CN112549084A - Robot tail end device - Google Patents
Robot tail end device Download PDFInfo
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- CN112549084A CN112549084A CN202011550969.8A CN202011550969A CN112549084A CN 112549084 A CN112549084 A CN 112549084A CN 202011550969 A CN202011550969 A CN 202011550969A CN 112549084 A CN112549084 A CN 112549084A
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- tail end
- mechanical arm
- robot
- assembly
- end device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot end device, comprising: the connecting assembly is fixedly arranged at the tail end of the mechanical arm; the tail end execution assembly is provided with at least one tracer adopting a luminous ball; the connecting assembly with can dismantle the connection through quick detach mechanism between the terminal executive assembly, and do through wireless the power supply of luminous ball. The tail end device of the invention uses the active light-emitting infrared lamp for tracing, uses the wireless power supply module to supply power to the tail end device, and simultaneously uses the quick-release structure to connect the tail end execution structure assembly and the mechanical arm connection structure assembly, thereby being more concise and reliable. Meanwhile, whether the wireless power supply is effective or not and whether the optical tracker identifies the active luminous ball or not can be definitely known through the mode that whether the indicator light emits light or not.
Description
Technical Field
The invention relates to the field of mechanical structures, in particular to a robot tail end device.
Background
In recent years, robots are more and more widely applied to orthopedic clinical surgery, doctors can operate the robots far away from an operating table, the robots can accurately perform the surgery, the accuracy of the surgery can be increased, the probability of risks caused by misoperation is reduced, and the burden of the doctors and the injuries suffered under the surgery environment can be reduced.
At present, the surgical robot which is relatively mature at home and abroad is used for connecting the tail end device of a surgical instrument, the fixation of the surgical instrument is usually realized by locking screws, and when the surgical instrument needs to be replaced in the surgical process, the tail end device is relatively troublesome to detach and replace, so that the convenience of replacing the surgical instrument is influenced. In addition, since the surgical robot is sterile and convenient to sterilize during the operation, a plastic film is usually installed together to cover the robot arm and the main machine by using a connector when the end device is installed. Due to the fact that the plastic film with the thickness is additionally arranged, the difficulty of conventional screw connection and conventional buckle connection is increased, and the stability can be affected. Meanwhile, the integrity of the plastic film can be damaged by screw connection, and the sealing performance is influenced.
In addition, the situation that an active light-emitting ball is adopted for tracing in the prior art generally needs to electrically connect the active light-emitting ball on the tail end device with the mechanical arm through a wire harness, so that the inconvenience is greatly increased during the installation and the disassembly.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects, the invention provides the robot tail end device which is connected by a quick-release mechanism, is simple and reliable, adopts wireless power supply for the active luminous ball, and is more convenient and quicker to mount and dismount.
The technical scheme is as follows:
a robotic end device comprising:
the connecting assembly is fixedly arranged at the tail end of the mechanical arm;
the tail end execution assembly is provided with at least one tracer adopting a luminous ball;
the connecting assembly with can dismantle the connection through quick detach mechanism between the terminal executive assembly, and do through wireless the power supply of luminous ball.
Coupling assembling is including installing at the terminal base of arm and the arm connecting plate of fixed mounting on the base, be equipped with corresponding execution end connecting plate on the terminal executive component, coupling assembling with between the terminal executive component through quick detach mechanism respectively with the arm connecting plate with the execution end connecting plate cooperation installation is realized dismantling the connection.
A wireless transmitting coil is arranged in the connecting assembly and is connected with the mechanical arm tail end control board through a wireless transmitting circuit board; and a wireless receiving coil is arranged at the corresponding position of the tail end executing component and is connected with the light-emitting ball through a receiving circuit.
When the connecting assembly is connected with the tail end executing assembly through the quick-release mechanism, the wireless transmitting coil is aligned with the wireless receiving coil, and the distance between the wireless transmitting coil and the wireless receiving coil is 3-10 mm.
The tracer is at least two, and mutual coplanarity.
A reflective ball circuit board connected with the mechanical arm tail end control board is further arranged in the connecting assembly, and a reflective ball indicator lamp connected with the reflective ball circuit board is arranged on the connecting assembly; the control panel at the tail end of the mechanical arm sends control information to the reflective ball circuit board after receiving the tracer information collected by the optical tracker, and the reflective ball circuit board controls the reflective ball indicator lamp.
The connecting component is also provided with a wireless charging indicator lamp connected with the mechanical arm tail end control panel, and the mechanical arm tail end control panel collects current information of the wireless transmitting circuit board and sends and controls the wireless charging indicator lamp accordingly.
The robot driving-free robot comprises a connecting component and a robot driving-free mode, and is characterized in that a capacitive key connected with a mechanical arm tail end control board is further arranged on the connecting component, and when the capacitive key is pressed down, the mechanical arm tail end control board sends a signal to the robot to trigger the mechanical arm driving-free mode.
Has the advantages that: the tail end device of the invention uses the active light-emitting infrared lamp for tracing, uses the wireless power supply module to supply power to the tail end device, and simultaneously uses the quick-release structure to connect the tail end execution structure assembly and the mechanical arm connection structure assembly, thereby being more concise and reliable. Meanwhile, whether the wireless power supply is effective or not and whether the optical tracker identifies the active luminous ball or not can be definitely known through the mode that whether the indicator light emits light or not.
Drawings
Fig. 1 is a schematic view of the end device installation.
Fig. 2 is a structural view of an end device of the present invention.
Fig. 3 is an exploded view of the tip device of the present invention.
Fig. 4 is a flow chart of the driving-free indication of the mechanical arm.
Fig. 5 is a flow chart of the light reflecting ball indication.
Wherein:
1 is a tail end executing assembly, 1-1 is a guide sleeve, 1-2 is an executing end base, 1-3 is a luminous lamp assembly, 1-4 is a receiving circuit board, 1-5 is an executing end connecting plate, 1-6 is a wireless receiving coil, and 1,7 are quick-release mechanisms;
the mechanical arm connecting assembly is 2, the wireless transmitting coil is 2-1, the mechanical arm connecting plate is 2-2, the indicator lamp shade is 2-3, the lamp strip lamp shade is 2-4, the lamp strip is 2-5, the reflecting ball indicator lamp is 2-6, the indicator lamp base is 2-7, the transmitting circuit board is 2-8, the capacitance type key is 2-9, the mechanical arm base is 2-10, and the mechanical arm tail end is 2-11.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
Fig. 1 is a schematic view showing the installation of an end device, and as shown in fig. 1, the end device of the robot of the present invention is installed at the end of a robot arm of the robot; as shown in fig. 2, the end device comprises two parts, namely an end actuating assembly 1 and a mechanical arm connecting assembly 2, which are separated and connected through quick release structures 1-7.
Fig. 3 is an exploded view of the end device of the present invention, and as shown in fig. 3, the robot arm connecting assembly 2 of the present invention includes robot arm bases 2-10, the front ends of the robot arm bases 2-10 are fixedly connected to the ends 2-11 of the robot arms, and a robot arm connecting plate 2-2 is fixedly mounted at the ends; a transmitting circuit board 2-8 is fixedly arranged in the mechanical arm base 2-10, and the transmitting circuit board 2-8 is connected with a power supply in the robot through a wire harness and is powered by the power supply; a groove is formed in the mechanical arm connecting plate 2-2, a wireless transmitting coil 2-1 is installed in the groove, the wireless transmitting coil 2-1 is electrically connected with a transmitting circuit board 2-8, and the wireless transmitting circuit board 2-8 is connected with a mechanical arm tail end control board;
in the invention, an indicator lamp base 2-7 is also arranged between the mechanical arm base 2-10 and the mechanical arm connecting plate 2-2, and a reflective ball circuit board is arranged in the indicator lamp base and is connected with the mechanical arm tail end control board and receives signals sent by the reflective ball circuit board. A reflecting ball indicating lamp 2-6 is arranged on the circumference of the indicating lamp base 2-7, and the reflecting ball indicating lamp 2-6 is electrically connected with and controlled by a reflecting ball circuit board; and a lamp strip 2-5 is also arranged on the circumferential direction of the indicator lamp base 2-7, and the lamp strip 2-5 is connected with the tail end control board of the mechanical arm and receives signals sent by the mechanical arm. In the invention, the lamp belt 2-5 and the reflecting ball indicating lamp 2-6 are respectively provided with the lamp belt lampshade 2-4 and the indicating lamp lampshade 2-3 which are made of transparent materials for protection.
In the invention, a capacitive key 2-9 connected with a mechanical arm tail end control board is also arranged on the mechanical arm base 2-10, and the capacitive key 2-9 is connected with the mechanical arm tail end control board.
As shown in fig. 3, the end effector 1 of the present invention comprises an actuating end base 1-2, a guide sleeve 1-1 is installed at the end of the actuating end base 1-2, and a plurality of light emitting lamps are arranged on the actuating end base 1-2 to form a light emitting lamp assembly 1-3; in the invention, 12 light-emitting lamps are arranged in total, wherein every four light-emitting lamps are coplanar, and the four coplanar light-emitting lamps form a tracer; an execution end connecting plate 1-5 is fixedly arranged on the front end face of the execution end base 1-2, and a receiving circuit 1-4 is arranged between the execution end connecting plate 1-5 and the front end face of the execution end base 1-2; a groove is formed in the execution end connecting plate 1-5 at a position corresponding to the wireless transmitting coil 2-1 in the mechanical arm connecting plate 2-2, a wireless receiving coil 1-6 is installed in the groove, the wireless receiving coil 1-6 is electrically connected with a receiving circuit 1-4, and the wireless receiving coil 1-6 is aligned with the wireless transmitting coil 2-1 and supplies power to the receiving circuit 1-4 in a wireless mode; the light emitting lamp is electrically connected with the receiving circuit 1-4 and is powered by the receiving circuit 1-4.
In the invention, the light-emitting lamp adopts an active light-emitting infrared lamp which can be identified by an optical tracker; the optical tracker guides the mechanical arm to move to the position planned by the doctor by identifying the active light-emitting infrared lamp on the end device and the tracer on the mechanical arm in real time.
As shown in fig. 2, there are 3 groups of light emitting lamp assemblies 1-3 (i.e. 3 tracers) in the end effector assembly 1, and the three groups of light emitting lamp assemblies 1-3 are respectively installed on 3 faces to form a 270 ° coverage, as shown in fig. 2 and 3, so that the optical tracker recognition range can be extended.
In the invention, butt joint mechanisms are respectively arranged on the mechanical arm connecting plate 2-2 and the execution end connecting plate 1-5, and the end surfaces of the butt joint mechanisms extend outwards along the radial direction to form butt joint blocks; the quick-release mechanism 1-7 comprises a first connecting part, a second connecting part rotationally connected with the first connecting part and a buckle, and butt-joint grooves matched and butted with butt-joint mechanisms arranged on the mechanical arm connecting plate 2-2 and the execution end connecting plate 1-5 are respectively arranged on the inner side surfaces of the first connecting part and the second connecting part; the buckle is provided with a first rotating point which is rotationally connected with the second connecting part, the buckle and the first connecting part are opened and closed through an arc elastic rod connecting rod, and the arc elastic rod comprises an opening and closing point which is in matched connection with the first connecting part and a second rotating point which is rotationally connected with the buckle; when the quick release mechanism 1-7 is in a closed state, a connecting line of the second rotating point and the opening and closing point is positioned below the first rotating point. The mechanical arm connecting assembly 2 is connected with the tail end executing assembly 1 through mutual matching between the mechanical arm connecting plate 2-2 and the executing end connecting plate 1-5 and fixed connection through the quick-release mechanism 1-7.
In the invention, the distance between the installation position of the wireless transmitting coil 2-1 and the mechanical arm connecting plate 2-2 is 1.5-5 mm, and the distance between the wireless receiving coil 1-6 and the execution end connecting plate 1-5 is 1.5-5 mm, so that the charging distance between the wireless transmitting coil 2-1 and the execution end connecting plate is ensured to be 3-10 mm, and the power supply stability of the wireless transmitting coil 2-1 and the wireless receiving coil 1-6 is further ensured.
In the invention, the light reflecting ball indicator lamps 2-5 and the lamps on the lamp belts 2-5 are LED lamps.
The terminal control panel of arm gathers the current information of wireless transmitting circuit board 2-8 to judge whether carry out stable wireless charging between wireless transmitting coil 2-1 and the wireless receiving coil 1-6 according to this, if yes, send signal to lamp area 2-5 and control its green to light often, otherwise send signal to lamp area 2-5 and control its red to light often.
Fig. 4 is a flow chart of the drive-free indication of the robot arm, as shown in fig. 4, when a user presses the capacitive button 2-9, the control board at the tail end of the robot arm sends a signal to the light strip 2-5, the light strip 2-5 starts to flash, and at this time, the control board at the tail end of the robot arm sends a signal to the robot to trigger the drive-free mode of the robot arm.
Fig. 5 is a flow chart of the light-reflecting ball indication, as shown in fig. 5, the upper computer obtains whether the upper computer recognizes a tracer signal (i.e., a light-emitting ball signal) through the optical tracker, and if the upper computer recognizes the tracer signal, the upper computer outputs a signal to the control board at the tail end of the mechanical arm, and the control board at the tail end of the mechanical arm sends a signal to the light-reflecting ball indicator lamps 2-6 to control the light-reflecting ball indicator lamps to be green and bright; otherwise, the control panel at the tail end of the mechanical arm sends a signal to the light reflecting ball indicating lamp 2-6 to control the yellow flicker.
After the tail end execution structural component 1 is connected with the mechanical arm connecting structural component 2 through the quick-release mechanisms 1-7, the tail end execution structural component 1 is wirelessly powered through the mechanical arm connecting structural component 2 at the moment, and the lamp strip 2-5 is green and long and bright at the moment, so that the fact that wireless power supply is normal is indicated; if the light-reflecting ball indicator lamp 2-6 flickers yellow at the moment, the active light-emitting ball is not in the visual field range of the optical tracker, the position of the optical tracker needs to be moved firstly until the light-reflecting ball indicator lamp 2-6 is green and bright, then the two capacitance keys 2-9 are pressed simultaneously by one hand, the lamp strip 2-5 flickers, the driving-free function of the mechanical arm is triggered to drag the mechanical arm until the lamp strip 2-5 stops flickering, and at the moment, the fact that all the end devices are normal is shown, and the next operation can be carried out.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and these equivalent changes are all within the protection scope of the present invention.
Claims (8)
1. A robot end device characterized in that: the method comprises the following steps:
the connecting assembly is fixedly arranged at the tail end of the mechanical arm;
the tail end execution assembly is provided with at least one tracer adopting a luminous ball;
the connecting assembly with can dismantle the connection through quick detach mechanism between the terminal executive assembly, and do through wireless the power supply of luminous ball.
2. The robot end device of claim 1, wherein: coupling assembling is including installing at the terminal base of arm and the arm connecting plate of fixed mounting on the base, be equipped with corresponding execution end connecting plate on the terminal executive component, coupling assembling with between the terminal executive component through quick detach mechanism respectively with the arm connecting plate with the execution end connecting plate cooperation installation is realized dismantling the connection.
3. The robot end device of claim 1, wherein: a wireless transmitting coil is arranged in the connecting assembly and is connected with the mechanical arm tail end control board through a wireless transmitting circuit board; and a wireless receiving coil is arranged at the corresponding position of the tail end executing component and is connected with the light-emitting ball through a receiving circuit.
4. The robot end device of claim 3, wherein: when the connecting assembly is connected with the tail end executing assembly through the quick-release mechanism, the wireless transmitting coil is aligned with the wireless receiving coil, and the distance between the wireless transmitting coil and the wireless receiving coil is 3-10 mm.
5. The robot end device of claim 1, wherein: the tracer is at least two, and mutual coplanarity.
6. The robot end device of claim 1, wherein: a reflective ball circuit board connected with the mechanical arm tail end control board is further arranged in the connecting assembly, and a reflective ball indicator lamp connected with the reflective ball circuit board is arranged on the connecting assembly; the control panel at the tail end of the mechanical arm sends control information to the reflective ball circuit board after receiving the tracer information collected by the optical tracker, and the reflective ball circuit board controls the reflective ball indicator lamp.
7. The robot end device of claim 1, wherein: the connecting component is also provided with a wireless charging indicator lamp connected with the mechanical arm tail end control panel, and the mechanical arm tail end control panel collects current information of the wireless transmitting circuit board and sends and controls the wireless charging indicator lamp accordingly.
8. The robot end device of claim 1, wherein: the robot driving-free robot comprises a connecting component and a robot driving-free mode, and is characterized in that a capacitive key connected with a mechanical arm tail end control board is further arranged on the connecting component, and when the capacitive key is pressed down, the mechanical arm tail end control board sends a signal to the robot to trigger the mechanical arm driving-free mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011550969.8A CN112549084A (en) | 2020-12-24 | 2020-12-24 | Robot tail end device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011550969.8A CN112549084A (en) | 2020-12-24 | 2020-12-24 | Robot tail end device |
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| Publication Number | Publication Date |
|---|---|
| CN112549084A true CN112549084A (en) | 2021-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011550969.8A Pending CN112549084A (en) | 2020-12-24 | 2020-12-24 | Robot tail end device |
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| CN (1) | CN112549084A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910292A (en) * | 2021-10-11 | 2022-01-11 | 中科新松有限公司 | Mechanical arm structure |
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| US20160278875A1 (en) * | 2006-02-16 | 2016-09-29 | Globus Medical, Inc. | Surgical tool systems and methods |
| CN108472028A (en) * | 2016-09-16 | 2018-08-31 | 威博外科公司 | Robots arm |
| CN109276316A (en) * | 2017-07-21 | 2019-01-29 | 格罗伯斯医疗有限公司 | Robotic surgery platform |
| US20200155241A1 (en) * | 2018-11-16 | 2020-05-21 | Globus Medical, Inc. | End-effectors for surgical robotic systems having sealed optical components |
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2020
- 2020-12-24 CN CN202011550969.8A patent/CN112549084A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160278875A1 (en) * | 2006-02-16 | 2016-09-29 | Globus Medical, Inc. | Surgical tool systems and methods |
| CN108472028A (en) * | 2016-09-16 | 2018-08-31 | 威博外科公司 | Robots arm |
| CN109276316A (en) * | 2017-07-21 | 2019-01-29 | 格罗伯斯医疗有限公司 | Robotic surgery platform |
| US20200155241A1 (en) * | 2018-11-16 | 2020-05-21 | Globus Medical, Inc. | End-effectors for surgical robotic systems having sealed optical components |
Non-Patent Citations (2)
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| 刘洋: "《外科学实习指导》", 31 October 2018 * |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910292A (en) * | 2021-10-11 | 2022-01-11 | 中科新松有限公司 | Mechanical arm structure |
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Address after: 210000 building 3, No. 34, Dazhou Road, Yuhuatai District, Nanjing, Jiangsu Province Applicant after: Tuodao Medical Technology Co.,Ltd. Address before: Room 102-86, building 6, 57 Andemen street, Yuhuatai District, Nanjing, Jiangsu 210000 Applicant before: Nanjing Tuodao Medical Technology Co.,Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20210326 |