CN113635327A - Multi-degree-of-freedom robot and operation auxiliary positioning system - Google Patents
Multi-degree-of-freedom robot and operation auxiliary positioning system Download PDFInfo
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- CN113635327A CN113635327A CN202111115071.2A CN202111115071A CN113635327A CN 113635327 A CN113635327 A CN 113635327A CN 202111115071 A CN202111115071 A CN 202111115071A CN 113635327 A CN113635327 A CN 113635327A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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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Abstract
The invention provides a multi-degree-of-freedom robot which comprises a mechanical arm body and a control system, wherein the mechanical arm body comprises a plurality of joint arms which are rotatably connected, the adjacent joint arms are connected through a rotary joint, the rotary joint comprises a driving mechanism, a rotary shaft and a locking structure, the rotary shaft is fixedly connected with the locking structure, and the driving mechanism is respectively attracted and separated with the locking structure through power failure and power on so as to enable the rotary joint to be locked and rotated; the control system comprises a control module and a signal conversion module, wherein the signal conversion module is respectively electrically connected with the driving mechanism and the control module, the signal conversion module converts pulse width modulation information output by the control module into a switching signal to control the power-on and power-off of the driving mechanism, and the control module controls the resistance of the driving mechanism by controlling the duty ratio of the pulse width modulation information so as to achieve the effect of gradually switching off. The invention also provides an operation auxiliary positioning system.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a multi-degree-of-freedom robot and an operation auxiliary positioning system.
Background
At present, mechanical arms are widely applied to the industrial field, and high-precision mechanical arms are gradually approved and popularized by the medical industry. The foreign mechanical arm has the problems of high price, difficult secondary development, difficult maintenance and the like, and the precision is not high because the domestic mechanical arm is limited by the servo motor and the main parts of the reducer.
Chinese patent No. CN206925850U discloses a multi-degree-of-freedom mechanical arm capable of realizing space positioning, which includes a mechanical arm body, an encoder and a data acquisition card, wherein the mechanical arm body includes a plurality of joint arms rotatably connected, each joint arm is connected with a rotary joint, the encoder is connected with the rotary joint, and the encoder is connected with the data acquisition card through a data bus. The encoder can accurately measure the rotation angle of the joint arm in real time, record the rotation amount of the joint, and simultaneously, the rotation amount is collected and transmitted to computer software through a data bus by a data acquisition card, the motion path of the mechanical arm can be planned through the computer software, and the mechanical arm can realize high-precision positioning according to the path planned by a doctor, and has a large working space and certain load capacity. However, in the mode of setting a rated voltage connection brake by a common electromagnetic band-type brake, due to the action of the gravity of the joint, the phenomenon that the joint falls down can happen instantly when the brake is released, and the phenomenon can influence the positioning precision and bring bad experience to users.
Therefore, there is a need to provide a novel multi-degree-of-freedom robot and a surgical auxiliary positioning system to solve the above problems in the prior art.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom robot and an operation auxiliary positioning system, which aim to solve the problem that the positioning accuracy is influenced by the phenomenon that a joint falls off at the moment of switching off under the action of the gravity of the joint.
In order to achieve the purpose, the multi-degree-of-freedom robot comprises a mechanical arm body and a control system, wherein the mechanical arm body comprises a plurality of joint arms which are rotatably connected, the adjacent joint arms are connected through a rotary joint, the rotary joint comprises a driving mechanism, a rotary shaft and a locking structure, the rotary shaft is fixedly connected with the locking structure, and the driving mechanism is respectively attracted and separated with the locking structure through power failure and power on so as to enable the rotary joint to be locked and rotated; the control system comprises a control module and a signal conversion module, wherein the signal conversion module is respectively electrically connected with the driving mechanism and the control module, the signal conversion module converts pulse width modulation information output by the control module into a switching signal to control the power-on and power-off of the driving mechanism, and the control module controls the duty ratio of the pulse width modulation information to control the resistance of the driving mechanism.
The multi-degree-of-freedom robot has the beneficial effects that: the mechanical arm body comprises a plurality of joint arms which are rotatably connected, the adjacent joint arms are connected through rotary joints, each rotary joint comprises a driving mechanism, a rotary shaft and a locking structure, the rotary shafts are fixedly connected with the locking structures, the driving mechanisms are respectively attracted and separated with the locking structures through power failure and power on, so that the rotary joints are locked and rotated, namely the driving mechanisms attract the locking structures under the condition of power failure, such as power failure or power off, so that the function of locking the rotary shafts is realized; after the driving mechanism is electrified and started, the driving mechanism loosens the locking structure to release the rotating shaft, so that the rotating joint is quickly locked and released, the robot is flexible and convenient to use and reliable and stable to fix, and the positioning precision of the robot is improved; through control system includes control module and signal conversion module, signal conversion module respectively with actuating mechanism with the control module electricity is connected, signal conversion module will the pulse width modulation information of control module output converts switching signal into with control actuating mechanism's circular telegram and outage, just control module is through control the duty cycle of pulse width modulation information is in order to control actuating mechanism's resistance makes resistance when actuating mechanism circular telegram slowly disappears to reach the effect of "gradually" separating brake, solved because the effect of joint self gravity, the separating brake takes place the phenomenon under the joint in the twinkling of an eye and influences positioning accuracy's problem.
Preferably, the adjacent articulated arms are connected by two movably connected rotary joints, and the two rotary joints are respectively movably connected with the adjacent articulated arms. The beneficial effects are that: the two adjacent joint arms can realize the adjustment of two degrees of freedom, and on the premise of the same number of the joint arms, the double degrees of freedom can be realized relative to the structure that the adjacent joint arms are connected through a rotary joint, and the use of the joint arms can be reduced when the same degree of freedom is realized, so that the overall weight of the multi-degree-of-freedom robot is reduced, the stability and the positioning of the robot are facilitated, the size of the multi-degree-of-freedom robot is reduced, the occupied space is smaller, and the influence on the connection and the use of other related devices is avoided.
Preferably, the control system further comprises a temperature detection module, the temperature detection module is respectively connected with the control module and the signal conversion module, the temperature detection module detects the actual measurement temperature of the signal conversion module in real time and transmits the actual measurement temperature to the control module, and the control module compares the received actual measurement temperature with the threshold temperature to judge whether to reduce or close the output of the pulse width modulation information. The beneficial effects are that: therefore, the switch of the signal conversion module can be controlled by controlling the output of the pulse width modulation information, so that the situation that the signal conversion module is frequently switched to cause serious heating and influence on use is prevented.
Preferably, the joint arm comprises an upright column, a large arm and a small arm, the upright column is movably connected with the base through a first rotary joint, the upright column and the large arm are movably connected through a second rotary joint and a third rotary joint, the large arm and the small arm are movably connected through a fourth rotary joint and a fifth rotary joint, the tail end of the small arm is sequentially movably connected with a sixth rotary joint and a seventh rotary joint, and the seventh rotary joint is provided with a fixed connection structure. The beneficial effects are that: the robot has seven degrees of freedom, can realize multi-degree-of-freedom adjustment and quick positioning of any posture, and is flexible in space positioning and convenient and quick to position.
Preferably, the mechanical arm body further comprises a gas spring, one end of the gas spring is fixedly connected to the upright post, and the other end of the gas spring is movably connected with the second rotary joint. The beneficial effects are that: the tension force of the air spring generates a tension force moment which changes along with the angle on the second rotary joint, so that most of the gravity of the second rotary joint, the third rotary joint, the fourth rotary joint, the fifth rotary joint, the sixth rotary joint and the seventh rotary joint can be balanced, the influence of the dead weight of the joints is reduced, and the flexibility of the robot is improved.
Preferably, the first rotary joint, the second rotary joint, the third rotary joint, the fourth rotary joint, the fifth rotary joint, the sixth rotary joint, and the seventh rotary joint have the same structure and are sequentially reduced in size. The beneficial effects are that: the modular design reduces the cost input, and the size of the rotary joint from the end close to the base to the free end of the freedom degree robot is reduced in sequence, so that the weight of the free end, namely the end externally connected with an instrument, is reduced, and the stability and firmness of the robot are improved.
Preferably, the rotary joint further comprises an encoder, the encoder is connected with the control module, and the encoder is connected with the rotating shaft so as to acquire the rotating angle of the rotating shaft in real time and transmit the rotating angle to the control module. The beneficial effects are that: the encoder can be used for accurately measuring the rotation angle of the joint arm in real time, recording the rotation amount of the rotation joint, transmitting the rotation amount to the control module through the number, and planning the motion path of the robot and controlling the starting and stopping of the robot according to the rotation angle of the rotation axis through the control module, so that high-precision positioning is realized, and the operation precision is improved.
Preferably, the threshold temperature is in the range of 80 ℃ to 90 ℃.
Preferably, the control system further comprises a linear optical coupler, and the temperature detection module is connected with the control module through the linear optical coupler. The beneficial effects are that: the isolation is increased, the anti-interference performance is enhanced, the tested object and the test circuit can be protected, and the influence of environmental interference on the test circuit is reduced.
Preferably, the control system further comprises an isolation optocoupler, and the control module and the signal conversion module are connected through the isolation optocoupler. The beneficial effects are that: so that the tested object and the test circuit can be protected, and the influence of environmental interference on the test circuit is reduced.
Preferably, the rotational freedom of the rotary joint does not exceed 320 °. The beneficial effects are that: prevent the rotary joint from rotating in a whole circle to twist off the lead arranged in the rotary joint.
Preferably, the driving mechanism comprises a brake, the locking structure comprises an armature, the armature is fixedly connected with the rotating shaft, one end of the brake, which is close to the armature, is provided with an electromagnetic coil, and the electromagnetic coil is respectively attracted and separated with the armature by the power-off and power-on of the brake. The beneficial effects are that: and no back clearance exists between the electromagnetic coil and the armature when the electromagnetic coil and the armature are attracted, so that the rotary joint cannot shake when locked, and the positioning precision of the robot is improved.
Preferably, the signal conversion module is respectively connected with the brakes in a plurality of the rotary joints. The beneficial effects are that: the brake of a plurality of rotary joints can be locked or unlocked simultaneously, the control is convenient, and the cost input is reduced.
Preferably, the control system comprises a plurality of signal conversion modules, the number of the signal conversion modules is the same as the number of the rotary joints, and the signal conversion modules are respectively connected with the brakes in the rotary joints in a one-to-one correspondence manner. The beneficial effects are that: the brake of the rotary joint is locked or unlocked respectively, the control is more flexible and changeable, and the positioning precision is favorably improved.
Preferably, the invention further provides an auxiliary positioning system for surgery, which comprises a medical robot and the multi-degree-of-freedom robot, wherein a fixed end of the multi-degree-of-freedom robot is fixed on a surgical bed, a free end of the multi-degree-of-freedom robot is connected with the medical robot to adjust a working area of the medical robot, and the medical robot is used for clamping a surgical instrument to adjust the position and the angle of the surgical instrument.
The surgery auxiliary positioning system has the advantages that: through including medical robot with multi freedom robot, multi freedom robot's stiff end is fixed in the operation table, multi freedom robot's free end is connected medical robot is in order to adjust medical robot's work area, medical robot is used for centre gripping surgical instruments in order to adjust surgical instruments's position and angle make and pass through multi freedom robot can adjust medical robot's work area, through medical robot can adjust surgical instruments's position and angle, and make multi freedom robot's actuating mechanism's resistance slowly disappears to reach the effect of "gradually" separating brake, solved because joint self gravity's effect, the problem that the separation brake takes place the joint phenomenon down in the twinkling of an eye and influences positioning accuracy.
Drawings
FIG. 1 is a schematic structural diagram of a multi-degree-of-freedom robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a rotary joint according to an embodiment of the present invention;
FIG. 3 is a cross-sectional schematic view of the rotary joint shown in FIG. 2;
FIG. 4 is a block diagram of the control system, encoder and drive mechanism of an embodiment of the present invention;
FIG. 5 is a block diagram of the control module, signal conversion module and brake according to the first embodiment of the present invention;
FIG. 6 is a block diagram of the control module, signal conversion module and brake according to a second embodiment of the present invention;
fig. 7 is a schematic structural diagram of the surgical assistant positioning system of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and similar words are intended to mean that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items.
In order to solve the problems in the prior art, the embodiment of the invention provides a multi-degree-of-freedom robot, which comprises a mechanical arm body and a control system, wherein the mechanical arm body comprises a plurality of joint arms which are rotatably connected, the adjacent joint arms are connected through a rotary joint, the rotary joint comprises a driving mechanism, a rotary shaft and a locking structure, the rotary shaft is fixedly connected with the locking structure, and the driving mechanism is respectively attracted and separated with the locking structure through power failure and power on so as to lock and rotate the rotary joint; the control system comprises a control module and a signal conversion module, wherein the signal conversion module is respectively electrically connected with the driving mechanism and the control module, the signal conversion module converts pulse width modulation information output by the control module into a switching signal to control the power-on and power-off of the driving mechanism, and the control module controls the duty ratio of the pulse width modulation information to control the resistance of the driving mechanism.
In some embodiments of the present invention, the signal conversion module is a Metal-Oxide-Semiconductor Field Effect Transistor (MOSFET), which is a Field-Effect Transistor (Field-Effect Transistor) that can be widely used in analog circuits and digital circuits. MOSFETs are classified into "N-type" and "P-type" types according to their "channel" (working carrier) polarities, and are also commonly referred to as NMOSFETs and PMOSFETs, and other types include NMOS and PMOS for short.
In some embodiments of the present invention, the adjacent joint arms are connected by two rotation joints which are movably connected, and the two rotation joints are respectively movably connected with the adjacent joint arms, so that adjustment of two degrees of freedom can be realized by the adjacent joint arms, and on the premise of the same number of joint arms, compared with a structure in which the adjacent joint arms are connected by one rotation joint, the present invention can realize double degrees of freedom, and when the same degree of freedom is realized, the present invention can reduce the use of the joint arms, thereby reducing the overall weight of the multi-degree-of-freedom robot, facilitating the stability and the positioning of the robot, reducing the volume of the multi-degree-of-freedom robot, occupying a small space, and avoiding affecting the connection and the use of other related devices.
Fig. 1 is a schematic structural diagram of a multiple degree of freedom robot according to an embodiment of the present invention.
In some embodiments of the present invention, referring to fig. 1, the articulated arm (not labeled in the figure) includes an upright 12, a large arm 13, and a small arm 14, the upright 12 is movably connected with a base 11 through a first rotary joint 21, the upright 12 and the large arm 13 are movably connected through a second rotary joint 22 and a third rotary joint 23, the large arm 13 and the small arm 14 are movably connected through a fourth rotary joint 24 and a fifth rotary joint 25, a sixth rotary joint 26 and a seventh rotary joint 27 are sequentially movably connected to a terminal of the small arm 14, and the seventh rotary joint 27 is provided with a fixed connection structure 15, so that the robot has seven degrees of freedom, can achieve multiple degrees of freedom adjustment and rapid positioning in any posture, and is flexible in spatial positioning and convenient and rapid in positioning. In some embodiments of the present invention, the fixing and connecting structure 15 is a clamp or a fixing bracket, etc. to fix and connect the medical device or a mechanical component requiring multiple degrees of freedom positioning in the production line.
In some embodiments of the present invention, the robot arm body further includes a gas spring, referring to fig. 1, one end of the gas spring 16 is fixedly connected to the upright 12, and the other end of the gas spring 16 is movably connected to the second rotary joint 22, so that a pulling force of the gas spring 16 generates a pulling force moment varying with an angle on the second rotary joint 22, thereby balancing most of the gravity of the second rotary joint 22, the third rotary joint 23, the fourth rotary joint 24, the fifth rotary joint 25, the sixth rotary joint 26, and the seventh rotary joint 27, reducing the influence of the self weight of the joints, and improving the flexibility of the robot.
Specifically, the gas spring is a tension gas spring, and the piston is pushed by high-pressure gas inside the gas spring to generate tension. The rotary joint drives the joint arm to rotate, so that the overall gravity center of the multi-degree-of-freedom robot is changed, the moment of the gas spring can be balanced with the gravity center and the stroke of the multi-degree-of-freedom robot by adjusting parameters of the gas spring, such as high-pressure gas quantity and the like, namely, the tension force of the gas spring generates a tension force moment which changes along with the angle on the second rotary joint, so that most of the gravity of the third rotary joint, the fourth rotary joint, the fifth rotary joint, the sixth rotary joint and the seventh rotary joint can be balanced, the influence of the self weight of the rotary joints is reduced, and the flexibility of the multi-degree-of-freedom robot is improved.
In some embodiments of the present invention, referring to fig. 1, the first rotary joint 21, the second rotary joint 22, the third rotary joint 23, the fourth rotary joint 24, the fifth rotary joint 25, the sixth rotary joint 26, and the seventh rotary joint 27 have the same structure and sequentially reduced size, are designed in a modular manner, reduce cost investment, and sequentially reduce the size of the rotary joints from the end close to the base to the free end of the degree-of-freedom robot, reduce the weight of the free end, i.e., the end externally connected to the instrument, and improve the stability and the firmness of the robot.
FIG. 2 is a schematic structural diagram of a rotary joint according to an embodiment of the present invention; fig. 3 is a cross-sectional view of the rotary joint shown in fig. 2.
In some embodiments of the present invention, the driving mechanism includes a brake, the locking mechanism includes an armature, referring to fig. 3, the armature 32 is fixedly connected to the rotating shaft 31, an electromagnetic coil (not shown) is disposed at an end of the brake 33 close to the armature 32, the electromagnetic coil (not shown) is respectively engaged with and disengaged from the armature 32 by power-off and power-on of the brake 33, and there is no backlash when the electromagnetic coil (not shown) is engaged with the armature 32, so that the rotating joint (not shown) is not shaken when locked, and the positioning accuracy of the robot is improved. The structure of the rotary joint is conventional in the art and will not be described in detail herein.
In some embodiments of the invention, the rotary joint further comprises an encoder, the encoder is connected with the control module, the encoder is connected with the rotary shaft so as to acquire the rotation angle of the rotary shaft in real time and transmit the rotation angle to the control module, the encoder can accurately measure the rotation angle of the joint arm in real time, record the rotation angle of the rotary joint and transmit the rotation angle to the control module, and the control module plans the movement path of the robot and controls the start and stop of the robot according to the rotation angle of the rotary shaft, so that high-precision positioning is realized, and the surgical precision is improved.
Specifically, referring to fig. 3, the encoder (not shown) includes an encoder circuit board 34 and an encoder code wheel 35, the encoder circuit board 34 is fixedly connected to the joint base 36, and the encoder code wheel 35 is fixedly connected to the rotating shaft 31.
In some embodiments of the present invention, referring to fig. 2, the rotary joint comprises 2 mounting interfaces, namely a first mounting interface 301 and a second mounting interface 302, wherein the first mounting interface 301 and the second mounting interface 302 are respectively connected with one of the joint arms and one of the rotary joints.
In some embodiments of the present invention, the rotational freedom of the rotary joint does not exceed 320 °, and the rotary joint is prevented from rotating completely to twist off a wire disposed in the rotary joint.
In some embodiments of the present invention, the control system further includes a temperature detection module, the temperature detection module is respectively connected to the control module and the signal conversion module, the temperature detection module detects an actual measured temperature of the signal conversion module in real time and transmits the actual measured temperature to the control module, and the control module compares the received actual measured temperature with a threshold temperature to determine whether to reduce or close the output of the pwm information, so that the switch of the signal conversion module can be controlled by controlling the output of the pwm information, thereby preventing the signal conversion module from being frequently switched to cause serious heating and affect the use.
In some embodiments of the invention, the threshold temperature is in the range of 80 ℃ to 90 ℃.
In some embodiments of the present invention, the temperature detecting module is an NTC thermistor, and the NTC thermistor is electrically connected to the control module and the signal converting module, respectively. The NTC in the NTC thermistor is an abbreviation of English Negative Temperature Coefficient, and means a Negative Temperature Coefficient. The NTC thermistor is a thermosensitive ceramic component which is made of transition metal oxide serving as a main raw material by adopting an electronic ceramic process, has a very large negative temperature coefficient, and the resistance value changes along with the ambient temperature or self-heating generated by passing current, namely, the resistance value rapidly decreases along with the temperature rise under certain measurement power. By using the characteristic, the corresponding temperature can be confirmed by measuring the resistance value of the NTC thermistor, thereby achieving the purpose of detecting and controlling the temperature.
In other embodiments of the present invention, the temperature detecting module is a temperature sensor, and the temperature sensor is disposed in the signal converting module to detect the temperature of the signal converting module.
Optionally, the control system further includes a linear optocoupler, and the temperature detection module is connected to the control module through the linear optocoupler, so that a tested object and the test circuit can be protected, and the influence of environmental interference on the test circuit is reduced.
Optionally, the control system further includes an isolation optocoupler, and the control module and the signal conversion module are connected through the isolation optocoupler, so that a tested object and the test circuit can be protected, and the influence of environmental interference on the test circuit is reduced.
Fig. 4 is a block diagram of the control system, encoder, and drive mechanism according to the embodiment of the present invention.
In some specific embodiments of the present invention, referring to fig. 4, the control system (not shown in the figure) includes a control module 41, an isolation optocoupler 42, a signal conversion module 43, a linear optocoupler 45, and a temperature detection module 46, where the control module 41, the isolation optocoupler 42, and the signal conversion module 43 are sequentially connected, and the signal conversion module 43 is connected to the driving mechanism 44 to implement power on and power off control on the driving mechanism 44; the signal conversion module 43, the temperature detection module 46, the linear optocoupler 45 and the control module 41 are sequentially connected to realize real-time monitoring on the temperature of the signal conversion module 43, and the control module 41, the isolation optocoupler 42, the signal conversion module 43 and the driving mechanism 44 are sequentially connected to enable the control module 41 to determine whether to reduce or close the output of the pulse width modulation information according to the monitored actual measurement temperature of the signal conversion module 43, so as to control the switching of the signal conversion module 43, thereby preventing the signal conversion module 43 from being frequently switched to cause serious heating and influence use; the control module 41 is further connected to the encoder 47, the encoder 47 obtains the measured rotation angle of the rotating shaft in real time and transmits the measured rotation angle to the control module 41, the control module 41 compares the received measured rotation angle with a planned movement path to determine whether to output the pulse width modulation information to the signal conversion module, and controls the power-on and power-off of the driving mechanism 44 by controlling the switch of the signal conversion module 43.
Fig. 5 is a block diagram showing the structures of a control module, a signal conversion module and a brake according to a first embodiment of the present invention.
In some embodiments of the invention, the signal conversion module is respectively connected with the brakes in the plurality of rotary joints, so that the brakes of the plurality of rotary joints can be locked or unlocked simultaneously, the control is convenient, and the cost investment is reduced.
Specifically, the rotary joints include the first rotary joint, the second rotary joint, the third rotary joint, the fourth rotary joint, the fifth rotary joint, the sixth rotary joint, and the seventh rotary joint, the first rotary joint includes a first brake, the second rotary joint includes a second brake, the third rotary joint includes a third brake, the fourth rotary joint includes a fourth brake, the fifth rotary joint includes a fifth brake, the sixth rotary joint includes a sixth brake, and the seventh rotary joint includes a seventh brake.
Referring to fig. 5, one end of the signal conversion module 43 is connected to the control module 41, and the other end of the signal conversion module 43 is connected to the first brake 441, the second brake 442, the third brake 443, the fourth brake 444, the fifth brake 445, the sixth brake 446, and the seventh brake 447, respectively.
Fig. 6 is a block diagram showing the structures of a control module, a signal conversion module and a brake according to a second embodiment of the present invention.
In other embodiments of the present invention, the control system includes a plurality of signal conversion modules, the number of the signal conversion modules is the same as the number of the rotary joints, and the signal conversion modules are respectively connected to the brakes in the rotary joints in a one-to-one correspondence manner, so as to respectively lock or unlock the brakes of the plurality of rotary joints, and the control is more flexible and variable, which is beneficial to improving the positioning accuracy.
Specifically, the rotary joints include the first rotary joint, the second rotary joint, the third rotary joint, the fourth rotary joint, the fifth rotary joint, the sixth rotary joint, and the seventh rotary joint, the first rotary joint includes a first brake, the second rotary joint includes a second brake, the third rotary joint includes a third brake, the fourth rotary joint includes a fourth brake, the fifth rotary joint includes a fifth brake, the sixth rotary joint includes a sixth brake, and the seventh rotary joint includes a seventh brake.
Referring to fig. 6, the signal conversion module (not shown) includes a first signal conversion module 431, a second signal conversion module 432, a third signal conversion module 433, a fourth signal conversion module 434, a fifth signal conversion module 435, a sixth signal conversion module 436 and a seventh signal conversion module 437, one end of each of the first signal conversion module 431, the second signal conversion module 432, the third signal conversion module 433, the fourth signal conversion module 434, the fifth signal conversion module 435, the sixth signal conversion module 436 and the seventh signal conversion module 437 is connected to the control module 41, the other end of the first signal conversion module 431 is connected to the first brake 441, the other end of the second signal conversion module 432 is connected to the second brake 442, and the other end of the third signal conversion module 433 is connected to the third brake 443, the other end of the fourth signal conversion module 434 is connected to the fourth brake 444, the other end of the fifth signal conversion module 435 is connected to the fifth brake 445, the other end of the sixth signal conversion module 436 is connected to the sixth brake 446, and the other end of the seventh signal conversion module 437 is connected to the seventh brake 447.
Fig. 7 is a schematic structural diagram of the surgical assistant positioning system of the invention.
In some embodiments of the present invention, an operation assistant positioning system is further provided, referring to fig. 7, including a medical robot 100 and the multi-degree-of-freedom robot 200, wherein a fixed end of the multi-degree-of-freedom robot 200 is fixed to an operating table 300, a free end of the multi-degree-of-freedom robot 200 is connected to the medical robot 100 to adjust a working area of the medical robot 100, and the medical robot 100 is configured to clamp a surgical instrument 400 to adjust a position and an angle of the surgical instrument 400.
Specifically, referring to fig. 7, the column 12 of the multi-degree-of-freedom robot 200 is fixedly connected to the operating table 300 by a fixing member, and the fixed connection structure 15 of the multi-degree-of-freedom robot 200 is fixedly connected to the medical robot 100.
Although the embodiments of the present invention have been described in detail hereinabove, it is apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it is to be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention as described herein is capable of other embodiments and of being practiced or of being carried out in various ways.
Claims (15)
1. The robot with multiple degrees of freedom is characterized by comprising a mechanical arm body and a control system, wherein the mechanical arm body comprises a plurality of joint arms which are rotatably connected, the adjacent joint arms are connected through a rotary joint, the rotary joint comprises a driving mechanism, a rotary shaft and a locking structure, the rotary shaft is fixedly connected with the locking structure, and the driving mechanism is respectively attracted and separated with the locking structure through power failure and power on so as to enable the rotary joint to be locked and rotated;
the control system comprises a control module and a signal conversion module, wherein the signal conversion module is respectively electrically connected with the driving mechanism and the control module, the signal conversion module converts pulse width modulation information output by the control module into a switching signal to control the power-on and power-off of the driving mechanism, and the control module controls the resistance of the driving mechanism by controlling the duty ratio of the pulse width modulation information.
2. The multiple degree of freedom robot according to claim 1, wherein adjacent articulated arms are connected by two of the articulated rotary joints, and the two articulated rotary joints are respectively articulated to the adjacent articulated arms.
3. The multi-degree-of-freedom robot according to claim 1, wherein the control system further comprises a temperature detection module, the temperature detection module is respectively connected to the control module and the signal conversion module, the temperature detection module detects an actual temperature of the signal conversion module in real time and transmits the actual temperature to the control module, and the control module compares the received actual temperature with a threshold temperature to determine whether to reduce or shut off the output of the pulse width modulation information.
4. The robot with multiple degrees of freedom according to claim 1 or 2, wherein the joint arm comprises an upright column, a large arm and a small arm, the upright column is movably connected with the base through a first rotary joint, the upright column and the large arm are movably connected through a second rotary joint and a third rotary joint, the large arm and the small arm are movably connected through a fourth rotary joint and a fifth rotary joint, the tail end of the small arm is sequentially movably connected with a sixth rotary joint and a seventh rotary joint, and the seventh rotary joint is provided with a fixed connection structure.
5. The multi-degree-of-freedom robot according to claim 4, wherein the robot arm body further comprises a gas spring, one end of the gas spring is fixedly connected to the column, and the other end of the gas spring is movably connected to the second rotary joint.
6. The multiple degree of freedom robot according to claim 4, wherein the first rotary joint, the second rotary joint, the third rotary joint, the fourth rotary joint, the fifth rotary joint, the sixth rotary joint, and the seventh rotary joint are identical in structure and are reduced in size in order.
7. The multi-degree-of-freedom robot according to claim 1, wherein the rotary joint further comprises an encoder, the encoder is connected to the control module, and the encoder is connected to the rotary shaft to acquire the rotation angle of the rotary shaft in real time and transmit the rotation angle to the control module.
8. The multiple degree of freedom robot of claim 3, wherein the threshold temperature is in a range of 80-90 ℃.
9. The multi-degree-of-freedom robot according to claim 3, wherein the control system further comprises a linear optical coupler, and the temperature detection module is connected with the control module through the linear optical coupler.
10. The multi-degree-of-freedom robot of claim 1, wherein the control system further comprises an isolation optocoupler, and the control module and the signal conversion module are connected by the isolation optocoupler.
11. The multiple degree of freedom robot of claim 1, wherein the rotational joint has a rotational degree of freedom not exceeding 320 °.
12. The multi-degree-of-freedom robot as claimed in claim 1, wherein the driving mechanism includes a brake, the locking mechanism includes an armature, the armature is fixedly connected to the rotating shaft, and an electromagnetic coil is disposed at an end of the brake close to the armature and is respectively engaged with and disengaged from the armature by de-energizing and de-energizing the brake.
13. The multiple degree of freedom robot of claim 12, wherein the signal conversion modules are respectively connected to the actuators in a plurality of the rotary joints.
14. The multi-degree-of-freedom robot according to claim 12, wherein the control system includes a plurality of the signal conversion modules, the number of the signal conversion modules is the same as the number of the rotary joints, and the signal conversion modules are connected to the brakes in the rotary joints in a one-to-one correspondence.
15. An operation auxiliary positioning system, comprising a medical robot and the multi-degree-of-freedom robot as claimed in any one of claims 1 to 14, wherein the fixed end of the multi-degree-of-freedom robot is fixed on an operating table, the free end of the multi-degree-of-freedom robot is connected with the medical robot to adjust the working area of the medical robot, and the medical robot is used for clamping a surgical instrument to adjust the position and angle of the surgical instrument.
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