CN107440798B

CN107440798B - Robot control device

Info

Publication number: CN107440798B
Application number: CN201710677486.6A
Authority: CN
Inventors: 熊麟霏; 吴昊天; 侯西龙; 沈晨; 汪坤; 张靖钊; 崔尧佳; 李延青; 杨嘉林
Original assignee: Shenzhen Robo Medical Technology Co ltd
Current assignee: Shenzhen Robo Medical Technology Co ltd
Priority date: 2017-08-09
Filing date: 2017-08-09
Publication date: 2023-09-29
Anticipated expiration: 2037-08-09
Also published as: CN107440798A

Abstract

The application relates to the field of medical equipment, and discloses a robot control device, wherein the applicable robot comprises a mechanical arm and a surgical instrument connected to the mechanical arm, the surgical instrument is controlled by a driving rope, the robot control device comprises a case, a driving rope control device, a feeding control device and a rotation control device, the driving rope control device and the rotation control device are arranged on the case, the driving rope control device is used for driving the driving rope to stretch and retract, the rotation control device is used for driving the mechanical arm to rotate, and the feeding control device is used for driving the case to move so as to realize feeding of the mechanical arm. The application can carry out centralized control on the driving rope and the mechanical arm, and compared with the prior art, the application can simplify the structure, reduce the matching difficulty and further reduce the production cost.

Description

Robot control device

Technical Field

The application relates to the field of medical equipment, in particular to a medical robot, and particularly relates to a control device of the robot.

Background

With the development of technology, medical robots have been increasingly used in the medical field for assisting doctors in completing surgical operations. Common medical robots include mechanical arms and surgical instruments connected to the mechanical arms, and the robots are required to have multiple degrees of freedom, such as feeding of the mechanical arms along the axial directions of the mechanical arms, rotation of the mechanical arms around the axial directions of the mechanical arms and movement of the surgical instruments (for example, clamping jaws are required to be involved in opening and closing of the clamping jaws and rotation of the clamping jaws in four directions), the movements are controlled by different devices in the prior art, the structure is complex, the matching difficulty between the devices is high, and the requirements of people are difficult to meet.

Disclosure of Invention

In order to overcome the defects of the prior art, the application provides a robot control device which is used for solving the problems of complex structure and high difficulty in matching among devices in the prior art.

The technical scheme adopted for solving the technical problems is as follows:

the robot control device comprises a mechanical arm and a surgical instrument connected to the mechanical arm, wherein the surgical instrument is controlled by a driving rope, the surgical instrument comprises a case, a driving rope control device, a feeding control device and a rotation control device, the driving rope control device and the rotation control device are arranged on the case, the driving rope control device is used for driving the driving rope to stretch and retract, the rotation control device is used for driving the mechanical arm to rotate, and the feeding control device is used for driving the case to move so as to realize feeding of the mechanical arm;

the driving rope control device comprises a base, a gear, a rack and a gear power device which are arranged on the base, and a tensioning device for adjusting the tensioning degree of the driving rope;

the tensioning device comprises a swinging seat, a rotating shaft and a driving device, wherein the swinging seat is arranged on the rack, the swinging seat is rotationally connected with the rack through the rotating shaft, the swinging seat can swing relative to the rack under the driving of the driving device, and the driving rope is tensioned/loosened along with the swinging of the swinging seat;

the tensioning device further comprises a fixing seat arranged on the rack, a tensioning wheel is arranged on the swing seat, and the end part of the driving rope bypasses the tensioning wheel and is fixedly connected with the fixing seat.

As a further improvement mode of the scheme, the driving rope control device comprises a gear and a gear power device which are arranged on the base, racks are distributed on two sides of the gear and meshed with the gear respectively, and the gear can rotate relative to the base under the driving of the gear power device so as to drive the racks on two sides to synchronously and reversely move.

As a further improvement mode of the scheme, the fixing seat comprises an upper pressing block and a lower pressing block, the upper pressing block is detachably connected with the lower pressing block, and a clamping groove for fixing the end part is formed between the upper pressing block and the lower pressing block.

As a further improvement mode of the scheme, the driving device comprises a driving seat and a screw, wherein the driving seat and the screw are arranged on the rack, a threaded through hole is formed in the driving seat, the screw is screwed in the threaded through hole, and the end part of the screw extends out of the threaded through hole and abuts against the swinging seat.

As a further improvement mode of the scheme, the rotation control device comprises a connecting piece and a rotation power device, wherein the connecting piece is in rotation connection with the case, and the rotation power device drives the connecting piece to rotate around the axis of the connecting piece.

As a further improvement mode of the scheme, the rotation power device is a motor, the rotation control device further comprises a driving wheel, a driven wheel and a synchronous belt, the driving wheel is fixedly connected with a driving shaft of the motor, the driven wheel is fixedly connected with the connecting piece, and the synchronous belt is respectively wound on the driving wheel and the driven wheel.

As a further improvement mode of the scheme, the feeding control device comprises a frame, a sliding rail, a sliding block and a feeding power device, wherein the sliding rail is fixedly connected with the frame, the sliding block is fixedly connected with the chassis and is in sliding connection with the sliding rail, and the feeding power device drives the sliding block to slide relative to the sliding rail.

As a further improvement mode of the scheme, the feeding power device is a motor, the feeding control device further comprises a driving wheel, a driven wheel, a screw rod and a screw rod seat, the driving wheel is fixedly connected with a driving shaft of the motor, the driven wheel is fixedly connected with the screw rod, the screw rod is in threaded connection with the screw rod seat, the screw rod seat is fixedly connected with the chassis, and the driving wheel and the driven wheel are meshed with each other.

The beneficial effects of the application are as follows:

the application can carry out centralized control on the driving rope and the mechanical arm, and compared with the prior art, the application can simplify the structure, reduce the matching difficulty and further reduce the production cost.

Drawings

The application will be further described with reference to the drawings and examples.

Fig. 1 is a schematic perspective view of a robot to which the present application is applied;

FIG. 2 is a schematic perspective view of one embodiment of the present application;

FIG. 3 is a schematic perspective view of the drive line control of the present application in one direction;

fig. 4 is a schematic perspective view of the drive line control apparatus of the present application in another direction;

FIG. 5 is a schematic view of the tensioner of the present application coupled to a rack;

FIG. 6 is a perspective view of the connection of the rotary control device with the housing of the present application;

fig. 7 is a schematic perspective view of the feed control device of the present application.

Detailed Description

The conception, specific structure, and technical effects produced by the present application will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, aspects, and effects of the present application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.

It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly or indirectly fixed or connected to the other feature. Further, the descriptions of the upper, lower, left, right, front, rear, etc. used in the present application are merely with respect to the mutual positional relationship of the respective constituent elements of the present application in the drawings.

Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any combination of one or more of the associated listed items.

Referring to fig. 1, there is shown a schematic perspective view of a robot to which the present application is applied, in which a cutting process is performed. As shown in the figure, the robot includes a mechanical arm 1 and a surgical instrument 2 (in this embodiment, a clamping jaw, or other surgical instruments may be replaced) connected to the end of the mechanical arm 1, and, taking the clamping jaw as an example, the robot has five degrees of freedom: namely the opening and closing of the clamping jaw, the rotation of the clamping jaw around the joint 3, the rotation of the clamping jaw around the joint 4, the rotation of the mechanical arm around the axis of the mechanical arm and the feeding of the mechanical arm along the axial direction of the mechanical arm. In this embodiment, the opening and closing of the clamping jaw, the rotation of the clamping jaw around the joint 3 and the rotation of the clamping jaw around the joint 4 are controlled by driving ropes.

Referring to fig. 2, a schematic perspective view of one embodiment of the present application is shown. As shown in the figure, the robot control device includes a drive rope control device 100, a rotation control device 200, a feed control device 300, and a housing 400, and the drive rope control device 100 and the rotation control device 200 are mounted on the housing 400. The driving rope control device 100 is used for driving the driving rope to stretch and retract so as to control the clamping jaw to perform corresponding actions; the rotation control device is used for driving the mechanical arm 1 to rotate, and the feeding control device 300 is used for driving the chassis 400 to move so as to realize feeding of the mechanical arm 1. The application can carry out centralized control on the driving rope and the mechanical arm, and compared with the prior art, the application can simplify the structure, reduce the matching difficulty and further reduce the production cost.

Referring to fig. 3 and 4, perspective views of one embodiment of the drive rope control of the present application in different directions are shown, respectively. As shown, the present application mainly comprises a base 110, and a gear 120, a rack 130 and a gear power unit 140 mounted on the base 110.

The gear power unit 140 is fixed to the bottom surface of the base 110, and its driving shaft protrudes upward from a through hole in the base 110. The gear 120 is fixedly coupled to the driving shaft of the gear power unit 140, thereby being indirectly coupled to the base 110. The racks 130 are distributed on two sides of the gear 120 and are respectively meshed with the gear 120, so that when the gear 120 rotates relative to the base 110 under the drive of the gear power device 140, the racks 130 on two sides can synchronously and reversely move relative to the base 110, and accordingly corresponding driving ropes can be pulled to synchronously move, and the driving rope control device realizes synchronous movement of the driving ropes in a mechanical transmission mode of gears, racks and the like, does not involve complex gear power devices and control devices, is beneficial to reducing material cost and assembly difficulty.

Preferably, a sliding rail seat 111 is fixedly connected to the base plate 110 corresponding to the rack 130, a sliding rail 112 is fixedly connected to the sliding rail seat 111, a sliding block 113 is fixedly connected to the rack 130, and the rack 130 is matched with the sliding rail 112 through the sliding block 113 to realize free sliding relative to the base plate 110. Of course, the rack 130 may slide relative to the base 110 by other known structures, which is not limited by the present application.

The gear power unit 140 in this embodiment is preferably an electric motor, however, other well-known gear power units such as a hydraulic motor may be used, and the present application is not limited thereto.

In addition, the present application is provided with a sensor, not shown, which controls the motor to stop when it is checked that the rack 130 moves to the end of the stroke.

The drive rope may be slackened during the transmission, affecting the control effect, on the basis of which the application is also provided with a tensioning device 150 for adjusting the degree of tensioning of the drive rope. In addition, the present application further includes a spring tube mount 160 mounted on the base 110, and a spring tube 170 is mounted on the spring tube mount 160 for flexible control and space limitation of the driving rope.

In particular, referring to fig. 5, fig. 5 shows a schematic view of the connection of the tensioner of the present application to a rack. As shown, the tensioning device 150 includes a swing seat 151 mounted on the rack 130, a rotation shaft 152, a driving seat 153, and a screw 154. The swinging seat 151 is rotatably connected with the rack 130 through the rotating shaft 152, and the driving seat 153 and the screw 154 form a driving device for driving the swinging seat 151 to swing relative to the rack 130, so that the driving rope is tensioned/loosened along the length direction of the driving rope.

The rotary shaft 152 is a bolt in the present embodiment, and the end of the bolt is screwed into the threaded hole on the rack 130 after passing through the through hole on the swing seat 151, and the displacement of the swing seat 151 in the vertical direction is limited by a nut. The driving seat 153 is fixedly connected with the rack 130, a threaded through hole which is not shown is formed in the driving seat, the screw 154 is screwed in the threaded through hole, and the end part of the screw 154 extends out of the threaded through hole and is abutted against the swinging seat 151, so that the swinging seat 151 can rotate in one direction (clockwise in the drawing) relative to the rack 130 along with the screwing of the screw 154, and the driving rope is tensioned; as the screw 154 is unscrewed, the swing seat 151 is rotated in a reverse direction (counterclockwise direction as shown) by the tension of the driving rope, reducing the tension of the driving rope.

The driving rope can be directly connected with the swinging seat 151, or can form a movable pulley structure as shown in the figure, namely, the tensioning device 150 further comprises a fixed seat 155 arranged on the rack 130, and the swinging seat 151 is fixedly connected with a tensioning wheel 156. The end of the driving rope 180 bypasses the tension wheel 156 and is fixedly connected with the fixed seat 155, and according to the principle of the movable pulley, the movement distance of the driving rope is equal to twice the movement distance of the tension wheel 156, so that the volume of the tensioning device can be reduced.

As a preferred connection mode of the driving rope and the fixing base 155, the fixing base 155 includes an upper pressing block 1551 and a lower pressing block 1552, the upper pressing block 1551 is connected with the lower pressing block 1552 through a screw, and a clamping groove 1553 is arranged between the upper pressing block 1551 and the lower pressing block 1552. When the driving rope is used, the end part of the driving rope is provided with a terminal structure, and the terminal structure is embedded in the clamping groove 1553, so that the driving rope and the fixing seat 155 can be fixedly connected.

Preferably, a guide hole 1554 for guiding the driving rope is further arranged between the upper pressing block 1551 and the lower pressing block 1552, and the driving rope is arranged in the guide hole 1554 in a penetrating manner and can move along the axial direction of the guide hole 1554.

Referring to fig. 3 and 4, the spring tube mount 160 is similar to the fixing base 155 and includes an upper press block and a lower press block, the lower press block is fixedly connected with the base 110, the upper press block is connected with the lower press block through a screw, a clamping groove is formed between the upper press block and the lower press block, and the spring tube 170 is fixed in the clamping groove. In the application, the axes of the spring tube 170, the clamping groove 1553 and the guide hole 1554 are positioned in the same plane, so that the driving rope is always maintained on a horizontal plane, and the stability of transmission is ensured.

The driving rope disclosed by the application comprises a flexible driving rope capable of transmitting tensile force only and also comprises a rigid driving rope (such as a steel wire rope and the like) capable of transmitting tensile force and a certain pushing force.

The number of the driving rope control devices 100 can be adjusted according to the need, and in this embodiment, for example, since the clamping jaw needs to control three pairs of driving ropes, three driving rope control devices 100 are installed on the chassis, and the three driving rope control devices 100 are independent from each other.

Referring to fig. 6, there is shown a schematic perspective view of the connection of the rotation control device of the present application to the housing, wherein the side walls of the housing are partially cut away and other devices are hidden for ease of understanding. As shown in the drawing, the rotation control device 200 includes a connecting member 210 and a rotation power device 220, wherein the connecting member 210 is preferably a connecting shaft, and is rotatably connected to a front end sidewall of the casing 400 through a bearing, and the mechanical arm 1 is fixedly connected to the connecting shaft through welding or the like.

The rotation power device 220 is preferably a motor, and is used for driving the connecting piece 210 to rotate around the axis of the connecting piece, so as to drive the mechanical arm 1 to rotate. The motor can directly drive the connecting piece 210 to rotate, or can indirectly drive the connecting piece through a series of transmission structures as shown in the figure, the transmission structures in the embodiment comprise a driving wheel 230, a driven wheel 240 and a synchronous belt which is not shown, the driving wheel 230 is fixedly connected with a driving shaft of the motor, the driven wheel 240 is fixedly connected with the connecting piece, and the synchronous belt is respectively wound on the driving wheel 230 and the driven wheel 240. Of course, the transmission structure can also adopt a gear structure and the like.

Referring to fig. 7, a schematic perspective view of the feed control device of the present application is shown. As shown, the feed control device 300 includes a frame 310, a slide 320, a slider 330, and a feed power device 340.

The slide rail 320 is fixedly connected with the frame 310, the slide block 330 is fixedly connected with the chassis 400, which is not shown, and is slidably connected with the slide rail 320, and the feeding power device 340 drives the slide block 330 to slide relative to the slide rail 320.

The feeding power device 340 is preferably a motor, and in this embodiment, the feeding control device 300 further includes a driving wheel 350, a driven wheel 360, a screw rod 370 and a screw rod seat 380, the driving wheel 350 is fixedly connected with a driving shaft of the motor, the driven wheel 360 is fixedly connected with the screw rod 370, the screw rod 370 is in threaded connection with the screw rod seat 380, the screw rod seat 380 is fixedly connected with a chassis 400, which is not shown, and the driving wheel 350 and the driven wheel 360 are meshed with each other.

The chassis may also be driven by a cylinder or a motor-synchronizing wheel-timing belt system if precise control of the feed distance is not required.

While the preferred embodiment of the present application has been described in detail, the present application is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present application, and the equivalent modifications or substitutions are included in the scope of the present application as defined in the appended claims.

Claims

1. The robot control device is characterized by comprising a case, a driving rope control device, a feeding control device and a rotation control device, wherein the driving rope control device and the rotation control device are arranged on the case, the driving rope control device is used for driving the driving rope to stretch and retract, the rotation control device is used for driving the mechanical arm to rotate, and the feeding control device is used for driving the case to move so as to realize feeding of the mechanical arm;

2. The robot control device according to claim 1, wherein the driving rope control device comprises gears and a gear power device which are arranged on the base, the racks are distributed on two sides of the gears and respectively meshed with the gears, and the gears can rotate relative to the base under the driving of the gear power device so as to drive the racks on two sides to synchronously and reversely move.

3. The robot control device of claim 2, wherein the fixing base comprises an upper pressing block and a lower pressing block, the upper pressing block and the lower pressing block are detachably connected, and a clamping groove for fixing the end is formed between the upper pressing block and the lower pressing block.

4. A robot control device according to claim 3, wherein the driving device comprises a driving seat mounted on the rack and a screw, a threaded through hole is formed in the driving seat, the screw is screwed in the threaded through hole, and the end of the screw extends out of the threaded through hole and abuts against the swinging seat.

5. The robot control device of any one of claims 1 to 4, wherein the rotational control device comprises a connector and a rotational power device, the connector being rotatably connected to the chassis, the rotational power device driving the connector to rotate about its own axis.

6. The robot control device of claim 5, wherein the rotation power device is a motor, the rotation control device further comprises a driving wheel, a driven wheel and a synchronous belt, the driving wheel is fixedly connected with a driving shaft of the motor, the driven wheel is fixedly connected with the connecting piece, and the synchronous belt is respectively wound on the driving wheel and the driven wheel.

7. The robotic control device of any one of claims 1-4, wherein the feed control device comprises a frame, a slide rail fixedly connected to the frame, a slider fixedly connected to the chassis and slidably connected to the slide rail, and a feed power device driving the slider to slide relative to the slide rail.

8. The robot control device of claim 7, wherein the feed power device is a motor, the feed control device further comprises a driving wheel, a driven wheel, a screw and a screw base, the driving wheel is fixedly connected with a driving shaft of the motor, the driven wheel is fixedly connected with the screw, the screw is in threaded connection with the screw base, the screw base is fixedly connected with the chassis, and the driving wheel and the driven wheel are meshed with each other.