Design And Research Of Automatic Balanced Operating Microscope Frame Based On Electromagnetic Locking Joint

With the rapid development of modern medicine,there are more and more treatments for diseases,which are more and more novel.Operating microscope,as one of the indispensable assistant tools in modern medicine,plays an extremely important role in surgical operation.Operating microscope needs not only excellent optical performance,but also good operation performance,and the operation performance is determined by the operating microscope frame.In order to reduce the fatigue of long-term operation and improve the efficiency and success of the operation,it is necessary to make the operation of the microscope as simple,labor-saving and convenient as possible,and do not need to spend too much physical and time to complete things other than the operation.In view of this,this paper designs an automatic balancing operating microscope frame based on electromagnetic locking,which combines the research status at home and abroad and refers to relevant information.One-button automatic balance and electromagnetic locking function are the novelty of the frame.Firstly,based on the understanding of current research,and deeply studying the relevant data of the operating microscope frame and the robot,the overall structure scheme of the frame is designed.By using multiple parallelogram structures,the expected functional requirements are well realized.The leveraged balance of gravity also enables the microscope to move better than the spring balance.On this basis,the automatic balance device,electromagnetic locking mechanism,base and small frame of the frame are designed in detail,and the three-dimensional model of the gravity balancing frame is completed by SolidWorks.Then,in the worst condition of the frame,the finite element static analysis of the key parts of the frame is carried out by using Optistruct.By observing the stress and displacement nephogram of the structure,it is found that the strength and stiffness meet the design requirements and have a certain safety margin.Therefore,the optimization module in Optistruct is further used to optimize the size of thin-walled parts of key parts.By setting design variables,objective functions and constraints,the optimal thickness combination of design variables is solved by software.After optimization,under the premise that the maximum stress and deformation of the structure meet the requirements,the mass of parts is reduced and the lightweight design is realized.Finally,the D-H method is used to establish the bar coordinate system of the gravity balancing frame,and the posture equation of the frame is deduced.The accuracy of the forward kinematics solution is verified by the simulation of the robot toolbox in Matlab.Based on this,the working space of gravity balancing frame is solved by Monte Carlo method.By comparing with the existing operating microscope products using spring balance in China,it is found that the gravity balancing frame has a broader extension range and better positioning flexibility and adaptability.