阅读说明：本技术 一种微创手术机器人的驻停机构 (Parking mechanism of minimally invasive surgery robot ) 是由 李颂超 于 2019-12-10 设计创作，主要内容包括：本发明公开了一种微创手术机器人的驻停机构,包括用于固定机器人的底座,底座包括底盘,底盘上设有两组前后设置的滚轮,每组的两个滚轮左右对称设置；四个所述滚轮设有驻停机构,滚轮的外壁上套接有橡胶圈。本发明通过驻停机构可对四个滚轮进行同步驻停,通过滚轮上套接有橡胶圈增加与地面之间的摩擦力,从而有效提高微创手术机器人手术时的稳定性。(The invention discloses a parking mechanism of a minimally invasive surgery robot, which comprises a base for fixing the robot, wherein the base comprises a chassis, two groups of rollers which are arranged in front and back are arranged on the chassis, and the two rollers of each group are arranged in bilateral symmetry; the four rollers are provided with parking mechanisms, and the outer walls of the rollers are sleeved with rubber rings. The invention can synchronously park the four rollers through the parking mechanism, and the rubber ring is sleeved on the rollers to increase the friction force between the rollers and the ground, thereby effectively improving the stability of the minimally invasive surgery robot during the surgery.)

1. A parking mechanism of a minimally invasive surgery robot comprises a base (1) for fixing the robot, wherein the base (1) comprises a chassis (11), two groups of rollers (12) arranged in front and back are arranged on the chassis (11), and the two rollers (12) in each group are arranged in bilateral symmetry; the method is characterized in that: the four rollers (12) are provided with parking mechanisms (2);

the roller (12) is hinged on a wheel seat (14) on the chassis (11) through a roller shaft (13); the parking mechanism (2) comprises four gears (21) which are respectively fixed at the inner ends of four roller shafts (13), each gear (21) is meshed with a gear tooth (221) at the outer end of a brake arm (22), a spline shaft (222) is formed at the inner end of each brake arm (22), the spline shaft (222) is inserted and sleeved at the left end of a spline hole (231) at the upper end of a base (23), the base (23) is fixed on a chassis (11), the right end of the spline hole (231) is connected with a jack post (24) through a spline, a first pressure spring (25) is clamped between each jack post (24) and the inner end of one corresponding brake arm (22), a second pressure spring (26) is sleeved at the outer end of each brake arm (22), the outer end of the second pressure spring (26) is fixed on a spring fixing plate (27), and the spring fixing plate (27) is fixed on the chassis (11); the inner ends of the top pillars (24) are formed with first inclined surfaces (241), and the first inclined surfaces (241) of the four top pillars (24) are pressed against four second inclined surfaces (281) of the driving arm (28); the driving arm (28) is provided with a driving mechanism (3) for driving the driving arm to move back and forth.

2. The parking mechanism of a minimally invasive surgical robot of claim 1, wherein: the driving mechanism (3) comprises a waist-shaped ring (31) fixed on the lower bottom surface of the driving arm (28), a driving column (32) is sleeved in the waist-shaped ring (31), the driving column (32) is fixed on a driving gear (33), the driving column (32) and the driving gear (33) are eccentrically arranged, the driving gear (33) is hinged on a base shaft (34), and the base shaft (34) is fixed on the chassis (11); the driving gear (33) is meshed with a pinion (35), the pinion (35) is fixed on a motor shaft of a motor (36), and the motor (36) is fixed on the chassis (11);

the driving mechanism (3) further comprises two sliding blocks (37) which are fixed on the lower bottom surface of the driving arm (28) and are arranged in a front-back mode, the sliding blocks (37) are sleeved on the sliding rails (38), and the sliding rails (38) are fixed on the chassis (11).

3. The parking mechanism of a minimally invasive surgical robot of claim 1, wherein: the inner end of the roller shaft (13) is connected with a locking screw (15) in a threaded manner.

4. The parking mechanism of a minimally invasive surgical robot according to claim 3, characterized in that: a disc spring (16) is clamped between the hexagonal boss of the locking screw (15) and the gear (21).

5. The parking mechanism of a minimally invasive surgical robot of claim 1, wherein: and the outer wall of the roller (12) is sleeved with a rubber ring (17).

6. The parking mechanism of a minimally invasive surgical robot of claim 1, wherein: the ejection column (24) is formed with a spring sleeve rod (242), the brake arm (22) is formed with an insertion hole (223), and the spring sleeve rod (242) is inserted in the insertion hole (223).

7. The parking mechanism of a minimally invasive surgical robot according to claim 5, wherein: the distance L1 between the end of the spring sleeve rod (242) and the bottom surface of the insertion hole (223) is larger than the distance L2 between the outer side wall of the gear tooth (221) and the inner side wall of the gear (21).

Technical Field

The invention relates to the technical field of robots, in particular to a parking mechanism of a minimally invasive surgery robot.

Background

In recent years, medical surgery approaches are gradually developed towards minimally invasive surgery with smaller wounds, such as spinal pedicle screw internal fixation, spinal bone screw implantation, vertebroplasty, intervertebral disc/foramen mirror surgery, and other bone surgeries such as pelvis and limbs. Advantages of minimally invasive surgery include small wound, rapid healing, less chance of infection and blood loss, etc. In minimally invasive surgery, more and more surgical robots are used by hospitals to perform surgical procedures. Because the minimally invasive surgery wound is smaller, the puncture and the surgery positioning in the surgery are required to be more accurate, and therefore, strict precision requirements are provided for the operation of the surgical robot. The operation trolley is used as a support mechanism of the operation robot, and whether the operation can be smoothly performed is stably related. Therefore, there is a need for a better surgical trolley to improve support stability.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a parking mechanism of a minimally invasive surgery robot, which can synchronously park four rollers through the parking mechanism and increase the friction force between the rollers and the ground through rubber rings sleeved on the rollers, thereby effectively improving the stability of the minimally invasive surgery robot during surgery.

The scheme for solving the technical problems is as follows:

a parking mechanism of a minimally invasive surgery robot comprises a base for fixing the robot, wherein the base comprises a chassis, two groups of rollers arranged in front and back are arranged on the chassis, and the two rollers of each group are arranged symmetrically left and right; the four rollers are provided with parking mechanisms;

the roller is hinged on a wheel seat on the chassis through a roller shaft; the parking mechanism comprises four gears which are respectively fixed at the inner ends of four roller shafts, each gear is meshed with the gear teeth at the outer ends of the brake arms, spline shafts are formed at the inner ends of the brake arms, the spline shafts are inserted and sleeved at the left ends of spline holes at the upper ends of the bases, the bases are fixed on the chassis, the right ends of the spline holes are connected with ejection columns through splines, a first pressure spring is clamped between each ejection column and the inner end of one corresponding brake arm, the outer end of each brake arm is sleeved with a second pressure spring, the outer end of the second pressure spring is fixed on a spring fixing plate, and the spring fixing plate is fixed on the chassis; the inner ends of the top pillars are formed with first inclined planes, and the first inclined planes of the four top pillars are pressed against the four second inclined planes of the driving arm; the driving arm is provided with a driving mechanism for driving the driving arm to move back and forth.

The driving mechanism comprises a waist-shaped ring fixed on the lower bottom surface of the driving arm, a driving column is sleeved in the waist-shaped ring and fixed on a driving gear, the driving column and the driving gear are eccentrically arranged, the driving gear is hinged on a base shaft, and the base shaft is fixed on the chassis; the driving gear is meshed with a pinion, the pinion is fixed on a motor shaft of a motor, and the motor is fixed on the chassis;

the driving mechanism further comprises two sliding blocks which are fixed on the lower bottom surface of the driving arm and are arranged in front and back, the sliding blocks are inserted and sleeved on the sliding rails, and the sliding rails are fixed on the base plate.

The inner end of the roller shaft is connected with a locking screw in a threaded manner.

And a disc spring is clamped between the hexagonal boss of the locking screw and the gear.

And the outer wall of the roller is sleeved with a rubber ring.

The top column is formed with a spring sleeve rod, the brake arm is formed with an insertion hole, and the spring sleeve rod is inserted in the insertion hole.

The distance L1 between the end of the spring sleeve rod and the bottom surface of the insertion hole is larger than the distance L2 between the outer side wall of the gear tooth and the inner side wall of the gear.

The invention has the following outstanding effects: compared with the prior art, the robot can synchronously park the four rollers through the parking mechanism, and the rubber ring is sleeved on the rollers to increase the friction force between the rollers and the ground, so that the stability of the minimally invasive surgery robot during surgery is effectively improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a cross-sectional view of FIG. 1 taken about A-A;

FIG. 3 is a cross-sectional view of FIG. 2 taken about B-B;

FIG. 4 is a cross-sectional view of FIG. 2 taken about C-C;

fig. 5 is a partial enlarged view of fig. 2 with respect to D.

Detailed Description