arranged in the fixed arm, and the main driving component drives the first crank connecting rod mechanism to enable the driving arm to rotate relative to the fixed arm; the driving arm is internally provided with a second crank connecting rod mechanism, and the driving arm rotates to drive the second crank connecting rod mechanism to enable the driven arm to rotate relative to the driving arm, so that the driven arm and the fixed arm are always kept parallel; the driven arm rotates to drive a third crank connecting rod mechanism arranged in the driven arm to work, and the third crank connecting rod mechanism drives a secondary driving assembly arranged at the head end of the driven arm to synchronously work.

Through adopting above-mentioned technical scheme, through the cooperation work of three crank link mechanism in driven arm, actuating arm, the fixed arm three, make this arm in the use, driven arm, fixed arm remain parallelism all the time, and the actuating arm then plays the effect that the virtual line in first end both ends of driven arm, fixed arm forms the parallelogram's diagonal behind the last, make the arm take place the displacement in adjustment position based on this principle, the track of driven arm's first end displacement is the pitch arc of fixed centre of a circle, simultaneously, auxiliary drive subassembly synchronous rotation, can drive the instrument and have corresponding rotation, in order to cooperate the arc track to reach the corresponding position of the instrument that guarantees to act on a certain position of patient's health and do not take place the skew, in this kind of operation in-process, have higher stationarity, simultaneously can effectual guarantee medical surgery's security.

The invention is further provided with: the first crank connecting rod mechanism is characterized in that: the first hinge hole is formed in the head end of the fixed arm and towards one side of the driving arm, and a first hinge plate matched with the first hinge hole is arranged on one side, opposite to the first hinge hole, of the tail end of the driving arm; the first hinging disc is eccentrically provided with a second rotating shaft, the second rotating shaft is hinged with the end part corresponding to the main connecting rod arranged in the fixed arm, and the other end part of the main connecting rod is hinged on a second driving piece driven by the main driving component.

By adopting the technical scheme, the design of the hinge hole and the hinge plate can ensure that the driving arm and the fixed arm are relatively stable in the process of relative rotation, and the acting force born by the hinge position is relatively increased; the main driving component is utilized to drive the driving arm to rotate through the main connecting rod, the structure of each adjusting arm is effectively utilized, an oversized and complicated transmission system is not needed, the space occupation of products can be reduced to a certain extent through the design, and meanwhile, the first crank mechanism forms a relatively stable parallelogram structure, so that the torque transmission stability at the position is extremely high.

The invention is further provided with: the structure of the main driving component is as follows: a guide base is arranged in the middle of the fixed arm, and a servo motor is arranged on one side of the guide base facing the tail end of the fixed arm; the guide base is internally provided with a ball screw which is coaxial with a motor shaft of the servo motor and fixedly connected with the motor shaft, one side of the guide base, which faces the driving arm, is provided with a guide chute along the axial direction of the ball screw, and the second driving piece is arranged on the guide chute in a sliding way and is driven in a matched way with the ball screw.

Through adopting above-mentioned technical scheme, through servo motor direct drive ball screw and second driving piece, make the second driving piece take place the displacement along ball screw's axial to the drive main connecting rod takes place the displacement along ball screw's axial simultaneously, noise when this design can effectually reduce instrument work, and the stationarity also has apparent promotion simultaneously, and makes the drive accuracy of whole main drive assembly have very big promotion.

The invention is further provided with: the structure of the second crank connecting rod mechanism is as follows: the hinge assembly of the head end of the driving arm and the tail end of the driven arm is as follows: the head end of the driving arm is provided with a second hinge hole towards one side of the driven arm, and the tail end of the driven arm is provided with a second hinge plate matched with the second hinge hole; the driving arm is internally provided with a long connecting rod, a short connecting rod close to the head end of the driving arm and a rocker arm close to the tail end of the driving arm; the head end and the tail end of the long connecting rod are respectively hinged with the tail end of the short connecting rod and the head end of the rocker arm; the head end of the short connecting rod is hinged with the second hinging disc; the tail end of the rocker arm is fixedly connected with the fixed arm.

By adopting the technical scheme, the design of the hinge hole and the hinge plate can ensure that the driving arm and the driven arm are relatively stable in the process of relative rotation, and the acting force born by the hinge position is relatively increased; the second crank connecting rod mechanism is utilized to form a further relatively stable parallelogram structure, so that the torque transmission stability is extremely high, the space occupation of products is reduced to a certain extent, the space of the products can be effectively utilized, and meanwhile, the accuracy is also remarkably improved.

The invention is further provided with: the structure of the third crank connecting rod mechanism is as follows: the first hinge plate is hinged with a first center shaft of a coaxial line, the first center shaft is arranged in the middle of the linkage piece, and the front end of the linkage piece is hinged with the tail end of the transmission piece; the secondary drive assembly is driven by the transmission.

Through adopting above-mentioned technical scheme, utilize the linkage piece to drive the driving medium and rotate, driving medium drive pair drive assembly operation, here forms another relatively stable parallelogram structure for moment transmission stationarity here is high, simultaneously, this kind of design has reduced the space occupation of product to a certain extent, can effectually utilize the space of product, and the precision also has apparent promotion simultaneously.

The invention is further provided with: the driven arm is provided with an arc-shaped guide hole at one side of the tail end of the linkage piece, the tail end of the linkage piece is provided with a guide shaft capable of sliding in the guide hole, and the guide shaft penetrates through the guide hole and is fixedly connected with the driving arm.

Through adopting above-mentioned technical scheme, the design of guiding hole has avoided two crank link mechanism at the in-process of mutually supporting, takes place the probability that unnecessary swing leads to equipment trouble, simultaneously, and the guiding hole can the guiding axle the movable range obtain effectual control, has also improved the security of arm in medical surgery in-process to a certain extent.

The invention is further provided with: the auxiliary driving assembly is a second rotating shaft arranged at the head end of the driven arm, a second rotating disc is arranged on the second rotating shaft, a hinge rod is eccentrically hinged on the second rotating disc, and the head end of the transmission piece is hinged on the hinge rod.

Through adopting above-mentioned technical scheme, utilize the relation of connection between driving medium and the second rolling disc, effectually promoted when equipment is when using, by the auxiliary drive subassembly when the instrument of the patient's health certain position of drive action, auxiliary drive subassembly can three crank link mechanism's operation keep in step, can guarantee moreover along the displacement of the arc orbit of concentric centre of a circle, make instrument tip do not take place to squint, have higher stationarity, simultaneously can effectually ensure the security of medical surgery.

The invention is further provided with: the structure of the synchronous device is as follows: a main driving component is arranged in the fixed arm at a position close to the tail end of the fixed arm; the main driving assembly drives a first movable mechanism between the tail end of the driving arm and the head end of the fixed arm, so that the driving arm rotates along the hinge position of the tail end of the driving arm; the first movable mechanism drives the second movable mechanism between the tail end of the driven arm and the head end of the driving arm, so that the driven arm rotates along the hinge position of the tail end of the driven arm to keep parallel between the driven arm and the fixed arm all the time; the second movable mechanism drives the auxiliary driving assembly at the head end of the driven arm to synchronously work.

Through adopting above-mentioned technical scheme, drive first movable mechanism through the main drive assembly in the fixed arm and rotate, first movable mechanism drives second movable mechanism and rotates, at this pivoted in-process slave arm, the fixed arm remains parallel throughout, and the actuating arm then plays the effect and is the parallelogram's that forms diagonal behind the virtual line in the first and the last both ends of slave arm, when the displacement takes place for the arm in adjustment position based on this principle, the orbit of the first end displacement of slave arm is the pitch arc of fixed centre of a circle, simultaneously, the synchronous rotation of auxiliary drive piece, can drive the instrument and have corresponding rotation, in order to cooperate the arc orbit to reach the tip of the instrument that guarantees acting on a certain position of patient's health and do not take place the skew, in this kind of operation in-process, have higher stationarity, can effectual guarantee medical surgery's security simultaneously.

The invention is further provided with: the first movable mechanism has the structure that: the first end of the fixed arm and one side facing the driving arm are provided with third hinge holes, one side, opposite to the third hinge holes, of the tail end of the driving arm is provided with a first hinge sleeve matched with the third hinge holes, a main belt wheel fixedly installed between the fixed arm and the first hinge sleeve is arranged at the position, located in the third hinge holes, of the fixed arm, and the main belt wheel is driven to rotate by a main driving assembly.

Through adopting above-mentioned technical scheme, utilize main drive assembly to drive the drive arm through the main belt wheel and rotate, effectively utilize the structure of every regulating arm self, do not need too big complex transmission system, this kind of design can reduce the space occupation of product to a certain extent.

The invention is further provided with: the main driving assembly is a belt pulley which is arranged in the fixed arm and is close to the tail end and driven by the power device, and the belt pulley and the main belt pulley transmit power through a synchronous belt.

Through adopting above-mentioned technical scheme, through the direct drive belt pulley of power device with belt drive's mode transmission power, can effectually reduce the noise of instrument during operation, the stationarity also has apparent promotion simultaneously.

The invention is further provided with: the first movable mechanism further comprises a second flange plate which is arranged in the fixed arm and fixedly connected with the fixed arm, a first connecting shaft which penetrates through the first hinge sleeve and stretches into the driving arm is arranged in the middle of the second flange plate, and a driving wheel for driving the second movable mechanism is fixedly arranged on the first connecting shaft in the driving arm.

Through adopting above-mentioned technical scheme, the rotation point of the first diagonal angle of parallelogram structure has been formed, utilizes the actuating arm to rotate for the driven arm for the drive wheel forms the action with the relative pivoted of actuating arm, simultaneously, this kind of design scheme, can effectually utilize the space of product, and the precision also has apparent promotion simultaneously.

The invention is further provided with: the second movable mechanism has the structure that: the first end of the driving arm is provided with a fourth hinge hole towards one side of the driven arm, one side of the tail end of the driven arm opposite to the fourth hinge hole is provided with a second hinge sleeve matched with the fourth hinge hole, a first auxiliary belt pulley fixedly arranged between the driving arm and the second hinge sleeve is arranged at the position, located in the fourth hinge hole, of the driving arm, and the first auxiliary belt pulley is driven by a driving wheel to rotate.

Through adopting above-mentioned technical scheme, when the actuating arm rotates for the driven arm, make and form rotation relation between drive wheel and the first secondary pulley, and then make the synchronous rotation of driven arm to reach driven arm, fixed arm and remain parallel state all the time, utilize the drive wheel to drive driven arm through first subsidiary wheel and rotate, effectively utilize the structure of every regulating arm self, do not need too big complex transmission system, this kind of design is simple relatively not only, can reduce the space occupation of product moreover to a certain extent.

The invention is further provided with: the driving arm is internally provided with a third flange plate fixedly connected with the driven arm, the middle part of the third flange plate is provided with a second connecting shaft penetrating through the second hinge sleeve and extending into the driven arm, and a second secondary belt pulley is fixedly arranged on the second connecting shaft in the driven arm.

Through adopting above-mentioned technical scheme, formed the rotation point of parallelogram structure's second diagonal angle, simultaneously, this kind of design scheme can effectually utilize the space of product, and the precision also has apparent promotion simultaneously.

The invention is further provided with: the auxiliary driving assembly is a third rotating shaft arranged at the head end of the driven arm, and an output wheel which is in power transmission with the second auxiliary belt wheel through a synchronous belt is rotatably arranged on the third rotating shaft.

Through adopting above-mentioned technical scheme, utilize belt drive between third axis of rotation and the second secondary pulley, effectually promoted when equipment is when using, when acting on the instrument of patient's health certain position by auxiliary drive subassembly drive, auxiliary drive subassembly can keep synchronous with the operation of first, two movable mechanism, can guarantee moreover that the displacement along the arc orbit at the same center makes instrument tip not take place to squint, has higher stationarity, simultaneously can effectually ensure medical surgery's security.

In summary, the beneficial technical effects of the invention are as follows:

1. the adjacent cross arms rotate stably and horizontally, the rotation range is not limited, meanwhile, the rotation and locking of the adjacent cross arms can be directly realized through the locking mechanism, the rotation is stable, the adjustment is convenient, and the locking relation is relatively stable;

2. The rotation angle between the cross arms can be effectively obtained by utilizing the design of the encoder, so that the use process of a user is more convenient, and the operation precision is further improved.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic cross-sectional view of the horizontal pre-alignment arm of the present invention.

Fig. 3 is a schematic cross-sectional view of a pitch swing pre-alignment arm of the present invention.

Fig. 4 is a schematic view of the structure of the articulated arrangement between the yaw pre-adjustment arm and the pitch pre-adjustment arm highlighting the pitch pre-adjustment arm of the present invention.

Fig. 5 is a schematic diagram of the structure of the fine tuning self-locking mechanism in the yaw pre-tuning arm of the present invention highlighting the pitch yaw pre-tuning arm.

Fig. 6 is a schematic diagram showing the cooperation of a swing adjusting worm and an adjusting nut of a fine adjustment self-locking mechanism in a swing pre-adjusting arm of a swing pre-adjusting arm for highlighting pitching.

Fig. 7 is a schematic structural view of the lever of the present invention.

Fig. 8 is a schematic cross-sectional view of the motor assembly of the present invention.

Fig. 9 is a schematic side view of the pitch robot in embodiment 1 of the present invention.

Fig. 10 is a schematic side view of the guide base of fig. 9 with the guide base removed.

FIG. 11 is a schematic cross-sectional view of the A-A plane of FIG. 10.

Fig. 12 is a schematic structural view of a main driving assembly in embodiment 1 of the present invention.

Fig. 13 is a schematic side view of another angle of the pitch arm in embodiment 1 of the present invention.

Fig. 14 is a schematic view showing the structure of the second crank link mechanism in embodiment 1 of the present invention.

Fig. 15 is a schematic structural view of a pitch robot arm in embodiment 2 of the present invention.

FIG. 16 is a schematic cross-sectional view of the plane B-B of FIG. 15.

FIG. 17 is a schematic cross-sectional view of the C-C plane of FIG. 15.

In the figure, 1, a first rotating shaft, 2, a first rotating arm, 3, a second rotating arm, 4, a mounting hole, 5, a first encoder, 6, a first bearing, 7, a limit bulge, 8, a first brake, 9, a first perforation, 10, a mounting body, 11, a transition disc, 12, a rotating hole, 13, a first neck part, 14, a second neck part, 15 and a first input shaft; 16. a pitch pre-adjustment arm; 17. swing pre-adjusting arm; 18. a hinge shaft; 19. a sector worm wheel; 20. a second bearing; 21. pitch adjusting worm; 22. a pinion gear; 23. a main gear; 24. a fine tuning shaft; 25. a first mounting table; 26. a through hole; 27. an adjustment table; 28. a second through hole; 29. a first rotation shaft; 30. a worm wheel; 31. swing adjusting worm; 32. a second encoder; 33. a hinge ear; 34. an adjusting nut; 35. a pin key; 36. an outer housing; 37. a stator; 38. a rotor; 39. a harmonic reducer; 40. a barrier wall; 41. a drive chamber; 42. a brake chamber; 43. a second mounting table; 44. a mounting cavity; 45. a third encoder; 46. a first flange; 47. a first rotating disc; 48. a third bearing; 49. a second brake; 50. a sealing cover; 51. a first central shaft; 52. a fourth encoder; 53. a rotating sleeve; 54. a fixing ring; 55. a second input shaft; 56. rigid wheel; 57. a driven arm; 58. a fixed arm; 59. a driving arm; 60. a guide base; 61. a servo motor; 62. a ball screw; 63. a second driving member; 64. a guide chute; 65. a first hinge plate; 66. a second rotating shaft; 67. a main connecting rod; 68. a long connecting rod; 69. a short connecting rod; 70. a rocker arm; 71. a second hinge plate; 72. a linkage member; 73. a transmission member; 74. a guide shaft; 75. a guide hole; 76. a second rotation shaft; 77. a second rotating disc; 78. a hinge rod; 79. a second center shaft; 80. a belt pulley; 81. a first hinge sleeve; 82. a main belt wheel; 83. a second flange; 84. a first connecting shaft; 85. a driving wheel; 86. a second hinge sleeve; 87. a first secondary pulley; 88. a third flange; 89. a second connecting shaft; 90. a second secondary pulley; 91. a third rotation shaft; 92. a crank arm; 93. the disc is driven.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1, a medical robot manipulator disclosed in the invention comprises a horizontal pre-adjusting arm, a pitching swinging pre-adjusting arm, a crank arm 92 and a pitching mechanical arm; each component and the linkage relationship therebetween are described below.

Referring to fig. 2, in this embodiment, the horizontal pre-adjustment arm includes a plurality of rotating arms that are sequentially connected in a rotating manner, and a locking mechanism that is relatively locked is disposed between adjacent rotating arms; for ease of understanding and explanation, the rotating arms of the horizontal pre-adjustment arm that are rotatably connected to each other are defined as a first rotating arm 2 and a second rotating arm 3.

One end of the first rotating shaft 1 extends into the first rotating arm 2 and is fixedly connected with the first rotating arm 2, and the other end of the first rotating shaft 1 extends into the second rotating arm 3 and is rotationally connected with the second rotating arm 3; the fixing connection mode can be a fixing mode of a simple spline structure, can be a fixing mode of fixing the fixing mode on the first rotating arm 2 by bolts, can be a screw-fit fixing mode, and can be other conventional structures capable of fixing the relative relation of the fixing mode and the first rotating arm 2 in the field.

In this embodiment, in order to improve the accuracy of rotation angle adjustment of the device, a rotation angle detection mechanism adapted to the first rotation shaft 1 is disposed in the second rotation arm 3, and the structure thereof is as follows: a mounting hole 4 is arranged in a rotating arm which is rotationally connected with the other end of the first rotating shaft 1, a first encoder 5 is arranged in the mounting hole 4, and a first input shaft 15 of the first encoder 5 is fixedly connected with the first rotating shaft 1. Wherein, the first rotating shaft 1 and the mounting hole 4 are connected in a matched rotation way through a first bearing 6. The most basic function of the first encoder 5 is rotation angle detection, while the first encoder 5 is a conventional first encoder 5 in the art. The first encoder 5 is added, so that the product provides more assistance for a user when the product needs high-precision use, the service life of the device can be prolonged due to the arrangement of the first bearing 6, and the first encoder 5 is also protected to a certain extent.

In the process of product carrying, shake and operation can be avoided, or when collision happens, in order to avoid the possibility of damage to the first encoder 5 caused by accidents, the safety of the first encoder 5 is further protected, an annular limiting protrusion 7 can be arranged on one side, close to the mounting hole 4, of the first shaft 1, and a first bearing 6 is mounted on the first shaft 1 between the limiting protrusion 7 and the mounting hole 4.

The first rotating arm 2 is internally provided with a locking mechanism sleeved on the first rotating shaft 1 and locked with the end face of the second rotating arm 3 in a matching way, and the locking mechanism has the structure that: the first brake 8 is fixedly arranged in the first rotating arm 2, the first brake 8 is a common electromagnetic brake first brake in the market, the electromagnetic brake first brake is not braked under the condition of power on, after power off, the electromagnetic brake first brake automatically enters a braking state, a first through hole for the first rotating shaft 1 to pass through is arranged on the first brake 8, a gap is reserved between the first through hole and the first rotating shaft 1, and when the first rotating shaft 1 rotates relative to the first brake 8, the first through hole and the first rotating shaft 1 do not interfere with each other; the end face of the second rotating arm 3 is provided with a first through hole 9 for the first rotating shaft 1 to pass through, and the first through hole 9 is fixedly connected with the first brake 8. Wherein, the orifice of the first perforation 9 extends outwards to form a mounting body 10, and the first brake 8 is fixedly mounted on the port of the mounting body 10.

By adopting the locking mechanism, when the position relation between the two rotating arms is required to be adjusted in the using process, the first brake 8 is electrified, when the first brake 8 is electrified, the braking state is released, the rotating arms can be flexibly adjusted when the locking is required, and the first brake 8 automatically enters the braking state after the locking is required, so that the scheme has extremely high safety even under the condition of sudden power failure, and can be used for saving electric power.

The first rotating shaft 1 passes through the installation body 10 and is in rotating connection with the installation body 10 through the first bearing 6; the end surface of the first rotating arm 2 opposite to the first perforation is provided with a rotating hole 12 for inserting the installation body 10, and the installation body 10 is rotationally connected with the rotating hole 12 through a first bearing 6; the first rotating shaft 1 is provided with a first neck 13 at a position corresponding to the installation body 10, the first neck 13 penetrates through the installation body 10 and extends into a rotating arm fixedly connected with one end of the first rotating shaft 1, and a first bearing 6 between the first rotating shaft 1 and the installation body 10 is sleeved on the first neck 13; the outer side wall of the mounting body 10 corresponding to the rotating hole 12 is provided with a second neck part 14 near the port of the mounting body 10, and the first bearing 6 between the mounting body 10 and the rotating hole 12 is mounted on the second neck part 14. The arrangement mode can improve the stability of the equipment in normal operation, and meanwhile, the service life of the internal mechanism is also ensured to a certain extent.

Referring to fig. 2 and 3, the pitching pre-tuning arm includes a pitching pre-tuning arm 16 and a swaying pre-tuning arm 17 which are hinged by a hinge, wherein the pitching pre-tuning arm 16 and the swaying pre-tuning arm 17 are respectively provided with a fine-tuning self-locking mechanism, the pitching pre-tuning arm 16 is installed on the outermost rotating arm, and the first rotating arm 2 and the second rotating arm 3 which are adjacently arranged are taken as an example, and the outermost rotating arm refers to the first rotating arm 2; referring to fig. 3 and 4, openings are formed at one end of each of the pitch pre-adjustment arm 16 and the yaw pre-adjustment arm 17 of the pitch pre-adjustment arm, and the hinge shaft 18 is fixedly disposed on the side wall of the opening of the yaw pre-adjustment arm 17, however, the opening of the yaw pre-adjustment arm 17 may not be required to be inserted into the opening of the pitch pre-adjustment arm 16, hinge lugs 33 may be disposed at both sides of the opening of the yaw pre-adjustment arm 17, and the hinge shaft 18 may be fixed by a pin key 35 through the hinge lugs 33.

The first driving part is fixedly arranged on the hinge shaft 18 in the opening of the swing pre-adjusting arm 17, in the embodiment, the first driving part is a sector worm wheel 19, the sector worm wheel 19 is fixedly arranged between the sector worm wheel 19 and the opening end of the swing pre-adjusting arm 17, the sector worm wheel is formed by cutting a complete circular worm wheel according to actual requirements, and the design mode can effectively lighten the weight of equipment and is convenient to adjust. Wherein, be equipped with fine setting self-locking mechanism in the every single move preset arm 16, fine setting self-locking mechanism drives first driving piece rotation in order to adjust the pitch angle of every single move arm, and this mechanism's structure is: second bearings 20 are respectively installed on two opposite sides in the pitching pre-adjustment arm 16, a pitching adjustment worm 21 with an axis perpendicular to the axis of the hinge shaft 18 is installed between the two second bearings 20, the pitching adjustment worm 21 can be meshed with the sector worm wheel 19, one end part of the pitching adjustment worm 21 penetrates through the corresponding second bearing 20 and is provided with a pinion 22 at the end part extending out of the second bearing 20, a main gear 23 meshed with the pinion 22 is rotationally arranged in the pitching pre-adjustment arm 16, and the main gear 23 is installed on a fine adjustment shaft 24 with one end extending out of the pitching pre-adjustment arm 16.

In the above, in order to further improve the accuracy of adjustment and also to prevent occurrence of unnecessary accidents and ensure the safety of medical surgery, the transmission ratio between the main gear 23 and the sub gear 22 may be set to be less than 1.

In this embodiment, in order to better utilize the space of the product itself, on the premise of ensuring the accuracy and the safety, first mounting tables 25 are provided at positions corresponding to the second bearings 20 in the pitch pre-adjusting arm 16, through holes 26 are respectively provided on the two first mounting tables 25, and the two second bearings 20 are respectively mounted in the corresponding first mounting tables 25; at the same time, an adjusting table 27 is arranged in the pitching pre-adjusting arm 16 at a position corresponding to the fine adjusting shaft 24, a second through hole 28 is arranged on the adjusting table 27, and the inner end of the fine adjusting shaft extends into the second through hole 28 and is matched with the second through hole 28 through the second bearing 20.

Referring to fig. 5 and 6, in this embodiment, in order to further enhance the accuracy of adjustment and ensure the flexibility of use, a first rotating shaft 29 with one end extending out of the opposite side to the opening is rotatably provided in the swing pre-adjusting arm 17, a driving disc 93 is provided on the first rotating shaft 29, and a fine adjustment self-locking mechanism for adjusting the rotating angle of the first rotating shaft 29 in cooperation with the first rotating shaft 29 is provided in the swing pre-adjusting arm 17, and the mechanism has the structure that: a worm wheel 30 is arranged in the middle of the first rotating shaft 29, a swing adjusting worm 31 meshed with the worm wheel 30 is arranged in the swing pre-adjusting arm 17 at one side of the worm wheel 30, and two ends of the swing adjusting worm 31 extend out of two opposite side walls of the swing pre-adjusting arm 17 and are in rotating connection with the two side walls; the end parts of the swing adjusting worm 31 extending out of the opposite side walls of the swing pre-adjusting arm 17 are respectively provided with adjusting threads, and the end parts of the corresponding swing adjusting worm 31 are respectively provided with adjusting nuts 34 which are in matched connection with the adjusting threads. The swing adjusting worm 31 and the worm wheel 30 are dual-lead worm wheels, abrasion of the worm wheels and the worm wheels in the using process can be effectively compensated by the design, meanwhile, the adjusting threads at the two ends of the swing adjusting worm 31 and the adjusting nuts 34 are matched, and adjustment can be selectively carried out to the side, so that inaccuracy in fine adjustment is avoided, and unsafe in medical surgery is eliminated.

In addition, a second encoder 32 is installed in the swing pre-adjustment arm 17 at a position corresponding to the inner end of the swing adjustment worm 31, and a shaft sleeve of the second encoder 32 is fixedly connected with the swing adjustment worm 31; the second encoder 32 can be used for monitoring the rotation angle of the first rotation shaft 29 in real time, so that the adjustment of a user can be well assisted.

In specific implementation, the adjustment of the pitching pre-adjustment arm is generally carried out by an auxiliary hand or an auxiliary operator according to the requirement, so that in the adjustment process, only the auxiliary tool is needed to rotate the fine adjustment shaft, the first rotation shaft 29 drives the auxiliary gear 22 to rotate through the main gear 23, the auxiliary gear 22 drives the pitching adjustment worm 21 to rotate, the pitching adjustment worm 21 drives the sector worm wheel 19 to rotate so as to achieve pitching angle fine adjustment of the pitching pre-adjustment arm 17, after the adjustment, the pitching pre-adjustment arm 17 can apply force to the pitching adjustment worm 21 due to self weight, but the structure of the fine adjustment self-locking mechanism enables the structure to have a self-locking function, so that the problem is avoided, and the use safety and precision are improved. In addition, when the first rotating shaft 29 needs to be adjusted, the effect of driving the worm to rotate through the worm wheel 30 can be achieved by only rotating the swing adjusting worm 31, and the mechanism also has a self-locking function.

Referring to fig. 1 and 7, a crank arm 92 is mounted on a drive plate 93 of the swing pre-adjustment arm 17, and a power drive mechanism is mounted on the crank arm 92. The power driving device comprises two motor components which are installed through a crank arm 92, wherein one motor component is fixedly installed on one end of the crank arm 92, an output shaft of the motor component penetrates through the crank arm 92 to be fixedly connected with the outer shell 36 of the other motor component, and an output shaft of the other motor component drives the pitching mechanical arm to work. With this structure, one of the motor assemblies is fixed, and the fixed motor assembly can drive the other motor assembly to rotate.

Referring to fig. 8, the motor assembly includes an outer housing 36, a stator 37 and a rotor 38 are disposed in the outer housing 36, and the stator 37 is disposed on an outer ring of the rotor 38. The basic design for the stator 37 and the rotor 38 is based on the conventional principle of use of the stator 37, the rotor 38, wherein the outer housing 36 has two open ends, and the stator 37 and the rotor 38 are then fitted and fixed from one of the ports.

In addition, the harmonic reducer 39 is fixedly connected to the port of the outer casing 36, where the stator 37 and the rotor 38 are mounted, and is generally connected by a bolt fixing manner, mainly for facilitating disassembly and maintenance, although other fixing connection manners, such as welding, may be adopted; the fixed connection may be made by fixing a mounting cover to a port of the outer casing 36 opposite to the harmonic reducer 39, and fixing the reducer to the mounting cover.

In this embodiment, in order to realize space usage, a baffle wall 40 is disposed in the middle of the inner cavity of the outer housing 36, a stator 37 is fixedly mounted on the baffle wall 40, the baffle wall 40 divides the inner cavity of the outer housing 36 into two chambers, one chamber is a driving chamber 41, the other chamber is a braking chamber 42, in this embodiment, the inner diameter of the mounting chamber 44 is smaller than the inner diameter of the braking chamber 42, the stator 37 and a rotor 38 are disposed in the driving chamber 41, the stator 37 is fixedly mounted on the baffle wall 40, the rotor 38 is sleeved on a rotating sleeve 53, the rotating sleeve 53 passes through the baffle wall 40 and extends into the braking chamber 42, a second brake 49 is disposed in the braking chamber 42, and a sleeve of the second brake 49 is fixedly sleeved on the rotating sleeve 53; the second brake 49 is typically a conventional electromagnetic brake.

A harmonic reducer 39 is fixedly arranged on the opening of the driving cavity 41, a power input end of the harmonic reducer 39 is fixedly connected with the rotating sleeve 53, and a first flange 46 is fixedly arranged on the power output end. The harmonic speed reducer 39 is a conventional component, and can be purchased in the market, the power input end of the harmonic speed reducer 39 is a second input shaft 55, a second through hole penetrating through two ends of the second input shaft 55 is formed in the second input shaft 55, and the second input shaft 55 is fixedly connected with the corresponding end part of the rotating sleeve 53; the power output end is provided with a rigid wheel 56 of the harmonic reducer 39, and the rigid wheel 56 is fixedly connected with the first flange 46.

The outer casing 36 in this embodiment is provided with a first center shaft 51 penetrating through the baffle wall 40 and sleeved in the rotating sleeve 53, a gap is formed between the outer wall of the first center shaft 51 and the inner wall of the rotating sleeve 53, and a third through hole penetrating through both axial ends of the first center shaft 51 is formed in the first center shaft 51; one end of the first center shaft 51, which faces the harmonic reducer 39, passes through the second through hole and is fixedly connected with the first flange 46, a gap is reserved between the first center shaft 51 and the second through hole, in order to strengthen the fixing area between the first flange 46 and the first center shaft 51, not only is the connection strength enhanced, but also the stability of a product is improved, a fixing groove is concavely formed in the middle part of one end of the first flange 46, which is far away from the harmonic reducer 39, and the end part of the first center shaft 51, which corresponds to the first flange 46, extends into the fixing groove and outwards extends to form a fixing ring 54, and the fixing ring 54 is matched with the fixing groove and is fixed in the fixing groove.

The first flange 46 and the rigid wheel 56 are fixedly connected through a first rotating disc 47, the second input shaft 55 extends out of the harmonic reducer 39 towards one end of the first flange 46 and is close to the first flange 46, and the first rotating disc 47 is mounted on the second input shaft 55 through a third bearing 48.

An annular second mounting table 43 is inwardly arranged in the braking cavity 42 and on the inner wall of the side far away from the baffle wall 40, and the inner diameter of the second mounting table 43 is smaller than that of the braking cavity 42. An installation cavity 44 is formed between the second installation table 43 and a port of the outer shell 36 at one side far away from the harmonic reducer 39, a detection piece fixedly connected with the first center shaft 51 is arranged in the installation cavity 44, and the detection piece is a third encoder 45; the second mounting table 43 is provided with another detecting member, which is a fourth encoder 52, and the fourth encoder 52 is fixedly connected with a rotating sleeve 53. With both detection elements, the difference between the input and output of the harmonic reducer 39 can be monitored simultaneously in real time. However, for encoders, typically conventional rotary encoders, the control of the encoder may be of known chip and circuit configuration. To ensure the safety of the working environment of the encoder and to facilitate the disassembly and maintenance of the encoder, a sealing cover 50 is typically mounted on the opening of the mounting cavity 44.

When the motor assembly of this embodiment works, the rotor 38 rotates to drive the rotating sleeve 53 to rotate, the rotating sleeve 53 can drive the harmonic reducer 39 to work in the rotating process, the harmonic reducer 39 can drive the first central shaft 51 to synchronously rotate through the first flange 46, the third encoder 45 can monitor the rotation of the first central shaft 51 in real time in the rotating process of the first central shaft 51, the fourth encoder 52 can detect the rotating sleeve 53, and then the electromagnetic brake second brake can timely brake the rotating sleeve 53 when the rotor 38 is required not to drive the rotating sleeve 53 to work, and can ensure that other shafts connected with the rotating sleeve 53 can synchronously brake.

Referring to fig. 9 to 14, embodiment 1 of the pitch robot according to the present invention is:

Referring to fig. 9, the pitch arm includes a driven arm 57 and a fixed arm 58 which are always kept relatively parallel, and a driving arm 59, and the head and tail ends of the driving arm 59 are respectively hinged with the tail ends and the head ends of the driven arm 57 and the fixed arm 58, so that good stability and use safety of the pitch arm in this embodiment are required to be ensured. Therefore, the driven arm 57 and the fixed arm 58 are always parallel to each other during operation, and the driving arm 59 is required to function as a diagonal line of the parallelogram if synchronous operation in the form of the parallelogram is required. Wherein an output shaft of a motor assembly corresponding to the fixed arm 58 drives the fixed arm 58 to rotate.

The structure of the first crank connecting rod mechanism is as follows: referring to fig. 10 and 11, the hinge assembly of the distal end of the driving arm 59 and the head end of the fixing arm 58 is: a first hinge hole is formed in the head end of the fixed arm 58 and towards one side of the driving arm 59, and a first hinge plate 65 matched with the first hinge hole is arranged on the opposite side of the tail end of the driving arm 59 to the first hinge hole; referring to fig. 11 and 13, the first hinge plate 65 is eccentrically provided with a second rotation shaft 66, the second rotation shaft 66 is hinged to a head end of a main link 67 provided in the fixed arm 58, and a distal end of the main link 67 is hinged to a second driving member 63 driven by the main driving assembly. The first crank linkage forms a first parallelogram structure by which the drive arm 59 is rotated along its distal hinge point.

Referring to fig. 12, a main driving unit is installed in the fixing arm 58, and has a structure as follows: a guide base 60 is arranged in the middle of the fixed arm 58, and a servo motor 61 is arranged on one side of the guide base 60 facing the tail end of the fixed arm 58; a ball screw 62 coaxial with the motor shaft of the servo motor 61 and fixedly connected with the motor shaft is arranged in the guide base 60, a guide chute 64 is formed in one side of the guide base 60 facing the driving arm 59 along the axial direction of the ball screw 62, a second driving piece 63 driven by the ball screw 62 is slidably arranged in the guide chute 64, and the second driving piece 63 can drive a first crank-link mechanism arranged in the fixing arm 58 to work. The second driving member 63 is a guiding sliding seat disposed on the guiding sliding groove 64 and matched with the ball screw 62, and the guiding sliding seat directly cooperates with the main connecting rod 67.

Referring to fig. 11 and 14, the first crank-link mechanism drives the driving arm 59 to rotate through the first hinge plate 65 as a middle transition piece, and the driving arm 3 drives the second crank-link mechanism arranged in the driving arm 59 to work in a rotating manner; the structure of the second crank connecting rod mechanism is as follows: the head end of the driving arm 59 is provided with a second hinge hole towards one side of the driven arm 57, and the tail end of the driven arm 57 is provided with a second hinge plate 71 matched with the second hinge hole; the driving arm 59 is internally provided with a long connecting rod 68, a short connecting rod 69 near the head end of the driving arm 59 and a rocker arm 70 near the tail end of the driving arm 59; the head end and the tail end of the long connecting rod 68 are respectively hinged with the tail end of the short connecting rod 69 and the head end of the rocker arm 70; the head end of the short connecting rod 69 is hinged with the second hinging disc to drive the third crank-connecting rod mechanism to work synchronously, so that the driven arm 57 rotates along the hinging position of the tail end of the driven arm 57 to always keep parallel between the driven arm 57 and the fixed arm 58; the end of the rocker arm 70 is fixedly connected to the fixed arm 58 through a hole in the middle of the first hinge plate 65, and the rocker arm 70 passing through the hole in the middle of the first hinge plate 65 is arranged eccentrically with respect to the center of the hinge plate. In general, the rocker arm 70 and the second rotating shaft 66 are prevented from interfering with each other during operation, and the positions of the rocker arm and the second rotating shaft can be set relatively, so that the synchronization effect is higher, and meanwhile, the force transmission is more convenient.

The second crank-link mechanism forms a second parallelogram structure, is matched with the first parallelogram structure formed by the first crank mechanism and transmits power through the intermediate transition piece first hinge plate 65, so that the power transmission process is stable, and the driving arm 59 can be driven to rotate correspondingly.

Referring to fig. 11 and 13, the third crank link mechanism has the following structure: the second hinging disc 71 is hinged with a second center shaft 79 with a coaxial line, the second center shaft 79 is arranged in the middle of the linkage member 72, and the head end of the linkage member 72 is hinged with the tail end of the transmission member 73; a secondary drive assembly is mounted at the head end of the driven arm 57, the secondary drive assembly being driven by the head end of the transmission 73. The third crank-link mechanism forms a third parallelogram structure, cooperates with a second parallelogram structure formed by the second crank mechanism and transmits power through the link 72, so that the power transmission process is stable. Wherein, be located the terminal side of link 72 on the follower arm 57 and be equipped with curved guiding hole 75, the terminal of link 72 is equipped with the guiding axle 74 that can slide at guiding hole 75, and guiding axle 74 passes guiding hole 75 and actuating arm 59 fixed connection.

The position of the head end in the driven arm 57 is provided with a secondary driving assembly, the secondary driving assembly is a second rotating shaft 76 arranged at the head end of the driven arm 57, a second rotating disc 77 is arranged on the second rotating shaft 76, a hinge rod 78 is eccentrically hinged on the second rotating disc 77, and the head end of the transmission member 73 is hinged on the hinge rod 78 to drive the second rotating disc 77 to synchronously work.

In this embodiment, through the cooperation of three crank-link mechanisms in the driven arm 57, the driving arm 59 and the fixed arm 58, the mechanical arm forms a fourth parallelogram structure, while the driving arm 59 plays a role in forming a diagonal line of a parallelogram after the virtual connection of the first end and the last end of the driven arm 57 and the fixed arm 58, when the mechanical arm is displaced in the adjustment position based on the principle, the track of the displacement of the first end of the driven arm 57 is an arc line with a fixed center, and meanwhile, the auxiliary driving assembly synchronously rotates, so that the instrument can be driven to rotate correspondingly, and the corresponding position of the instrument acting on a certain part of the patient body is guaranteed not to deviate by matching with the arc track.

In the embodiment, when the pitching mechanical arm is implemented, the main driving component drives the first crank link mechanism to act, so that the first hinge plate 65 rotates, and simultaneously, the driving arm 59 synchronously rotates, so that the included angle between the driving arm 59 and the fixed arm 58 changes, and meanwhile, because one end of the rocker arm is fixed on the fixed arm 58, the short link 69 is hinged with the second hinge plate 71, when the rotation angle of the driving arm 59 changes, the angle between the short link 69 and the long link 68 also changes passively, at the moment, the short link 69 rotates relative to the long link 68, therefore, the short link 69 synchronously drives the driven arm 57 to synchronously rotate, and the driving shaft 74 and the driving arm 59 are in a fixed connection relationship, and in the process of rotating the driven arm 57, the guide shaft 74 also rotates relatively in the guide hole 75, at the moment, the driving member 72 can drive the transmission member 73 to drive the auxiliary driving component to work.

The hinge positions of the driven arm 57, the driving arm 59 and the fixed arm 58 are the angles of the fourth parallelogram and are also rotational joints, and meanwhile, the corresponding positions of the instruments driven by the auxiliary driving mechanism can be set to the angles of the fourth parallelogram, so that the corresponding positions of the instruments acting on a certain part of the body of a patient do not deviate in the running process, the stability is higher, and the safety of medical surgery can be effectively ensured.

Referring to fig. 15 to 17, embodiment 2 of the pitch robot according to the present invention is:

Referring to fig. 15, the pitch arm includes relatively parallel driven arm 57 and fixed arm 58, and driving arm 59, and the first and second ends of driving arm 59 are hinged to the distal end of driven arm 57 and the first end of fixed arm 58, respectively, so that good stability and safety in use are required for the arm in this embodiment. Therefore, the driven arm 57 and the fixed arm 58 are always parallel to each other during operation, and the driving arm 59 is required to function as a diagonal line of the parallelogram if synchronous operation in the form of the parallelogram is required.

Wherein a main drive assembly is provided in the fixed arm 58 near its distal end; the main drive assembly is a pulley 80 driven by a power unit disposed within the stationary arm 58 near the distal end. The power device can be generally arranged as a motor, or can be a structure of a motor-driven speed reducer, and can be other devices capable of driving the belt pulley 80 to rotate.

Referring to fig. 16, a first movable mechanism is provided between the distal end of the driving arm 59 and the head end of the fixed arm 58, and a pulley 80 drives the first movable mechanism to rotate the driving arm 59 along the hinge position of the distal end thereof; the first movable mechanism has the structure that: a third hinge hole is formed in the head end of the fixed arm 58 and towards one side of the driving arm 59, a first hinge sleeve 81 matched with the third hinge hole is arranged on the opposite side of the tail end of the driving arm 59 to the third hinge hole, a main belt pulley 82 fixedly arranged between the fixed arm 58 and the first hinge sleeve 81 is arranged at the position, located at the third hinge hole, of the fixed arm 58, and the belt pulley 80 and the main belt pulley 82 transmit power through a synchronous belt; in addition, a second flange 83 fixedly connected with the fixing arm 58 is arranged in the fixing arm 58, a first connecting shaft 84 penetrating through the first hinge sleeve 81 and extending into the driving arm 59 is arranged in the middle of the second flange 83, and a driving wheel 85 for driving the second moving mechanism is fixedly arranged on the first connecting shaft 84 in the driving arm 59. Wherein the output shaft of the motor assembly corresponding to the fixed arm 58 drives the pulley.

Referring to fig. 17, a second movable mechanism is arranged between the tail end of the driven arm 57 and the head end of the driving arm 59, and the driving wheel 85 drives the second movable mechanism to enable the driven arm 57 to rotate along the hinge position of the tail end of the driven arm 57 so as to keep parallel between the driven arm 57 and the fixed arm 58 all the time; the structure of the second movable mechanism is as follows: a fourth hinge hole is formed in the head end of the driving arm 59 and faces one side of the driven arm 57, a second hinge sleeve 86 matched with the fourth hinge hole is arranged on the side, opposite to the fourth hinge hole, of the tail end of the driven arm 57, a first auxiliary belt pulley 87 fixedly arranged between the driving arm 59 and the second hinge sleeve 86 is arranged at the position, located in the fourth hinge hole, of the driving arm 59, and the first auxiliary belt pulley 87 is driven to rotate by a driving wheel 85; the driving arm 59 is internally provided with a third flange 88 fixedly connected with the driven arm 57, the middle part of the third flange 88 is provided with a second connecting shaft 89 penetrating through the second hinge sleeve 86 and extending into the driven arm 57, and a second secondary pulley 90 is fixedly arranged on the second connecting shaft 89 in the driven arm 57.

The second secondary pulley 90 drives the secondary driving assembly at the head end of the driven arm 57 to operate synchronously, the secondary driving assembly is a third rotating shaft 91 provided at the head end of the driven arm 57, and an output pulley for transmitting power with the second secondary pulley 90 through a synchronous belt is rotatably provided on the third rotating shaft 91.

In the embodiment of the pitch mechanical arm, when the belt pulley 80 drives the main belt pulley 82 to rotate through the power device, the main belt pulley 82 rotates to drive the driving arm 59 to rotate around the axis of the first hinge sleeve 81 relative to the fixing arm 58, in the rotating process, as the second flange 83 is fixedly connected with the fixing arm 58, the second flange 83, the first connecting shaft 84 and the driving wheel 85 are in a relatively fixed relation, when the driving arm 59 rotates, a relatively rotating relation is formed between the driving wheel 85 and the driving arm 59, the driving wheel 85 and the first auxiliary belt pulley 87 transmit power through belt transmission, and the first auxiliary belt pulley 87 can rotate relative to the driving arm 59, so that the included angle between the driving arm 59 and the fixing arm 58 is increased or reduced along with the rotation of the driving arm 59, and simultaneously, the close contact surfaces of the synchronous belt between the driving wheel 85 and the first auxiliary belt pulley 87 and the two are also changed along with the rotation, namely, when the contact surfaces between the synchronous belt 85 and the first auxiliary belt 87 are transferred, the driving wheel 85 and the first auxiliary belt pulley 87 are fixed, and the driving force of the driving wheel 85 is transferred along with the rotation of the first auxiliary belt pulley, so that the corresponding rotation of the driving arm 58 is achieved, and the corresponding rotation of the driving arm 57 is achieved, and the requirement of the driving arm is always rotated, and the rotation is achieved.

Then, the working principle of the third flange 88 and the second secondary pulley 90 is the same as that of the second flange 83 and the driving wheel 85, and the output wheel of the secondary driving assembly is synchronously rotated in the process of rotating the driven arm 57 and the driving arm 59, and the running track of the head end of the driven arm 57 is arc-shaped in the rotating process, so that the accuracy of the arc-shaped track is higher, the operability of the device is better, and the effect can be achieved by synchronously rotating the output wheel.

The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.

Claims

1. A medical robot manipulator, characterized in that: the device comprises a horizontal pre-adjusting arm, a pitching swing pre-adjusting arm, a crank arm (92) and a pitching mechanical arm;

The pitching pre-adjusting arm (16) and the swinging pre-adjusting arm (17) are hinged through a hinge shaft, the pitching pre-adjusting arm (16) and the swinging pre-adjusting arm (17) are both provided with fine-tuning self-locking mechanisms, and the pitching pre-adjusting arm (16) is arranged on the rotating arm at the outermost side;

The crank arm (92) is arranged on a driving disc (93) of the swing pre-adjustment arm (17), and a power driving mechanism is arranged on the crank arm (92);

the pitching mechanical arm is driven by an output shaft on the power driving mechanism to work, and comprises a driven arm (57), a fixed arm (58) and a driving arm (59) which are always kept relatively parallel, wherein the head end and the tail end of the driving arm (59) are respectively hinged with the tail end of the driven arm (57) and the head end of the fixed arm (58), and a synchronous device for enabling adjacent adjusting arms to be in linkage is arranged in each of the driven arm (57), the fixed arm (58) and the driving arm (59);

The pitching pre-adjusting arm (16) and one end of the swinging pre-adjusting arm (17) of the pitching pre-adjusting arm are respectively provided with an opening, the hinge shaft (18) is fixedly arranged on the side wall of the opening of the swinging pre-adjusting arm (17), and the opening end of the pitching pre-adjusting arm (16) is hinged on the hinge shaft (18); a first driving piece is fixedly arranged on a hinge shaft (18) in an opening of the swing pre-adjustment arm (17), and a fine adjustment self-locking mechanism in the pitching pre-adjustment arm (16) drives the first driving piece to rotate so as to adjust the pitch angle of the pitching arm;

The structure of the fine adjustment self-locking mechanism in the pitching pre-adjustment arm (16) is as follows: two opposite sides in the pitching pre-adjusting arm (16) are respectively provided with a second bearing (20), a pitching adjusting worm (21) with the axis perpendicular to the axis of the hinging shaft (18) is arranged between the two second bearings (20), one end part of the pitching adjusting worm (21) penetrates through the corresponding second bearing (20) and is provided with a pinion (22) at the end part extending out of the second bearing (20), the pitching pre-adjusting arm (16) is rotationally provided with a main gear (23) meshed with the pinion (22), and the main gear (23) is arranged on a fine adjusting shaft (24) with one end extending out of the pitching pre-adjusting arm (16);

A first mounting table (25) is arranged at a position corresponding to the second bearing (20) in the pitching pre-adjusting arm (16), through holes (26) are respectively arranged on the two first mounting tables (25), and the two second bearings (20) are respectively arranged in the corresponding first mounting tables (25);

An adjusting table (27) is arranged at a position, corresponding to the fine adjustment shaft (24), in the pitching pre-adjusting arm (16), a second through hole (28) is formed in the adjusting table (27), and the inner end of the fine adjustment shaft (24) extends into the second through hole (28) and is matched with the second through hole (28) through a second bearing (20);

the transmission ratio between the main gear (23) and the auxiliary gear (22) is smaller than 1; the first driving member is a sector worm wheel (19) meshed with a pitching adjusting worm (21).

2. The medical robotic manipulator of claim 1, wherein: adjacent rotating arms in the horizontal pre-adjusting arms are connected with each other in a rotating way through a first rotating shaft (1), one end of the first rotating shaft (1) extends into one of the rotating arms and is fixedly connected with the rotating arms, and the other end of the first rotating shaft (1) extends into the other rotating arm and is connected with the rotating arms in a rotating way; the locking mechanism is arranged on a first rotating shaft (1) between the adjacent rotating arms.

3. The medical robotic manipulator of claim 2, wherein: the structure of the locking mechanism is as follows: a first brake (8) is fixedly arranged in a rotating arm fixedly connected with one end of the first rotating shaft (1), a first through hole for the first rotating shaft (1) to pass through is formed in the first brake (8), and a gap is formed between the first through hole and the first rotating shaft (1); the end face of the rotating arm which is rotationally connected with the other end of the first rotating shaft (1) is provided with a first through hole (9) for the first rotating shaft (1) to pass through, and the first through hole (9) is fixedly connected with the first brake (8).

4. A medical robotic manipulator according to claim 3, wherein: the orifice of the first perforation (9) extends outwards to form an installation body (10), and the first brake (8) is fixedly installed on a port of the installation body (10).

5. The medical robotic manipulator of claim 4, wherein: the first rotating shaft (1) penetrates through the installation body (10) and is in rotating connection with the installation body (10) through the first bearing (6); the end face, opposite to the mounting body (10), of the rotating arm fixedly connected with one end of the first rotating shaft (1) is provided with a rotating hole (12) for the mounting body (10) to be inserted, and the mounting body (10) and the rotating hole (12) are rotationally connected through a first bearing (6).

6. The medical robotic manipulator of claim 5, wherein: the first rotating shaft (1) and the mounting body (10) are respectively provided with a shrinking neck, the outer side wall of the mounting body (10) and the rotating hole (12) are respectively provided with a shrinking neck, and the positions close to the ports of the mounting body (10) are respectively sleeved on the corresponding shrinking necks by the first bearings (6).

7. The medical robotic manipulator of any one of claims 2-6, wherein: the rotating arm rotationally connected with the other end of the first rotating shaft (1) is internally provided with a rotating angle detection mechanism matched with the first rotating shaft (1), and the rotating angle detection mechanism has the structure that: a mounting hole (4) is arranged in a rotating arm which is rotationally connected with the other end of the first rotating shaft (1), a first encoder (5) is arranged in the mounting hole (4), and a first input shaft (15) of the first encoder (5) is fixedly connected with the first rotating shaft (1).

8. The medical robotic manipulator of claim 7, wherein: the first rotating shaft (1) is in matched rotation connection with the mounting hole (4) through a first bearing (6); one side of the first rotating shaft (1) close to the mounting hole (4) is provided with an annular limiting protrusion (7), and the first bearing (6) is mounted on the first rotating shaft (1) between the limiting protrusion (7) and the mounting hole (4).

9. The medical robotic manipulator of claim 1, wherein: the swing pre-adjustment arm (17) is rotatably provided with a first rotating shaft (29) with one end extending out of one side opposite to the opening, a driving disc is arranged on the first rotating shaft (29) extending out of one side opposite to the opening, and a fine adjustment self-locking mechanism matched with the first rotating shaft (29) for adjusting the rotating angle of the first rotating shaft (29) is arranged in the swing pre-adjustment arm (17).

10. The medical robotic manipulator of claim 9, wherein: the structure of the fine adjustment self-locking mechanism in the swing pre-adjustment arm is as follows: a worm wheel (30) is arranged in the middle of the first rotating shaft (29), a swing adjusting worm (31) meshed with the worm wheel (30) is arranged in a swing pre-adjusting arm (17) at one side of the worm wheel (30), and two ends of the swing adjusting worm (31) extend out of two opposite side walls of the swing pre-adjusting arm (17) and are in rotating connection with the two side walls; the end parts of the swing adjusting worms (31) extending out of the two opposite side walls of the swing pre-adjusting arm (17) are respectively provided with adjusting threads, and the end parts of the corresponding swing adjusting worms (31) are respectively provided with adjusting nuts (34) which are in fit connection with the adjusting threads; the swing adjusting worm (31) and the worm wheel (30) are double-lead worm and worm wheel.

11. The medical robotic manipulator of claim 10, wherein: a second encoder (32) is arranged in the swing pre-adjusting arm (17) at a position corresponding to the inner end of the swing adjusting worm (31), and a shaft sleeve of the second encoder (32) is fixedly connected with the swing adjusting worm (31).

12. The medical robotic manipulator of claim 1, wherein: the power driving device comprises two motor components which are installed through a crank arm (92), wherein one motor component is fixedly installed on one end of the crank arm (92), an output shaft of the motor component penetrates through the crank arm (92) to be fixedly connected with an outer shell (36) of the other motor component, and an output shaft of the other motor component drives the pitching mechanical arm to work.

13. The medical robotic manipulator of claim 12, wherein: the motor assembly comprises an outer shell (36) with two open ends, a stator (37) and a rotor (38) are arranged in the outer shell (36), the stator (37) is arranged on the outer ring of the rotor (38), a separation wall (40) is arranged in the middle of an inner cavity of the outer shell (36), the separation wall (40) divides the inner cavity of the outer shell (36) into a driving cavity (41) and a braking cavity (42), the stator (37) and the rotor (38) are arranged in the driving cavity (41), the stator (37) is fixedly arranged on the separation wall (40), the rotor (38) is sleeved on a rotating sleeve (53), the rotating sleeve (53) penetrates through the separation wall (40) and extends into the braking cavity (42), a second brake (49) is arranged in the braking cavity (42), and a shaft sleeve of the second brake (49) is fixedly sleeved on the rotating sleeve (53); a harmonic reducer (39) is fixedly arranged on an opening of the driving cavity (41), a power input end of the harmonic reducer (39) is fixedly connected with the rotating sleeve (53), and a first flange plate (46) is fixedly arranged on a power output end.

14. The medical robotic manipulator of claim 13, wherein: the power input end of the harmonic reducer (39) is a second input shaft (55), a second perforation penetrating through two ends of the second input shaft (55) is arranged in the second input shaft (55), and the second input shaft (55) is fixedly connected with the corresponding end part of the rotating sleeve (53); the power output end is provided with a rigid wheel (56) of the harmonic reducer (39), and the rigid wheel (56) is fixedly connected with the first flange plate (46).

15. The medical robotic manipulator of claim 14, wherein: a first center shaft (51) penetrating through the separation wall (40) and sleeved in the rotating sleeve (53) is arranged in the outer shell (36), and a gap is reserved between the outer wall of the first center shaft (51) and the inner wall of the rotating sleeve (53); one end of the first center shaft (51) facing the harmonic reducer (39) penetrates through the second perforation to be fixedly connected with the first flange plate (46), and a gap is reserved between the first center shaft (51) and the second perforation; one side of the first center shaft (51) and one side of the rotating sleeve (53) far away from the first flange plate (46) are respectively provided with a detection part.

16. The medical robotic manipulator of claim 15, wherein: the first flange plate (46) is fixedly connected with the rigid wheel (56) through a first rotating disc (47), the second input shaft (55) extends out of the harmonic reducer (39) towards one end of the first flange plate (46) and is close to the first flange plate (46), and the first rotating disc (47) is arranged on the second input shaft (55) through a third bearing (48).

17. The medical robotic manipulator of claim 15, wherein: an annular second mounting table (43) is arranged in the braking cavity (42) and is inwards arranged on the inner wall of one side far away from the separation wall (40), a mounting cavity (44) is formed between the second mounting table (43) and a port of one side of the outer shell (36) far away from the harmonic reducer (39), and a detection part fixedly connected with the first center shaft (51) is arranged in the mounting cavity (44) and is a third encoder (45).

18. The medical robotic manipulator of claim 17, wherein: the inner diameter of the mounting cavity (44) is smaller than the inner diameter of the braking cavity (42), and the inner diameter of the second mounting table (43) is smaller than the inner diameter of the braking cavity (42); the second mounting table (43) is provided with another detection part, the detection part is a fourth encoder (52), and the fourth encoder (52) is fixedly connected with the rotating sleeve (53); a sealing cover (50) is arranged on the opening of the mounting cavity (44).

19. The medical robotic manipulator of claim 18, wherein: a third through hole penetrating through the two axial ends of the first center shaft (51) is formed in the first center shaft; a fixing groove is concavely formed in the middle of one end, far away from the harmonic reducer (39), of the first flange plate (46), the end, corresponding to the first flange plate (46), of the first center shaft (51) extends into the fixing groove and outwards extends to form a fixing ring, and the fixing ring is matched with the fixing groove and is fixed in the fixing groove.

20. The medical robotic manipulator of claim 1, wherein: the structure of the synchronous device is as follows: a main driving component and a first crank connecting rod mechanism are arranged in the fixed arm (58), and the main driving component drives the first crank connecting rod mechanism to enable the driving arm (59) to rotate relative to the fixed arm (58); the driving arm (59) is internally provided with a second crank-link mechanism, and the driving arm (59) rotates to drive the second crank-link mechanism to enable the driven arm (57) to rotate relative to the driving arm (59), so that the driven arm (57) and the fixed arm (58) are always kept parallel; the driven arm (57) rotates to drive a third crank link mechanism arranged in the driven arm (57) to work, and the third crank link mechanism drives a secondary driving assembly arranged at the head end of the driven arm (57) to synchronously work.

21. The medical robotic manipulator of claim 20, wherein: the first crank connecting rod mechanism is characterized in that: a first hinge hole is formed in the head end of the fixed arm (58) and towards one side of the driving arm (59), and a first hinge plate (65) matched with the first hinge hole is arranged at the tail end of the driving arm (59); the first hinging disc (65) is eccentrically provided with a second rotating shaft (66), the second rotating shaft (66) is hinged with the end part corresponding to the main connecting rod (67) arranged in the fixed arm (58), and the other end part of the main connecting rod (67) is hinged on the second driving piece (63) driven by the main driving component.

22. The medical robotic manipulator of claim 21, wherein: the structure of the main driving component is as follows: a guide base (60) is arranged in the middle of the fixed arm (58), and a servo motor (61) is arranged on one side of the guide base (60) facing the tail end of the fixed arm (58); a ball screw (62) which is coaxial with a motor shaft of the servo motor (61) and fixedly connected with the motor shaft is arranged in the guide base (60), a guide sliding groove (64) is formed in one side, facing the driving arm (59), of the guide base (60) along the axial direction of the ball screw (62), and a second driving piece (63) is arranged on the guide sliding groove (64) in a sliding mode and is driven in a matched mode with the ball screw (62).

23. The medical robotic manipulator of claim 20, wherein: the structure of the second crank connecting rod mechanism is as follows: the head end of the driving arm (59) is provided with a second hinge hole towards one side of the driven arm (57), and the tail end of the driven arm (57) is provided with a second hinge plate (71) matched with the second hinge hole; a long connecting rod (68), a short connecting rod (69) close to the head end of the driving arm (59) and a rocker arm (70) close to the tail end of the driving arm (59) are arranged in the driving arm (59); the head end and the tail end of the long connecting rod (68) are respectively hinged with the tail end of the short connecting rod (69) and the head end of the rocker arm (70); the head end of the short connecting rod (69) is hinged with the second hinging disc (71); the tail end of the rocker arm (70) is fixedly connected with the fixed arm (58).

24. The medical robotic manipulator of claim 23, wherein: the structure of the third crank connecting rod mechanism is as follows: the second hinging disc (71) is hinged with a second center shaft (79) of a coaxial line, the second center shaft (79) is arranged in the middle of the linkage member (72), and the head end of the linkage member (72) is hinged with the tail end of the transmission member (73); the secondary drive assembly is driven by a transmission (73).

25. The medical robotic manipulator of claim 24, wherein: an arc-shaped guide hole (75) is formed in one side of the tail end of the linkage piece (72) on the driven arm (57), a guide shaft (74) capable of sliding in the guide hole (75) is arranged at the tail end of the linkage piece (72), and the guide shaft (74) penetrates through the guide hole (75) and is fixedly connected with the driving arm (59).

26. The medical robotic manipulator of claim 24, wherein: the auxiliary driving assembly is a second rotating shaft (76) arranged at the head end of the driven arm (57), a second rotating disc (77) is arranged on the second rotating shaft (76), a hinging rod (78) is eccentrically hinged on the second rotating disc (77), and the head end of the transmission piece (73) is hinged on the hinging rod (78).

27. The medical robotic manipulator of claim 1, wherein: the structure of the synchronous device is as follows: a main driving component is arranged in the fixed arm (58) near the tail end of the fixed arm; the main driving assembly drives a first movable mechanism between the tail end of the driving arm (59) and the head end of the fixed arm (58) to enable the driving arm (59) to rotate along the hinge position of the tail end of the driving arm; the first movable mechanism drives a second movable mechanism between the tail end of the driven arm (57) and the head end of the driving arm (59), so that the driven arm (57) rotates along the hinge position of the tail end of the driven arm to be always parallel to the fixed arm (58); the second movable mechanism drives the auxiliary driving component at the head end of the driven arm (57) to synchronously work.

28. The medical robotic manipulator of claim 27, wherein: the first movable mechanism has the structure that: the head end of the fixed arm (58) is provided with a third hinge hole towards one side of the driving arm (59), one side of the tail end of the driving arm (59) opposite to the third hinge hole is provided with a first hinge sleeve (81) matched with the third hinge hole, a main belt wheel (82) fixedly arranged between the fixed arm (58) and the first hinge sleeve (81) is arranged at the position of the third hinge hole, and the main belt wheel (82) is driven to rotate by a main driving assembly.

29. The medical robotic manipulator of claim 28, wherein: the main driving assembly is a belt pulley (80) which is arranged in the fixed arm (58) and is close to the tail end and driven by a power device, and the belt pulley (80) and the main belt pulley (82) transmit power through a synchronous belt.

30. The medical robotic manipulator of claim 28, wherein: the first movable mechanism further comprises a second flange plate (83) which is arranged in the fixed arm (58) and fixedly connected with the fixed arm (58), a first connecting shaft (84) which penetrates through the first hinge sleeve (81) and stretches into the driving arm (59) is arranged in the middle of the second flange plate (83), and a driving wheel (85) for driving the second movable mechanism is fixedly arranged on the first connecting shaft (84) in the driving arm (59).

31. The medical robotic manipulator of claim 30, wherein: the second movable mechanism has the structure that: the first end of the driving arm (59) is provided with a fourth hinge hole towards one side of the driven arm (57), one side, opposite to the fourth hinge hole, of the tail end of the driven arm (57) is provided with a second hinge sleeve (86) matched with the fourth hinge hole, a first auxiliary belt wheel (87) fixedly arranged between the driving arm (59) and the second hinge sleeve (86) is arranged at the position, located at the fourth hinge hole, of the driving arm (59), and the first auxiliary belt wheel (87) is driven by a driving wheel (85) to rotate.

32. The medical robotic manipulator of claim 31, wherein: a third flange plate (88) is fixedly connected between the driving arm (59) and the driven arm (57), a second connecting shaft (89) penetrating through the second hinge sleeve (86) and extending into the driven arm (57) is arranged in the middle of the third flange plate (88), and a second secondary belt wheel (90) is fixedly arranged on the second connecting shaft (89) in the driven arm (57).

33. The medical robotic manipulator of claim 32, wherein: the auxiliary driving assembly is a third rotating shaft (91) arranged at the head end of the driven arm (57), and an output wheel which is in power transmission with the second auxiliary belt wheel (90) through a synchronous belt is rotatably arranged on the third rotating shaft (91).