WO2023093836A1 - Robot arm joint structure and control method therefor, robot system, and medical system - Google Patents

Abstract

A robot arm joint structure (10), comprising a rotating mechanism (300), wherein the rotating mechanism (300) is connected to a tail end joint (20) and a previous joint (30), and is used for driving the tail end joint (20) to rotate around the previous joint (30) in an unlimited manner. The robot arm joint structure prevents the introduction of a signal transmission cable and the introduction of a mechanical limit structure to the rotating mechanism, such that the tail end joint (20) can rotate around the previous joint (30) in the unlimited manner, and the working stability and reliability of a robot system are improved. Further provided are a control method for the robot arm joint structure, a robot system (102), and a medical system (103).

Description

Mechanical arm joint structure and its control method, robot system and medical system

This application claims the priority of the Chinese patent application submitted to the State Intellectual Property Office on November 25, 2021, with the application number 2021114153642, and the title of the invention is "Robot Arm Joint Structure and Control Method and System", and the patent application filed on November 25, 2021 The priority of the Chinese patent application submitted to the State Intellectual Property Office with the application number 2021114153676 and the title of the invention is "Robot Arm Joint Structure and Control Method and System", the entire content of which is incorporated in this application by reference.

technical field

The present application relates to the field of robot technology, in particular to a mechanical arm joint structure and a control method thereof, a robot system and a medical system.

Background technique

Robots are widely used in industry, medicine, agriculture, service industry, construction industry and military because of their advantages such as short learning curve and short learning time, ability to withstand ray radiation, short action execution delay time and high accuracy.

The design concept of the surgical robot is to use a minimally invasive method to accurately perform complex medical operations. By manipulating the mechanical joint movement of the master end, the user controls the surgical instruments at the slave end to complete preset surgical actions in areas where the doctor's hand cannot reach.

However, in the traditional robot system, cables are required to transmit signals between the end joint and the previous joint, resulting in the relative rotation between the end joint and the previous joint, and the rotational motion of the joint is limited. Setting the corresponding mechanical limit structure leads to complex joint control algorithms, and the signal cables between the joints may be worn and broken due to the movement, which affects the stability and reliability of the robot system.

Contents of the invention

According to various embodiments of the present application, a mechanical arm joint structure and a control method thereof, a robot system and a medical system are provided.

A mechanical arm joint structure, including a rotation mechanism, the rotation mechanism is connected with a terminal joint and a previous joint, and is used to drive the terminal joint to rotate infinitely around the previous joint.

In one of the embodiments, the joint structure of the mechanical arm further includes a sliding bearing rod, an angular displacement mechanical conversion mechanism and a displacement detection device. The angular displacement mechanical conversion mechanism is arranged in the terminal joint and connected to the sliding bearing rod, and is used to convert the opening and closing angle of the angular displacement mechanical conversion mechanism into the displacement of the sliding bearing rod. The displacement detection device is used to detect the real-time displacement value of the sliding bearing rod.

In one of the embodiments, the angular displacement mechanical conversion mechanism includes an opening and closing flap kneading transmission mechanism, and the opposite end of the opening and closing angle of the opening and closing flap kneading transmission mechanism is connected with the proximal end of the sliding bearing rod, through Changing the opening and closing angle of the opening and closing flap kneading transmission mechanism can drive the distal end of the sliding bearing rod to move.

In one of the embodiments, the opening and closing flap kneading transmission mechanism includes a parallelogram structure, and the diagonal tip of the opening and closing angle of the parallelogram structure is connected with the proximal end of the sliding bearing rod, by changing the parallelogram The opening and closing angle of the structure drives the distal end of the sliding bearing rod to move.

In one of the embodiments, the opening and closing flap kneading transmission mechanism further includes a first opening and closing flap and a second opening and closing flap, the proximal end of the first opening and closing flap is equal to the opening and closing angle of the parallelogram structure. The first side is connected, the proximal end of the second opening and closing flap is connected with the second side of the opening and closing angle of the parallelogram structure, and the distal end of the first opening and closing flap is connected with the second opening and closing flap by opening and closing. The distal end of the flap can change the angle of the opening and closing angle of the parallelogram structure.

In one of the embodiments, the displacement detection device includes a magnetic component and a 3D magnetic field sensor. The magnetic component is arranged on the end surface of the sliding bearing rod away from the angular displacement mechanical conversion mechanism. The 3D magnetic field sensor is arranged on the side of the sliding bearing rod away from the angular displacement mechanical conversion mechanism, opposite to the magnetic component, and is used to obtain the position of the sliding bearing rod by detecting the position of the magnetic component. Angle of rotation and displacement in the direction of its extension.

In one of the embodiments, the displacement detection device includes a resistance strip. The resistance strip is arranged on the sliding bearing rod and extends in the same direction as the sliding bearing rod. Wherein, by applying preset current/preset voltage to the resistance value of the known length on the resistance strip, the voltage value of the resistance strip with the same length as the displacement value of the sliding bearing rod is detected, and according to the voltage value, The displacement value is calculated by the preset current/preset voltage and the known length.

In one of the embodiments, the displacement detection device includes an inductive sensor. The inductance sensor is used to detect the inductance variation caused by the displacement of the sliding bearing rod, and calculate the displacement value of the sliding bearing rod according to the inductance variation.

In one of the embodiments, the displacement detection device includes a gear rack and a cylindrical gear. The gear bar is arranged on the surface of the sliding bearing rod, and the extending direction of the gear bar is consistent with the extending direction of the sliding bearing rod. The spur gear is engaged with the gear rack. Wherein, the movement of the sliding bearing rod drives the rotation of the cylindrical gear, and the displacement value of the sliding bearing rod is calculated according to the acquired root circle radius and rotation angle of the cylindrical gear.

In one of the embodiments, the joint structure of the mechanical arm further includes a first reset part located in the opening and closing angle, and the first returning part always makes the opening and closing angle open or close to the original angle.

In one of the embodiments, the joint structure of the mechanical arm further includes a second reset part arranged on the sliding bearing rod; the elongation/compression direction of the second reset part has the same The directions are the same, and the second reset member always makes the opening and closing angle open or close to the original angle.

In one of the embodiments, the rotation mechanism includes a bearing, and the end joint is meshedly connected with the previous joint via the bearing.

In one of the embodiments, the joint structure of the manipulator further includes a wireless signal transmission module. The wireless signal transmission module is used for wireless signal transmission between the end joint and the previous joint.

In one of the embodiments, the wireless signal transmission module includes a first wireless signal transceiving module and a second wireless signal transceiving module, the first wireless signal transceiving module is used to connect the terminal joint with the front An initial digital signal transmitted between joints is converted into a wireless signal; the second wireless signal transceiver module is used to generate a corresponding target digital signal according to the received wireless signal, and the target digital signal is associated with the initial digital signal .

In one of the embodiments, the first wireless signal transceiving module includes a first wireless signal transceiver and a first decoding circuit, and the first wireless signal transceiver is electrically connected to the first decoding circuit; the second The wireless signal transceiver module includes a second wireless signal transceiver and a second decoding circuit, and the second wireless signal transceiver is electrically connected to the second decoding circuit.

In one of the embodiments, both the first wireless signal transceiver and the first decoding circuit are arranged on the surface of the rotating mechanism away from the previous joint; the second wireless signal transceiver and the first The two decoding circuits are both arranged on the surface of the rotating mechanism away from the end joint.

In one of the embodiments, the first wireless signal transceiver includes a first transmitter and a first receiver, the first receiver is used to receive the wireless signal transmitted by the first transmitter; the second The wireless signal transceiver includes a second transmitter and a second receiver, and the second receiver is used for receiving the wireless signal transmitted by the second transmitter.

In one of the embodiments, the orthographic projection of the first transmitter on a vertical plane of the rotation axis is located within the orthographic projection of the second receiver on the vertical plane; The orthographic projection of the vertical plane lies within the orthographic projection of the first receiver on the vertical plane.

In one of the embodiments, the rotating shaft includes a cylindrical cavity extending in the same direction as the rotating shaft; the first transmitter and the first receiver are both arranged on the inner surface of the cylindrical cavity ; The second transmitter and the second receiver are both arranged on the inner surface of the cylindrical cavity.

In one embodiment, the wireless signal transmitted by the wireless signal transmission module includes at least one of infrared rays, visible light and electromagnetic waves.

In one of the embodiments, the joint structure of the manipulator further includes a wireless power supply module, the wireless power supply module is arranged between the end joint and the previous joint, and is used for the connection between the end joint and the previous joint. Wireless power transfer between joints.

In one of the embodiments, the wireless power supply module includes a primary side power supply coil, a primary side inverter circuit, a secondary side power supply coil and a secondary side inverter circuit, and the primary side power supply coil is connected to the bus power supply via the primary side inverter circuit. Electromagnetic induction can be generated between the primary side power supply coil and the secondary side power supply coil, and the secondary side power supply coil is connected between the terminal joint and the previous joint through the secondary side inverter circuit transfer electrical energy.

In one of the embodiments, the primary power supply coil and the primary inverter circuit are arranged on the surface of the rotating mechanism away from the end joint, and the secondary power supply coil and the secondary inverter circuit are arranged On the surface of the rotating mechanism away from the previous joint.

In one of the embodiments, the primary side power supply coil and the second wireless signal transceiving module are arranged on the first substrate, and the secondary side power supply coil and the first wireless signal transceiving module are arranged on the second substrate, so Both the first substrate and the second substrate are perpendicular to the rotation axis.

In one of the embodiments, the orthographic projection of the primary power supply coil on a vertical plane of the rotation axis overlaps with the orthographic projection of the secondary power supply coil on the vertical plane.

In one of the embodiments, the primary inverter circuit is arranged on the first substrate or the previous joint; and/or the secondary inverter circuit is arranged on the second substrate or the end joint .

In one of the embodiments, said preceding joint includes a drive. The driver is electrically connected to the motion controller and the second wireless signal transceiver module, and is used to transmit the received target digital signal to the motion controller, so that the motion controller The opening and closing angle of the terminal joint is obtained, and the driver is further used to drive the motor to rotate by a preset angle according to the received rotation control signal.

In one of the embodiments, the wireless signal transmission module is arranged between the end joint and the previous joint.

A robot system includes a master end and a slave end. The main end is manipulated by the operator, and includes the joint structure of the mechanical arm as described in any one of the foregoing embodiments. The slave end includes a robotic arm and is controlled via the master end. During the operation, by manipulating the opening and closing angle and/or the rotation angle of the terminal joint of the master end, the mechanical arm of the slave end is controlled to perform a corresponding preset action.

A medical system includes the robot system described above. By manipulating the opening and closing angle and/or rotation angle of the terminal joint at the master end, the mechanical arm at the slave end is controlled to perform corresponding preset actions, so as to drive the surgical instruments connected to the mechanical arm to perform corresponding medical operations.

A method for controlling a joint structure of a mechanical arm, comprising:

controlling the rotation mechanism disposed between the terminal joint and the previous joint to rotate at a first preset angle, wherein the rotation mechanism is used to drive the terminal joint to rotate infinitely around the previous joint;

controlling and changing the angle of the opening and closing angle of the angular displacement mechanical conversion mechanism connected to the sliding bearing rod, and converting the angle of the opening and closing angle of the angular displacement mechanical conversion mechanism into the sliding bearing rod based on the angular displacement mechanical conversion mechanism displacement;

The real-time displacement value of the sliding bearing rod is obtained, and the angle value of the opening and closing angle of the angular displacement mechanical conversion mechanism corresponding to the real-time displacement value is obtained according to the preset angular displacement correspondence relationship.

A method for controlling a joint structure of a mechanical arm, comprising:

Control the wireless signal transmission module to wirelessly transmit the wireless signal between the end joint and the previous joint;

The terminal joint is controlled to rotate at a preset angle, so as to drive the mechanical arm at the slave end to perform a corresponding preset action; wherein, the terminal joint is connected to the previous joint via a rotation mechanism.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features, objects and advantages of the present application will be apparent from the description, drawings and claims.

Description of drawings

In order to better describe and illustrate embodiments and/or examples of those applications disclosed herein, reference may be made to one or more of the accompanying drawings. Additional details or examples used to describe the figures should not be considered limitations on the scope of any of the disclosed applications, the presently described embodiments and/or examples, and the best mode of those applications as currently understood.

Fig. 1 is the schematic diagram of the joint structure of the mechanical arm in an embodiment;

Fig. 2-Fig. 7 are the principle schematic diagrams of the joint structure of the mechanical arm in different embodiments;

8-9b are structural schematic diagrams of the joint structure of the mechanical arm in different embodiments;

Fig. 10 is a schematic diagram of a rotating mechanism in a traditional robotic arm joint and a rotating mechanism in a robotic arm joint in the present application;

Fig. 11 is a schematic diagram of the joint structure of the mechanical arm in another embodiment;

12-13 are schematic diagrams of the distribution of wireless signal transmission modules in the joint structure of the manipulator in different embodiments;

Fig. 14 is a schematic structural diagram of a wireless signal transmission module in another embodiment;

Fig. 15 is a schematic diagram of the distribution of wireless signal transmission modules in the joint structure of the manipulator in another embodiment;

16-17 are schematic diagrams of the principles of the wireless power supply module in another embodiment;

Fig. 18 is a schematic diagram of the signal transmission principle of the joint structure of the manipulator in another embodiment;

Fig. 19 is a perspective view of the joint structure of the manipulator in another embodiment;

Fig. 20a is a cross-sectional view of the joint structure of the mechanical arm in another embodiment;

Fig. 20b is a cross-sectional view of the joint structure of the mechanical arm in another embodiment;

Fig. 21 is a schematic diagram of a rotating mechanism in a traditional robotic arm joint and a rotating mechanism in a robotic arm joint in the present application;

Fig. 22 is a schematic structural diagram of a robot system in an embodiment;

Fig. 23 is a structural schematic diagram of the mechanical arm where the terminal joint is located in Fig. 23;

Fig. 24 is a schematic structural diagram of a medical system in an embodiment.

Fig. 25 is a schematic flowchart of a method for controlling a joint structure of a robotic arm in an embodiment;

Fig. 26 is a schematic flowchart of a method for controlling a joint structure of a robotic arm in another embodiment.

Explanation of reference signs:

10. Mechanical arm joint structure; 100. Sliding bearing rod; 200. Angle displacement mechanical conversion mechanism; 300. Rotating mechanism; 310. Bearing; 400. Displacement detection device; 410. Magnetic components; 420. 3D magnetic field sensor; 430. Resistance 440, gear rack; 450, cylindrical gear; 510, first homing component; 520, second homing component; 600, wireless signal transmission module; 610, first wireless signal transceiver module; 620, second wireless signal Transceiver module; 700, rotating mechanism; 710, bearing rod; 720, first rotating bearing; 730, second rotating bearing; 810, primary side power supply coil; 820, primary side inverter circuit; 830, secondary side power supply coil; 840 , the secondary side inverter circuit; 20, the terminal joint; 21, the opening and closing flap kneading transmission mechanism; 2101, the parallelogram structure; 2102, the first opening and closing flap; 2103, the second opening and closing flap; 22, the first side, 23 , the second side; 30, the previous joint; 40, the mechanical limit structure; 51, the terminal joint; 5101, the first controller; 52, the previous joint; 5201, the driver; 60, the motor; 71, the first substrate; 72. Second substrate; 80. Sensor; 102. Robot system; 103. Medical system; 104. Master end; 105. Slave end; 1011. Cylindrical cavity.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

In this application, unless otherwise clearly specified and limited, terms such as "connected" and "connected" should be interpreted in a broad sense, for example, they can be directly connected or indirectly connected through an intermediary, and they can be internally connected to each other. connectivity or interaction between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

Please note that the robot involved in this application includes a terminal device that includes a processor and that the processor applies control information to the drive motor to control the operation of the surgical instrument.

Surgical robot is a kind of electronic equipment for surgery with full-automatic, semi-automatic or supervisory mode, generally including console and mechanical arm, the console can be controlled by computer system, surgical operation monitor, robot control monitor, operating handle and input and output devices and so on. For example, during an operation, the surgeon can sit in front of the main console away from the operating table, rest his head on the field of view frame, receive complete images from different cameras with both eyes, and jointly synthesize a three-dimensional stereoscopic view of the surgical field. The doctor controls the end joint of the main end with both hands, and the hand motion is transmitted to the tip of the robotic arm to complete the operation, thereby increasing the accuracy and stability of the operation.

However, in the traditional robot system, cables are required to transmit signals between the user’s end joint and its previous joint, so that the end joint and the previous joint can only rotate relative to each other, and a corresponding mechanical limit structure needs to be set in the rotation mechanism , resulting in complex joint control algorithms, and the signal cables between the joints may be worn and broken due to the movement, which affects the stability and reliability of the robot system.

Therefore, the present application aims to provide a mechanical arm joint structure and its control method, a robot system, and a medical system. The mechanical structure is used to complete the transmission between the joints, avoiding the introduction of signal transmission cables, so that the rotating mechanism can rotate infinitely, reducing the While reducing the complexity of the joint control algorithm, it improves the stability and reliability of the robot system.

Please refer to FIG. 1 , an embodiment of the present application provides a mechanical arm joint structure 10, including a sliding bearing rod 100, an angular displacement mechanical conversion mechanism 200, a rotating mechanism 300 and a displacement detection device 400, and an angular displacement mechanical conversion mechanism 200 It is arranged in the end joint 20 and connected to the sliding bearing rod 100 for converting the opening and closing angle of the angular displacement mechanical conversion mechanism 200 into the displacement of the sliding bearing rod 100 . The rotation mechanism 300 is connected with the end joint 20 and the preceding joint 30 , and is used to drive the end joint 20 to rotate infinitely around the preceding joint 30 . The displacement detection device 400 is used to detect the real-time displacement value of the sliding bearing rod 100 .

Please continue to refer to FIG. 1, by setting the angular displacement mechanical conversion mechanism 200, the angle of the opening and closing angle of the angular displacement mechanical conversion mechanism 200 is converted into the displacement of the sliding bearing rod 100, so that the end joint 20 can surround the previous joint 30 via the rotation mechanism 300 Infinite rotation, the real-time displacement value of the sliding bearing rod 100 is detected by the displacement detection device 400, and the angle value of the opening and closing angle of the angular displacement mechanical conversion mechanism 200 corresponding to the real-time displacement value is obtained according to the preset angular displacement correspondence relationship. Since the angular displacement mechanical conversion mechanism 200 is used to complete the transmission between the end joint 20 and the previous joint 30, the introduction of the signal transmission cable and the mechanical limit structure 40 in the rotation mechanism 300 is avoided, so that the end joint 20 can pass through the rotation mechanism 300 infinitely. Bit rotation reduces the complexity of the joint control algorithm and at the same time improves the stability and reliability of the robot system 102 .

As an example, please refer to FIG. 2 , the terminal joint 20 includes an opening and closing valve kneading transmission mechanism 21 . The opposite end m of the opening and closing angle a of the opening and closing flap kneading transmission mechanism 21 is connected with the proximal end c of the sliding bearing rod 100 . In this way, by changing the opening and closing angle a of the angular displacement mechanical conversion mechanism 200, the distal end d of the sliding bearing rod 100 is driven to move, so that the operator can change the opening and closing of the angular displacement mechanical conversion mechanism 200 by kneading the opening and closing flaps of the kneading transmission mechanism 21. The joint angle a drives the distal end d of the sliding bearing rod 100 to move, avoiding the introduction of the signal transmission cable and the mechanical limit structure 40 in the rotating mechanism 300 , so that the end joint 20 can rotate infinitely through the rotating mechanism 300 .

As an example, please continue to refer to FIG. 2 , the opening and closing flap kneading transmission mechanism 21 includes a parallelogram structure 2101 . The top end m of the opposite angle b of the opening and closing angle a of the parallelogram structure 2101 is connected with the proximal end c of the sliding bearing rod 100 . The distal end d of the sliding bearing rod 100 is driven to move by changing the opening and closing angle a of the parallelogram structure 2101 . By setting the opening and closing flap kneading transmission mechanism 21 to include a parallelogram structure 2101, the distal end of the sliding bearing rod 100 is driven to move by changing the opening and closing angle a of the parallelogram structure 2101, reducing the complexity of the opening and closing flap kneading transmission mechanism 21 Resilience, reducing the structural cost while ensuring the stability of motion transmission.

As an example, please continue to refer to FIG. 2 , the opening and closing flap kneading transmission mechanism 21 further includes a first opening and closing flap 2102 and a second opening and closing flap 2103 . The proximal end x of the first flap 2102 is connected to the first side 22 of the opening angle a of the parallelogram structure 2101 . The proximal end x of the second flap 2103 is connected to the second side 23 of the opening angle a of the parallelogram structure 2101 . By opening and closing the distal end y of the first opening and closing flap 2102 and the distal end y of the second opening and closing flap 2103, the angle of the opening and closing angle a of the parallelogram structure 2101 is changed, which is convenient for the operator to knead the first opening and closing flap 2102, The second opening and closing flap 2103 changes the opening and closing angle a of the angular displacement mechanical conversion mechanism 200 to drive the distal end d of the sliding bearing rod 100 to move, reducing the complexity of the structure and improving the simplicity of operation.

As an example, please continue to refer to FIG. 2 , the lengths of the four sides of the parallelogram structure 2101 can be set to be equal, for example, the lengths of the first side 22 and the second side 23 of the parallelogram structure 2101 are equal and equal to L, according to the following formula Calculate the angle value a corresponding to the real-time displacement value s:

S=L-L*cosa/2.

As an example, please refer to FIG. 3 , the displacement detection device 400 includes a magnetic component 410 and a 3D magnetic field sensor 420 , and the magnetic component 410 is disposed on the end surface of the sliding bearing rod 100 away from the angular displacement mechanical conversion mechanism 200 . The 3D magnetic field sensor 420 is disposed on the side of the sliding bearing rod 100 away from the mechanical conversion mechanism 200 for angular displacement, opposite to the magnetic component 410 , for detecting the rotation angle of the sliding bearing rod 100 and the displacement s in its extending direction. The 3D magnetic field sensor 420 is used to measure the displacement and rotation angle of the magnetic component 410 of the sliding bearing rod 100 away from the end face of the angular displacement mechanical conversion mechanism 200 by detecting the position of the magnetic component, through the known preset angular displacement correspondence relationship The angle value corresponding to the real-time displacement value of the magnetic component 410 is obtained to determine the angle value of the opening and closing angle of the angular displacement mechanical conversion mechanism 200 .

As an example, please refer to FIG. 4 , the displacement detection device 400 includes a resistance strip 430 disposed on the sliding bearing rod 100 and extending in the same direction as the sliding bearing rod 100 . By applying a preset current/preset voltage to a resistance value of known length on the resistor bar 430, the voltage value of the resistor bar 430 having the same length as the displacement value of the sliding bearing rod 100 is detected, and according to the voltage value, preset current/preset voltage, Set the voltage and the known length to calculate the displacement value.

As an example, please continue to refer to FIG. 4, by applying a preset voltage Ui to the resistor bar 430 with a length of S0, for example, applying a preset voltage Ui to the resistor bar 430 via the arrow set at the far end e of the resistor bar 430, and The arrow set at the near end f of the resistance strip 430 is grounded (GND), U0 is the voltage value of the resistance strip 430 with the same length as the real-time displacement value s, and the real-time displacement value s and the angle value a corresponding to the real-time displacement value s are calculated according to the following formula :

S=S0*(U0/Ui);

S=L-L*cosa/2.

As an example, the displacement detection device 400 may be set to include an inductance sensor, which is used to detect the inductance variation caused by the displacement of the sliding bearing rod 100 , and calculate the displacement value of the sliding bearing rod 100 through the inductance variation.

As an example, please refer to FIG. 5 , the displacement detection device 400 can be set to include a gear bar 440 and a cylindrical gear 450, the gear bar 440 is arranged on the surface of the sliding bearing rod 100, and the extending direction of the gear bar 440 is consistent with the extending direction of the sliding bearing rod 100 . The spur gear 450 is engaged with the gear rack 440 . In this way, the sliding bearing rod 100 moves to drive the cylindrical gear 450 to rotate, and the displacement value of the sliding bearing rod 100 is calculated according to the acquired root circle radius R and rotation angle β of the cylindrical gear 450 . Using the horizontal movement of the gear bar 440 to drive the rotation of the cylindrical gear 450 meshed with it, the angle of the opening and closing angle of the angular displacement mechanical conversion mechanism 200 is converted into the rotation angle β of the cylindrical gear 450, and the real-time displacement value s can be calculated according to the following formula And the angle value a corresponding to the real-time displacement value s:

S=β*R*π/180;

S=L-L*cosa/2.

As an example, please refer to FIG. 6 , the mechanical arm joint structure 10 further includes a first reset member 510 located within the opening and closing angle a, and the first returning member always makes the opening and closing angle open or close to the original angle. In this way, during the opening and closing process of the opening and closing angle a, the first reset member 510 is in an elastic stretch/compression state, so that after the user pinches the end joint 20, the opening and closing angle a of the angular displacement mechanical conversion mechanism 200 automatically returns to the original The angle value is also convenient to indicate the direction of the user's operation. For example, it may be set that the first return component 510 includes a spring.

As an example, please refer to FIG. 7 , it can be set that the joint structure 10 of the manipulator further includes a second reset member 520 arranged on the sliding bearing rod 100, and the second reset member always makes the opening and closing angle open or close to the original angle. closure. The extension/compression direction of the second reset member 520 is consistent with the extension direction of the sliding bearing rod 100 . In this way, during the opening and closing process of the opening and closing angle, the second reset member 520 is in an elastic stretch/compression state, so that after the user pinches the end joint 20, the opening and closing angle of the angular displacement mechanical conversion mechanism 200 automatically returns to the original angle value , which is also convenient for indicating the direction of the user's operation. For example, it can be set that the second return member 520 includes a spring.

As an example, referring to FIG. 8 , a rotating mechanism 300 may be disposed between the end joint 20 and the previous joint 30 , and the rotating mechanism 300 includes a bearing 310 . The end joint 20 is meshed with the previous joint 30 via the bearing 310 , so that the end joint 20 can rotate around the previous joint 30 indefinitely.

As an example, please refer to FIGS. 9a-9b , the angular displacement mechanical conversion mechanism 200 is connected to the sliding bearing rod 100 for converting the opening and closing angle of the angular displacement mechanical conversion mechanism 200 into the displacement of the sliding bearing rod 100 . Since the angular displacement mechanical conversion mechanism 200 is used to complete the transmission between the end joint 20 and the previous joint 30, the introduction of the signal transmission cable and the mechanical limit structure 40 in the rotation mechanism 300 is avoided, so that the end joint 20 can pass through the rotation mechanism 300 infinitely. The position is rotated to drive the previous joint 30 to perform the corresponding preset action, which not only reduces the complexity of the joint control algorithm, but also improves the stability and reliability of the robot system 102 . The first return part 510 is set in the opening and closing angle. During the opening and closing process of the opening and closing angle, the first return part 510 is in an elastic stretch/compression state, which is convenient for the angular displacement mechanical conversion mechanism after the user kneads the end joint 20 The opening and closing angle of 200 automatically returns to the original angle value, which is also convenient for indicating the direction of user operation. The real-time displacement value of the sliding bearing rod 100 is detected via the displacement detection device 400 , and the angle value of the opening and closing angle of the angular displacement mechanical conversion mechanism 200 corresponding to the real-time displacement value is obtained according to the preset angular displacement correspondence relationship.

As an example, please refer to FIG. 10 , the rotation mechanism 300 in the traditional robot joint is limited by the signal transmission cable, and a mechanical limit structure 40 needs to be provided. If it is necessary to rotate the rotation mechanism 300 in the robot joint from position A to position B, Constrained by the mechanical limit structure 40 , the rotating mechanism 300 must rotate through the path indicated by the arrow in the left figure of FIG. 10 . Compared with the rotation mechanism 300 in this application that adopts the infinite structure shown in the right diagram of Figure 10, if it is necessary to rotate the rotation mechanism 300 in the robot joint from position A to position B, it can be through the arrow shown in the right diagram of Figure 10 Path rotation. Comparing the left diagram and the right diagram in Fig. 10, it can be clearly found that the rotation movement of the rotation mechanism 300 with infinite structure in this application is more flexible, simple and easy to control, which can effectively reduce the volume of the rotation mechanism 300 and reduce the control The complexity of the algorithm.

Please refer to FIG. 11. In another embodiment of the present application, a mechanical arm joint structure 10 is also provided, including a wireless signal transmission module 600 and a rotation mechanism 700. The wireless signal transmission module 600 is used for connecting the terminal joint 51 with the previous one. Wireless signal transmission between joints 52. The rotation mechanism 700 connects the end joint 51 with the previous joint 52 to drive the end joint 51 to rotate infinitely around the rotation axis of the rotation mechanism 700 and drive the end joint 51 to rotate infinitely relative to the previous joint 52 . In this embodiment, the terminal joint may be an operating joint, and the preceding joint may be a driving joint.

Please continue to refer to FIG. 11 , use the wireless signal transmission module 600 to transmit the signal between the end joint 51 and the previous joint 52 to realize the wireless signal transmission between the end joint 51 and the previous joint 52, avoiding the introduction of signal transmission cables, so that The end joint 51 can rotate infinitely around the rotation axis of the rotation mechanism 700 through the rotation mechanism 700, realizing the infinite rotation of the end joint 51 relative to the previous joint 52, reducing the complexity of the joint control algorithm and improving the working efficiency of the robot system 102. stability and reliability.

As an example, please continue to refer to FIG. 11 , the wireless signal transmission module 600 includes a first wireless signal transceiving module 610 and a second wireless signal transceiving module 620 disposed opposite to each other. The first wireless signal transceiving module 610 is used for converting the initial digital signal transmitted between the end joint 51 and the previous joint 52 into a wireless signal. The second wireless signal transceiving module 620 is configured to generate a corresponding target digital signal according to the received wireless signal, and the target digital signal is associated with the initial digital signal. Through the mutual cooperation of the first wireless signal transceiving module 610 and the second wireless signal transceiving module 620, the wireless signal transmission between the end joint 51 and the previous joint 52 is realized, and the introduction of signal transmission cables is avoided, so that the end joint 51 can pass through the rotating mechanism. 700 rotates infinitely around the rotation axis of the rotation mechanism 700 .

As an example, please refer to FIG. 12 , the first wireless signal transceiver module 610 includes a first wireless signal transceiver and a first decoding circuit, and the first wireless signal transceiver is electrically connected to the first decoding circuit. The second wireless signal transceiver module 620 includes a second wireless signal transceiver and a second decoding circuit, and the second wireless signal transceiver is electrically connected to the second decoding circuit. The first wireless signal transceiver and the first decoding circuit are disposed on the surface of the rotating mechanism 700 away from the previous joint 52 . The second wireless signal transceiver and the second decoding circuit are arranged on the surface of the rotating mechanism 700 away from the end joint 51 . In this embodiment, two-way wireless signal transmission between the end joint 51 and the previous joint 52 is realized, avoiding the introduction of signal transmission cables.

As an example, please continue to refer to FIG. 12 , the first wireless signal transceiver includes a first transmitter and a first receiver, and the first receiver is configured to receive a wireless signal transmitted by the first transmitter. The second wireless signal transceiver includes a second transmitter and a second receiver, the second receiver is used for receiving the wireless signal transmitted by the second transmitter. The orthographic projection of the first emitter on a vertical plane of the axis of rotation lies within the orthographic projection of the second receiver on the vertical plane; the orthographic projection of the second emitter on the vertical plane lies within the orthographic projection of the first receiver on the vertical plane Within the projection, the wireless signal transmission efficiency of the first wireless signal transceiver and the second wireless signal transceiver is improved.

As an example, please refer to FIG. 13 , the rotating shaft of the rotating mechanism 700 includes a cylindrical cavity 1011 extending in the same direction as the rotating shaft. Both the first transmitter and the first receiver are disposed on the inner surface of the cylindrical cavity 1011 . Both the second transmitter and the second receiver are arranged on the inner surface of the cylindrical cavity 1011, so that the signals transmitted between the first transmitter and the second receiver, and the signals transmitted between the second transmitter and the first receiver are The transmission in the cylindrical cavity 1011 reduces the signal loss in the transmission process, and improves the efficiency of the wireless signal transmission of the first wireless signal transceiver and the second wireless signal transceiver. Such setting can reduce the distance between the first transmitter and the second receiver, and reduce the distance between the second transmitter and the first receiver, so as to reduce the volume of the mechanical arm joint structure 10 . The number of wireless signal transmission modules 600 can be set to be greater than 2, and each wireless signal transmission module 600 can be arranged to be distributed symmetrically around the rotation axis of the rotation mechanism 700 to reduce the volume of the rotation mechanism 700 .

As an example, the wireless signal transmitted by the wireless signal transmission module 600 includes at least one of infrared rays, visible light and electromagnetic waves.

As an example, the wireless signal transmission module 600 is disposed between the terminal joint 51 and the previous joint 52 to reduce the volume of the wireless signal transmission module 600 .

As an example, please refer to FIG. 14-FIG. 15 , taking the wireless signal transmitted by the wireless signal transmission module 600 including infrared rays as an example to illustrate the implementation principle of the present application. The maximum angle α of the radiation surface of the infrared rays emitted by the wireless signal transmission module 600 may be 30°-180°, for example, α may be 30°, 60°, 90°, 120°, 160° or 180°. Since the distance between the terminal joint 51 and the previous joint 52 in the embodiment of the present application is relatively small, the maximum angle α of the radiation surface of the infrared rays emitted by the wireless signal transmission module 600 is large enough to ensure that the infrared rays are effectively received, so as to improve the wireless signal Signal transmission efficiency of the transmission module 600 . The average distance d between the first wireless signal transceiving module 610 and the second wireless signal transceiving module 620 may be 2mm-30mm, for example, d may be 2mm, 8mm, 18mm, 28mm or 30mm. In an embodiment of the present application, α is 120°, and d is 8mm, which can ensure that the volume of the joint structure 10 of the manipulator is small enough on the premise of ensuring that the signal transmission efficiency of the wireless signal transmission module 600 is high enough.

As an example, the mechanical arm joint structure 10 also includes a wireless power supply module, which is arranged between the end joint 51 and the previous joint 52, and is used for wireless power transmission between the end joint 51 and the previous joint 52, avoiding the introduction of electric energy The transmission cable enables the end joint 51 to rotate infinitely around the rotation axis of the rotation mechanism 700 via the rotation mechanism 700 .

As an example, please refer to FIG. 16 , the wireless power supply module includes a primary side power supply coil 810 , a primary side inverter circuit 820 , a secondary side power supply coil 830 and a secondary side inverter circuit 840 . The primary side power supply coil 810 and the primary side inverter circuit 820 are arranged on the surface of the rotating mechanism 700 away from the terminal joint 51, and the secondary side power supply coil 830 and the secondary side inverter circuit 840 are arranged on the surface of the rotating mechanism 700 away from the previous joint 52, which is convenient Wireless power transmission is performed between the primary side power supply coil 810 and the secondary side power supply coil 830 to realize wireless power transmission between the terminal joint 51 and the previous joint 52 .

As an example, please continue to refer to FIG. 16 , the primary power supply coil 810 and the second wireless signal transceiving module 620 are disposed on the first substrate 71 . The secondary power supply coil 830 and the first wireless signal transceiving module 610 are disposed on the second substrate 72 . Both the first base plate 71 and the second base plate 72 are perpendicular to the rotation axis, which makes the joint structure 10 of the manipulator more compact and reduces the volume of the joint structure 10 of the manipulator.

As an example, please continue to refer to Figure 16 and Figure 17, the wireless power supply module transmits electric energy through a magnetic field, the primary power supply coil 810 is connected to the bus voltage via the primary inverter circuit 820, for example, the bus voltage can be set to 5V-24V, and the bus voltage is connected to the The primary side inverter circuit 820 provides electric energy to the primary side power supply coil 810, and when the magnetic induction line excited by the primary side power supply coil 810 passes through the plane where the secondary side power supply coil 830 is located, an induced current is generated in the secondary side power supply coil 830, and the secondary side power supply coil 830 is connected to the first controller 5101 via the secondary side inverter circuit 840 to implement wireless power transmission between the primary side power supply coil 810 and the secondary side power supply coil 830 . The secondary inverter circuit 840 can provide the first controller 5101 with 3.3V-5.0V electric energy, so as to provide the first controller 5101 with an appropriate working voltage.

As an example, please continue to refer to FIG. 16 and FIG. 17 , the orthographic projection of the primary side power supply coil 810 on a vertical plane of the rotation axis overlaps, for example, completely coincides with the orthographic projection of the secondary side power supply coil 830 on the vertical plane, so as to improve the primary side. The wireless power transmission efficiency between the power supply coil 810 and the secondary side power supply coil 830 is improved, and the volume of the wireless power supply module is reduced.

As an example, please continue to refer to FIG. 16, the primary side inverter circuit 820 can be arranged on the first substrate 71 or a suitable position on the previous joint 52; the secondary side inverter circuit 840 can also be arranged on the second substrate 72 or the end A proper position on the joint 51 makes the joint structure 10 of the manipulator more compact and reduces the volume of the joint structure 10 of the manipulator.

As an example, please refer to FIG. 18 , the end joint 51 includes a first controller 5101 . The first controller 5101 is electrically connected to the first wireless signal transceiving module 610 and the sensor 80, and is configured to: receive the real-time signal detected by the sensor 80 and generate a control signal, so that the first wireless signal transceiving module 610 sends the end joint The initial digital signal transmitted between 51 and the previous joint 52 is converted into a wireless signal, so as to transmit the signal at the end joint 51 to the previous joint 52 via the first wireless signal transceiver module 610 .

As an example, please continue to refer to FIG. 18 , the second wireless signal transceiving module 620 is configured to generate a target digital signal according to the received wireless signal. The previous joint 52 includes a driver 5201, and the driver 5201 is electrically connected to the motion controller (not shown) and the second wireless signal transceiver module 620, and is used to transmit the received target digital signal to the motion controller, so that the motion controller according to The target digital signal acquires the opening and closing angle of the terminal joint 51 . The driver 5201 is also used to drive the motor 60 to rotate a preset angle according to the received rotation control signal, so as to drive the terminal joint 51 to perform a corresponding preset action. The driver 5201 can also set an angle sensor in the previous joint 52 to detect the real-time angle value of the motor 60, and the driver 5201 is also used to convert the real-time angle value of the motor 60 into a digital signal, and transmit the digital signal through the second wireless The signal transceiving module 620 transmits to the end joint 51 or the motion controller to realize two-way wireless signal transmission between the end joint 51 and the previous joint 52 and online feedback of the real-time rotation angle value of the previous joint 52 .

As an example, please refer to FIG. 19, FIG. 20a and FIG. 20b, the previous joint 52 includes a driver 5201, and the driver 5201 is used to drive the motor 60 to rotate a preset angle according to the received rotation control signal, so as to drive the end joint 51 to rotate a preset angle, so as to Drive the terminal device to perform the corresponding preset action. The rotating mechanism 700 can be set to include a bearing rod 710, a first rotating bearing 720 and a second rotating bearing 730, the end joint 51 is fixed on the bearing rod 710, and the bearing rod 710 is connected to the previous rotating bearing 720 and the second rotating bearing 730 via the first rotating bearing 720 and the second rotating bearing 730. Joint 52 connects. The first substrate 71 is arranged on the surface of the previous joint 52 close to the end joint 51, the second substrate 72 is arranged on the surface of the end joint 51 close to the previous joint 52, and the primary power supply coil 810 and the second wireless signal transceiver module 620 are arranged on the second A substrate 71 . The secondary side power supply coil 830 and the first wireless signal transceiver module 610 are arranged on the second substrate 72, the bus voltage supplies electric energy to the primary side power supply coil 810 through the primary side inverter circuit 820, and the magnetic induction lines excited by the primary side power supply coil 810 pass through the secondary side When the power supply coil 830 is in a plane, an induced current is generated in the secondary power supply coil 830 to realize wireless power transmission between the primary side power supply coil 810 and the secondary side power supply coil 830 . Through the mutual cooperation of the first wireless signal transceiving module 610 and the second wireless signal transceiving module 620, the wireless signal transmission between the end joint 51 and the previous joint 52 is realized, and the introduction of signal transmission cables is avoided, so that the end joint 51 can pass through the rotating mechanism. 700 around the previous joint 52 unlimited rotation. Both the first base plate 71 and the second base plate 72 are perpendicular to the rotation axis, which makes the joint structure 10 of the manipulator more compact and reduces the volume of the joint structure 10 of the manipulator.

As an example, please refer to FIG. 21. The rotation mechanism in the traditional robot joint is limited by the signal transmission cable, and a mechanical limit structure 40 needs to be provided. If it is necessary to rotate the rotation mechanism in the robot joint from position A to position B, the mechanical Constrained by the limiting structure 40, the rotating mechanism must rotate through the path shown by the arrow in the left figure of FIG. 21 . Compared with the rotation mechanism 700 shown in the right diagram of FIG. 21 used in this application, if the rotation mechanism in the robot joint needs to be rotated from position A to position B, it can be rotated through the path shown by the arrow in the right diagram of FIG. 21 . Comparing the left picture and the right picture in Figure 21, it can be clearly found that the rotational movement of the rotating mechanism 700 in this application is more flexible, simple, and easy to control, which can effectively reduce the volume of the rotating mechanism 700 and reduce the complexity of the control algorithm .

As an example, please refer to FIG. 22-FIG. 23. The present application provides a robot system 102, including a master end 104 and a slave end 105. The master end 104 is manipulated by the operator, and includes any robotic arm in any embodiment of the present application. Joint structure10. The slave end 105 includes a mechanical arm and is controlled by the master end 104. By controlling the opening and closing angle of the angular displacement mechanical conversion mechanism 200 of the master end 104 and the rotation angle of the rotation mechanism, the surgical instrument at the slave end 105 is controlled to perform the corresponding preset. action.

When the robot system 102 includes the mechanical arm joint structure 10 in an embodiment, the angle of the opening and closing angle of the angular displacement mechanical conversion mechanism 200 is converted into the displacement of the sliding bearing rod 100 by setting the angular displacement mechanical conversion mechanism 200, so that the end joint The angular displacement mechanical conversion mechanism 200 in 20 can rotate infinitely around the previous joint 30 through the rotating mechanism, detect the real-time displacement value of the sliding bearing rod 100 through the displacement detection device 400, and obtain the corresponding real-time displacement value according to the preset angular displacement correspondence relationship. The angle value of the opening and closing angle of the angular displacement mechanical conversion mechanism 200 is used to precisely control the surgical instrument at the slave end 105 to perform the corresponding preset action by manipulating the angle of the angle displacement of the main end 104. . Since the angular displacement mechanical conversion mechanism 200 is used to complete the transmission between the end joint 20 and the previous joint 30, the introduction of the signal transmission cable and the mechanical limit structure 40 in the rotation mechanism is avoided, so that the end joint 20 can rotate infinitely through the rotation mechanism , while reducing the complexity of the joint control algorithm, the stability and reliability of the robot system 102 are improved.

When the robot system 102 includes the mechanical arm joint structure 10 in another embodiment, the wireless signal transmission module 600 is used to transmit the signal between the end joint 51 and the previous joint 52 to realize the communication between the end joint 51 and the previous joint 52. Wireless signal transmission, avoiding the introduction of signal transmission cables.

As an example, please refer to FIG. 24 , the application provides a medical system 103, including any robot system 102 in the embodiment of the application, the robot system 102 has several mechanical arms, and the mechanical arms can be used to mount such as scalpels Or surgical instruments such as endoscopes (eg laparoscopes). By manipulating the opening and closing angle of the angular displacement mechanical conversion mechanism 200 of the master end 104 and the rotation angle of the rotation mechanism, the mechanical arm of the slave end 105 is controlled to perform corresponding preset actions, so as to drive the terminal surgical instruments to perform corresponding medical operations. That is, an operator (eg, a surgeon) can perform minimally invasive surgical treatment on a patient on a hospital bed by manipulating the end joint 20 of the main end 104 .

For example, in one embodiment, because the transmission between the end joint 20 and the previous joint 30 is completed by using the angular displacement mechanical conversion mechanism 200, the introduction of the mechanical limit structure 40 in the signal transmission cable and the rotation mechanism is avoided, so that the end joint 20 can rotate infinitely through the rotating mechanism, which reduces the complexity of the joint control algorithm, improves the accuracy of medical operations, avoids unnecessary medical damage to patients caused by the system error of the medical system 103, and improves the safety of the medical system 103. Intelligence, reliability and security.

In another embodiment, the wireless signal transmission between the end joint 51 and the previous joint 52 can be realized by using the wireless signal transmission module 600 to transmit the signal between the end joint 51 and the previous joint 52, avoiding the introduction of signal transmission cable.

Specifically, the surgical instruments used by robots generally include passive surgical instruments and active surgical instruments. Among them, passive surgical instruments generally include right-angle forceps, arc shears, direct shears, ultrasonic scalpels, and vigorous grasping forceps; Including monopolar arc coagulation forceps, etc. The surgical instrument may also include: a surgical instrument including an endoscope.

More specifically, the surgical robot can be set to include a doctor's console and an operating trolley. The console at the main end 104 is provided with a main operator, and the operating trolley has several mechanical arms. Surgical instruments and endoscopes can be mounted on the On the mechanical arm of the slave end 105, the master manipulator forms a master-slave control relationship with the mechanical arm and surgical instruments. The operator (such as a surgeon) realizes minimally invasive surgical treatment on patients on the hospital bed through the remote operation of the doctor's console and the main operator. The robotic arm and surgical instruments move during surgery according to the movement of the master manipulator manipulated by the operator. A display device may be provided on the doctor's console, which is communicatively connected with the endoscope mounted on the mechanical arm of the operating trolley, and capable of receiving and displaying images collected by the endoscope. According to the image displayed on the display device on the doctor's console, the operator controls the movement of the mechanical arm and surgical instruments through the main operator, so that the endoscope and surgical instruments enter the patient's position through the wound on the patient's body. During the operation, the surgical robot adopts any of the mechanical arm joint structures 10 described in the embodiments of the present application, and uses the angular displacement mechanical conversion mechanism 200 to complete the transmission between the terminal joint 20 and the previous joint 30, avoiding the introduction of signal transmission cables and The mechanical limit structure 40 in the rotation mechanism enables the end joint 20 to rotate infinitely through the rotation mechanism, which reduces the complexity of the joint control algorithm and improves the stability and reliability of the robot system 102 .

As an example, please continue to refer to FIG. 24 , the control processing device may be provided with a display device, which is communicatively connected with the endoscope mounted on the robotic arm of the slave end 105, and capable of receiving and displaying images collected by the endoscope. According to the image displayed by the display device, the operator controls the movement of the mechanical arm and the surgical instrument through the main operator. The endoscope and surgical instruments are each passed through an incision in the patient's body into the patient's position. Optionally, the display device may include an immersive display device and a fixed display device. The operator can view the condition in the patient's body through the display screen of the immersive display device or the fixed display device.

In some other examples, the operator may input the preset angle-displacement correspondence to the control processing device through input devices such as a mouse and a keyboard; the preset angle-displacement correspondence may also be stored in a storage device in advance, and then read the storage device Corresponding relation of preset angle displacement in .

Please refer to FIG. 25 , an embodiment of the present application provides a method for controlling the joint structure of a manipulator, including:

Step S110: Control the rotation mechanism arranged between the end joint 20 and the previous joint 30 to rotate at a first preset angle, wherein the rotation mechanism is used to drive the end joint 20 to rotate infinitely around the previous joint 30;

Step S120: control to change the angle of the opening and closing angle of the angular displacement mechanical conversion mechanism 200 connected to the sliding bearing rod 100, and change the angle of the opening and closing angle of the angular displacement mechanical conversion mechanism 200 based on the angular displacement mechanical conversion mechanism 200 converted into the displacement of the sliding bearing rod 100;

Step S130: Obtain the real-time displacement value of the sliding bearing rod 100, and obtain the angle value of the opening and closing angle of the angular displacement mechanical conversion mechanism 200 corresponding to the real-time displacement value according to the preset angular displacement correspondence relationship.

Specifically, by controlling the rotation mechanism disposed between the end joint 20 and the previous joint 30 to rotate by a first preset angle, the rotation mechanism is used to drive the end joint 20 to rotate infinitely around the previous joint 30 . The angle of the opening and closing angle of the angular displacement mechanical conversion mechanism 200 is controlled to be changed, and the angle of the opening and closing angle of the angular displacement mechanical conversion mechanism 200 is converted into the displacement of the sliding bearing rod 100 based on the angular displacement mechanical conversion mechanism. By obtaining the real-time displacement value of the sliding bearing rod 100, the angle value of the opening and closing angle of the angular displacement mechanical conversion mechanism 200 corresponding to the real-time displacement value is obtained according to the preset angular displacement correspondence relationship. Avoiding the introduction of signal transmission cables and the mechanical limit structure 40 in the rotating mechanism, so that the end joint 20 can rotate infinitely through the rotating mechanism, which reduces the complexity of the joint control algorithm and improves the stability and reliability of the robot system 102. sex.

It should be understood that, although the various steps in the flow chart of FIG. 25 are shown sequentially as indicated by the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in FIG. 25 may include multiple steps or stages. These steps or stages are not necessarily executed at the same time, but may be executed at different times. The execution sequence of these steps or stages is also It is not necessarily performed sequentially, but may be performed alternately or alternately with other steps or at least a part of steps or stages in other steps.

Please refer to FIG. 26 , another embodiment of the present application provides a method for controlling the joint structure of a manipulator, including:

Step S210: Control the wireless signal transmission module 600 to wirelessly transmit the wireless signal between the end joint 51 and the previous joint 52;

Step S210: Control the end joint 51 to rotate a preset angle to drive the mechanical arm of the slave end 105 to perform a corresponding preset action; wherein, the end joint 51 is connected to the previous joint 52 via the rotation mechanism 700 .

Specifically, by controlling the wireless signal transmission module 600 to wirelessly transmit the wireless signal between the end joint 51 and the previous joint 52, and controlling the end joint 51 to rotate a preset angle, so as to drive the mechanical arm of the slave end 105 to perform the corresponding preset operation. Set up an action; wherein, the terminal joint 51 is connected to the previous joint 52 via the rotation mechanism 700 to realize wireless signal transmission between the terminal joint 51 and the previous joint 52, avoiding the introduction of signal transmission cables, so that the terminal joint 51 It can rotate infinitely around the rotation axis of the rotating mechanism 700 through the rotating mechanism 700, realize the infinite rotation of the end joint 51 relative to the previous joint 52, reduce the complexity of the joint control algorithm, and improve the robot system 102. Work stability and reliability.

For specific limitations on the method for controlling the joint structure of the manipulator, refer to the above-mentioned definition of the joint structure 10 of the manipulator, and details will not be repeated here.

Each module in the above-mentioned robot system 102 may be fully or partially realized by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, and can also be stored in the memory of the computer device in the form of software, so that the processor can invoke and execute the corresponding operations of the above-mentioned modules.

The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in any one of the above embodiments are implemented.

Please note that the above-mentioned embodiments are for illustrative purposes only and are not meant to limit the present application. Embodiments in the context may refer to each other and refer to each other.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only represent several implementation modes of the present application, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

Claims (32)

1. A mechanical arm joint structure, characterized in that it comprises:

   The rotation mechanism is connected with the terminal joint and the previous joint, and is used to drive the terminal joint to rotate infinitely around the previous joint.
2. The mechanical arm joint structure according to claim 1, further comprising:

   sliding bearing rod;

   An angular displacement mechanical conversion mechanism, arranged in the terminal joint, connected to the sliding bearing rod, for converting the opening and closing angle of the angular displacement mechanical conversion mechanism into the displacement of the sliding bearing rod; and

   The displacement detection device is used to detect the real-time displacement value of the sliding bearing rod.
3. The mechanical arm joint structure according to claim 2, characterized in that, the angular displacement mechanical conversion mechanism includes an opening and closing flap kneading transmission mechanism, and the opposite end of the opening and closing angle of the opening and closing flap kneading transmission mechanism is connected to the The proximal end of the sliding bearing rod is connected, and the distal end of the sliding bearing rod can be driven to move by changing the opening and closing angle of the opening and closing valve kneading transmission mechanism.
4. The mechanical arm joint structure according to claim 3, wherein the opening and closing flap kneading transmission mechanism comprises a parallelogram structure, and the diagonal top of the opening and closing angle of the parallelogram structure is close to the end of the sliding bearing rod. The ends are connected, and the distal end of the sliding bearing rod is driven to move by changing the opening and closing angle of the parallelogram structure.
5. The mechanical arm joint structure according to claim 4, wherein the kneading transmission mechanism of the opening and closing flaps further comprises a first opening and closing flap and a second opening and closing flap, the proximal end of the first opening and closing flap is connected to the The first side of the opening and closing angle of the parallelogram structure is connected, and the proximal end of the second opening and closing flap is connected with the second side of the opening and closing angle of the parallelogram structure, by opening and closing the first opening and closing flap The distal end of the second opening and closing flap can change the opening and closing angle of the parallelogram structure.
6. The mechanical arm joint structure according to any one of claims 1-5, wherein the displacement detection device comprises:

   The magnetic component is arranged on the end surface of the sliding bearing rod away from the angular displacement mechanical conversion mechanism;

   The 3D magnetic field sensor is arranged on the side of the sliding bearing rod away from the angular displacement mechanical conversion mechanism, and is arranged opposite to the magnetic component, and is used to obtain the rotation of the sliding bearing rod by detecting the position of the magnetic component Angle and its displacement in the direction of its extension.
7. The mechanical arm joint structure according to any one of claims 1-5, wherein the displacement detection device comprises:

   The resistance strip is arranged on the sliding bearing rod and extends in the same direction as the sliding bearing rod;

   Wherein, by applying preset current/preset voltage to the resistance value of the known length on the resistance strip, the voltage value of the resistance strip with the same length as the displacement value of the sliding bearing rod is detected, and according to the voltage value, The displacement value is calculated by the preset current/preset voltage and the known length.
8. The mechanical arm joint structure according to any one of claims 1-5, wherein the displacement detection device comprises:

   The inductance sensor is used to detect the inductance variation caused by the displacement of the sliding bearing rod, and calculate the displacement value of the sliding bearing rod according to the inductance variation.
9. The mechanical arm joint structure according to any one of claims 1-5, wherein the displacement detection device comprises:

   The gear bar is arranged on the surface of the sliding bearing rod, and the extending direction of the gear bar is consistent with the extending direction of the sliding bearing rod;

   A cylindrical gear meshed with the gear rack;

   Wherein, the movement of the sliding bearing rod drives the rotation of the cylindrical gear, and the displacement value of the sliding bearing rod is calculated according to the acquired root circle radius and rotation angle of the cylindrical gear.
10. The joint structure of the mechanical arm according to any one of claims 1-5, further comprising a first reset part located within the opening and closing angle, and the first returning part keeps the opening and closing The corners are opened or closed to the original angle.
11. The mechanical arm joint structure according to any one of claims 1-5, characterized in that it further comprises a second reset component arranged on the sliding bearing rod; the elongation/compression direction of the second reset component In line with the extension direction of the sliding bearing rod, the second reset member keeps the opening and closing angle open or close to the original angle.
12. The joint structure of the mechanical arm according to any one of claims 1-5, wherein the rotation mechanism includes a bearing, and the end joint is engaged with the preceding joint via the bearing.
13. The mechanical arm joint structure according to claim 1, further comprising:

    The wireless signal transmission module is used for wireless signal transmission between the end joint and the previous joint.
14. The mechanical arm joint structure according to claim 13, wherein the wireless signal transmission module includes a first wireless signal transceiving module and a second wireless signal transceiving module oppositely arranged, and the first wireless signal transceiving module is used for converting the initial digital signal transmitted between the end joint and the previous joint into a wireless signal; the second wireless signal transceiver module is used to generate a corresponding target digital signal according to the received wireless signal, and the target A digital signal is associated with the initial digital signal.
15. The mechanical arm joint structure according to claim 14, wherein the first wireless signal transceiving module includes a first wireless signal transceiver and a first decoding circuit, and the first wireless signal transceiver and the first The decoding circuit is electrically connected; the second wireless signal transceiving module includes a second wireless signal transceiver and a second decoding circuit, and the second wireless signal transceiver is electrically connected to the second decoding circuit.
16. The mechanical arm joint structure according to claim 15, characterized in that, both the first wireless signal transceiver and the first decoding circuit are arranged on the surface of the rotating mechanism away from the previous joint; the first Two wireless signal transceivers and the second decoding circuit are both arranged on the surface of the rotating mechanism away from the end joint.
17. The joint structure of the mechanical arm according to claim 16, wherein the first wireless signal transceiver includes a first transmitter and a first receiver, and the first receiver is used to receive signals from the first transmitter. The transmitted wireless signal; the second wireless signal transceiver includes a second transmitter and a second receiver, and the second receiver is used to receive the wireless signal transmitted by the second transmitter.
18. The mechanical arm joint structure according to claim 17, wherein the orthographic projection of the first transmitter on a vertical plane of the rotation axis is located within the orthographic projection of the second receiver on the vertical plane ; the orthographic projection of the second emitter on the vertical plane lies within the orthographic projection of the first receiver on the vertical plane.
19. The joint structure of the mechanical arm according to claim 18, wherein the rotating shaft includes a cylindrical cavity extending in the same direction as the rotating shaft; the first transmitter and the first receiver are both set on the inner surface of the cylindrical cavity; the second transmitter and the second receiver are both set on the inner surface of the cylindrical cavity.
20. The mechanical arm joint structure according to any one of claims 15-19, wherein the wireless signal transmitted by the wireless signal transmission module includes at least one of infrared rays, visible light and electromagnetic waves.
21. The mechanical arm joint structure according to any one of claims 17-19, further comprising:

    A wireless power supply module is arranged between the terminal joint and the preceding joint, and is used for wireless power transmission between the terminal joint and the preceding joint.
22. The mechanical arm joint structure according to claim 21, wherein the wireless power supply module includes a primary side power supply coil, a primary side inverter circuit, a secondary side power supply coil, and a secondary side inverter circuit, and the primary side power supply coil The primary-side inverter circuit is electrically connected to the bus bar, electromagnetic induction can be generated between the primary-side power supply coil and the secondary-side power supply coil, and the secondary-side power supply coil is connected to the terminal via the secondary-side inverter circuit. Electrical energy is transferred between the joint and the preceding joint.
23. The mechanical arm joint structure according to claim 22, characterized in that, the primary side power supply coil and the primary side inverter circuit are arranged on the surface of the rotating mechanism away from the terminal joint, and the secondary side power supply coil And the secondary side inverter circuit is arranged on the surface of the rotating mechanism away from the previous joint.
24. The mechanical arm joint structure according to claim 23, wherein the primary power supply coil and the second wireless signal transceiver module are arranged on the first substrate, and the secondary power supply coil and the first wireless signal The transceiver module is disposed on the second substrate, and the first substrate and the second substrate are both perpendicular to the rotation axis.
25. The mechanical arm joint structure according to claim 24, wherein the orthographic projection of the primary power supply coil on a vertical plane of the rotation axis is the same as the orthographic projection of the secondary power supply coil on the vertical plane overlapping.
26. The mechanical arm joint structure according to claim 24, characterized in that:

    The primary side inverter circuit is arranged on the first substrate or the previous joint; and/or

    The secondary inverter circuit is disposed on the second substrate or the terminal joint.
27. The joint structure of the mechanical arm according to any one of claims 16-19, wherein the previous joint comprises:

    The driver is electrically connected to both the motion controller and the second wireless signal transceiver module, and is used to transmit the received target digital signal to the motion controller, so that the motion controller obtains the target digital signal according to the target digital signal. The opening and closing angle of the terminal joint, the driver is also used to drive the motor to rotate a preset angle according to the received rotation control signal.
28. The joint structure of a robotic arm according to any one of claims 15-19, wherein the wireless signal transmission module is arranged between the terminal joint and the preceding joint.
29. A robotic system, characterized in that it comprises:

    The main end is for the operator to manipulate, and includes the joint structure of the mechanical arm according to any one of claims 2-12 or 13-28;

    a slave end, including a robotic arm and controlled by said master end;

    During the operation, by manipulating the opening and closing angle and/or the rotation angle of the terminal joint of the master end, the mechanical arm of the slave end is controlled to perform a corresponding preset action.
30. A medical system, characterized in that, comprising:

    The robotic system of claim 29;

    By manipulating the opening and closing angle and/or rotation angle of the terminal joint at the master end, the mechanical arm at the slave end is controlled to perform corresponding preset actions, so as to drive the surgical instruments connected to the mechanical arm to perform corresponding medical operations.
31. A method for controlling a joint structure of a mechanical arm, comprising:

    controlling the rotation mechanism disposed between the terminal joint and the previous joint to rotate at a first preset angle, wherein the rotation mechanism is used to drive the terminal joint to rotate infinitely around the previous joint;

    controlling and changing the angle of the opening and closing angle of the angular displacement mechanical conversion mechanism connected to the sliding bearing rod, and converting the angle of the opening and closing angle of the angular displacement mechanical conversion mechanism into the sliding bearing rod based on the angular displacement mechanical conversion mechanism displacement;

    The real-time displacement value of the sliding bearing rod is obtained, and the angle value of the opening and closing angle of the angular displacement mechanical conversion mechanism corresponding to the real-time displacement value is obtained according to the preset angular displacement correspondence relationship.
32. A method for controlling a joint structure of a mechanical arm, comprising:

    Control the wireless signal transmission module to wirelessly transmit the wireless signal between the end joint and the previous joint;

    The terminal joint is controlled to rotate at a preset angle, so as to drive the mechanical arm at the slave end to perform a corresponding preset action; wherein, the terminal joint is connected to the previous joint via a rotation mechanism.

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