CN219089637U - Surgical robot and positioning device - Google Patents

Surgical robot and positioning device Download PDF

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Publication number
CN219089637U
CN219089637U CN202222303429.0U CN202222303429U CN219089637U CN 219089637 U CN219089637 U CN 219089637U CN 202222303429 U CN202222303429 U CN 202222303429U CN 219089637 U CN219089637 U CN 219089637U
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China
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positioning
assembly
linear motion
rotating
lifting
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CN202222303429.0U
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Chinese (zh)
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印世杰
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Wuhan United Imaging Zhirong Medical Technology Co Ltd
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Wuhan United Imaging Zhirong Medical Technology Co Ltd
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Abstract

The present utility model relates to a surgical robot and a positioning device. The positioning device comprises: a first positioning structure; the second positioning structure comprises a suspension connecting rod and a plurality of positioning mechanical arms; an operating device; one end of each of the plurality of positioning mechanical arms is rotatably connected with the first positioning structure through a suspension connecting rod, and the other end of each of the plurality of positioning mechanical arms is provided with an operating device; the control equipment is used for controlling the first positioning structure and the second positioning structure to drive the operating device to autonomously move. When the operation device is positioned, the first positioning structure drives the second positioning structure and the operation device on the second positioning structure to move, and each positioning mechanical arm drives the corresponding operation device to move, so that the operation device is positioned, the operation device is positioned at a required space position, and the positioning device is simple and compact in structure and is convenient to integrate into an operation robot or other equipment needing to be positioned.

Description

Surgical robot and positioning device
Technical Field
The utility model relates to the technical field of medical equipment, in particular to a surgical robot and a positioning device.
Background
With the rapid development of technology, minimally invasive surgical robots have also been given more powerful functions. The swing mechanical arm is used as a main positioning auxiliary unit of the minimally invasive surgery robot, and the motion performance and the adjustment capability of the swing mechanical arm directly determine the performance of the surgery robot, so that the surgery effect and the operation experience of medical staff are affected. The positioning mechanical arm is endowed with an active positioning function, so that the preoperative preparation time can be shortened, and the operation efficiency can be improved.
At present, a minimally invasive surgical robot mainly realizes positioning in a manual dragging mode in the preparation stage and the surgical process, and can realize automatic positioning in a shimmy mode only in the contraction and expansion processes; although some minimally invasive surgical robots can automatically swing, the realization of the active swing function often causes the problems of the mechanical arm, such as the bulky appearance, the complex transmission structure and the like. That is, the current minimally invasive surgery robot has a complex structure for realizing active positioning, has a bulky appearance and influences the usability.
Disclosure of Invention
Based on the above, it is necessary to provide a surgical robot and a positioning device which have simple structures and are easy to realize active positioning, aiming at the problems of complex structures and the like of the existing minimally invasive surgical robots.
A positioning device of a surgical robot, comprising:
a first positioning structure;
the second positioning structure comprises a suspension connecting rod and a plurality of positioning mechanical arms;
an operating device;
one end of each of the plurality of positioning mechanical arms is rotatably connected with the first positioning structure through a suspension connecting rod, and the other end of each of the plurality of positioning mechanical arms is provided with an operating device;
the control equipment is used for controlling the first positioning structure and the second positioning structure to drive the operating device to autonomously move.
In one embodiment, the positioning mechanical arm comprises a plurality of joint pieces, the plurality of joint pieces are connected with the suspension connecting rod and the operating device in series, and the joint pieces are provided with a driving device for driving the joint pieces to drive the operating device to autonomously move.
In one embodiment, the plurality of joints comprise a first rotating assembly and a second rotating assembly, and a first linear motion assembly and a second linear motion assembly, and the suspension link and the operating device are connected in series via the first rotating assembly, the first linear motion assembly, the second rotating assembly, and the second linear motion assembly.
In one embodiment, the first rotating assembly includes a first output member, a first mounting housing, and a rotating electrical machine, a first brake, and a first encoder disposed on the first mounting housing, the first mounting housing is mounted on the first linear motion assembly, the first brake is disposed on an end portion of the rotating electrical machine, the first encoder is electrically connected to the rotating electrical machine, an output end of the rotating electrical machine is mounted on the first output member, and the first output member is connected to the suspension link.
In one embodiment, the first linear motion assembly is a low reduction ratio transmission structure, and the transmission structure in the first linear motion assembly is a chain transmission structure, a belt transmission structure or a rope transmission structure.
In one embodiment, the first linear motion assembly comprises a second installation shell, a transmission group and a driving group, wherein the transmission group and the driving group are arranged in the second installation shell, the driving group is connected with the transmission group and drives the transmission group to move, and the transmission group is connected with the second rotation assembly and drives the second rotation assembly to move;
when the transmission group is of a rope transmission structure, the transmission group realizes transmission through a plurality of wire harnesses which are arranged in parallel.
In one embodiment, the second rotating assembly adopts a structure of a joint driving module, and an output end of the second rotating assembly is connected with the second linear motion assembly.
In one embodiment, the second linear motion assembly is a weight balancing structure.
In one embodiment, the second linear motion assembly includes a fourth installation housing, a gravity balance group, a lifting group and a lifting connecting rod, the gravity balance group is arranged in the fourth installation housing, the bottom of the gravity balance group is connected with the lifting connecting rod, the lifting group is arranged in the fourth installation housing, the lifting group is connected with the lifting connecting rod and drives the lifting connecting rod to lift, and the end part of the lifting connecting rod is connected with the operating device.
A surgical robot comprising a trolley base, an operating instrument and a positioning device according to any of the technical features;
the first positioning structure of the positioning device is mounted to the trolley base, and the operating device of the positioning device carries the operating instrument.
After the technical scheme is adopted, the utility model has at least the following technical effects:
according to the surgical robot and the positioning device, the first positioning structure is rotatably connected with the suspension connecting rod of the second positioning structure, the suspension connecting rod is respectively connected with the plurality of positioning mechanical arms of the second positioning structure, the other end of each positioning mechanical arm, which is far away from the suspension connecting rod, is connected with the operating device, the first positioning structure is electrically connected with the plurality of positioning mechanical arms, the operating control device controls the first positioning structure to drive the second positioning structure to move, and controls the plurality of positioning mechanical arms to drive the corresponding operating device to move, so that the operating device moves to a required position, and the positioning of the operating device is completed. When the operation device is positioned by the positioning device, the first positioning structure drives the second positioning structure and the operation device on the second positioning structure to move, and each positioning mechanical arm drives the corresponding operation device to move, so that the operation device is positioned in a required space position, and the positioning device has a compact structure and is convenient to integrate into an operation robot or other equipment needing to be positioned.
Drawings
FIG. 1 is a schematic view of a positioning device applied to a surgical robot according to an embodiment of the present utility model;
FIG. 2 is a schematic view of a first positioning structure of the positioning device shown in FIG. 1 connected to a suspension link;
FIG. 3 is a schematic view of a first positioning structure of the positioning device shown in FIG. 1;
FIG. 4 is a perspective view of the positioning mechanical arm in the first positioning structure shown in FIG. 3;
FIG. 5 is a perspective view of a first rotating assembly of the positioning robot shown in FIG. 4;
FIG. 6 is a cross-sectional view of the first rotating assembly shown in FIG. 5;
FIG. 7 is a schematic view of a first linear motion assembly of the positioning robot shown in FIG. 4;
FIG. 8 is a schematic view of the first linear motion assembly of FIG. 7 with the drive set and the drive set at two angles;
FIG. 9 is a perspective view of a second rotating assembly of the positioning robot shown in FIG. 4;
FIG. 10 is a schematic view of the internal structure of the second rotating assembly shown in FIG. 9;
FIG. 11 is a schematic view of a second linear motion assembly of the swing arm of FIG. 4;
FIG. 12 is a schematic view of a drive train and mounting set of the second linear motion assembly of FIG. 11;
FIG. 13 is a diagram of a power communication link in the positioning robotic arm of FIG. 3;
fig. 14 is a flow chart of the active swing drag swing of the swing apparatus shown in fig. 1.
Wherein: 10. a positioning device; 100. a first positioning structure; 110. a lifting member; 120. a first rotating member; 130. a moving member; 140. a second rotating member; 200. a second positioning structure; 210. a suspension link; 220. a positioning mechanical arm; 221. a first rotating assembly; 2211. a first output member; 2212. a first mounting housing; 2213. a rotating electric machine; 22131. a motor stator; 22312. a motor rotor; 2214. a first brake; 22141. a brake stator; 22142. a brake rotor; 2215. a first encoder; 2216. a first support bearing; 2217. a fixed flange; 2218. an encoder support; 2219. a second support bearing; 2210. a cable support; 222. a first linear motion assembly; 2221. a second mounting housing; 2222. a transmission group; 22221. a tensioning wheel; 22222. a wire harness; 22223. a movable pulley; 22224. a fixed pulley; 22225. a fixed wheel; 22226. a first idler; 22227. a second idler; 22228. an adapter plate; 2223. a drive group; 22231. a driving motor; 22232. a driving wheel; 22233. driven wheel; 22234. a synchronous belt; 22235. a tensioning member; 22236. a motor connecting plate; 222237, third driver; 2224. a second encoder; 2225. a guide group; 22251. a guide rail; 22252. a slide block; 2226. a dust-proof winder; 223. a second rotating assembly; 2231. a second output member; 2232. a third mounting housing; 2233. a driving module; 2234. a speed reducer; 224. a second linear motion assembly; 2241. a fourth mounting housing; 2242. a gravity balance group; 22421. a constant force elastic member; 22422. a winding member; 22423. a mounting plate; 22424. a fixed block; 2243. a lifting group; 22431. a lifting motor; 22432. a motor fixing plate; 22433. a drive belt group; 224331, a first pulley; 224333, a second pulley; 224332, a drive rope; 22434. an installation group; 224341, carrier plate; 224342, tensioning block; 224343, guide wheels; 224344, rope reel; 224345, adapter blocks; 224346, fifth brake; 2244. lifting a connecting rod; 2245. a second brake; 2246. a fifth encoder; 2247. a guide rail; 20. an operating device; 300. a hospital bed; 40. operating the instrument; 50. a trolley base; 60. and a control device.
Detailed Description
In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Referring to fig. 1-12, the present utility model provides a positioning device 10. The end of the positioning device 10 is provided with an operating device 20. The operation device 20 is a device for a surgical robot to drive a surgical instrument to perform a surgical operation in a surgical procedure, the end of the operation device 20 can be docked with a cannula, and the operation device 20 can carry the surgical instrument to enter a target object through the cannula to perform the surgical operation. Further, the operating device 20 can drive the surgical instrument to adjust the posture of rotation, pitching, translation and the like in the surgical process through the driving device. The positioning device 10 can drive the positioning of the operating device 20 to reach a target position through movement, so that the space position of the operating device 20 is convenient for later use. Furthermore, the positioning device 10 may be mounted on the surface of a floor, table top or other platform.
The positioning device 10 is applied to a surgical robot, an operating device 20 is arranged at the tail end of the positioning device 10, after the positioning device 10 is used for positioning the operating device 20, the operating device 20 can be in butt joint with a patient body surface stamping card, at the moment, the initial position of the operating device 20 in surgery is a target position, and the target position means that the operating device is in butt joint with the patient body surface stamping card and moves to a proper position suitable for surgical operation. After the manipulator reaches the target position, the manipulator 20 can carry the manipulator 40 for performing a surgical operation. At present, the minimally invasive surgery robot mainly realizes the positioning in a manual dragging mode in the preparation stage and the surgery process, and can realize the automatic positioning in a shimmy mode only in the contraction and expansion processes; although some minimally invasive surgical robots can automatically swing, the realization of the active swing function often causes the problems of the mechanical arm, such as the bulky appearance, the complex transmission structure and the like. That is, the current minimally invasive surgery robot has a complex structure for realizing active positioning, has a bulky appearance and influences the usability.
For this purpose, the utility model provides a positioning device 10, which positioning device 10 can realize automatic positioning of an operating device 20, so that the operating device 20 is positioned at a target position required before an operation, and the positioning device 10 has a compact structure and is convenient to integrate into an operation robot or other equipment needing positioning. The following describes the specific structure of the positioning device 10.
Referring to fig. 1 to 3, in an embodiment, the positioning apparatus 10 includes a first positioning structure 100, a second positioning structure 200, an operating device 20, and a control device 60. The second positioning structure 200 is disposed on the first positioning structure 100; the second positioning structure 200 comprises a suspension link 210 and a plurality of positioning mechanical arms 220, one ends of the plurality of positioning mechanical arms are rotatably connected with the first positioning structure 100 through the suspension link 210, and the other ends are provided with an operating device 20; the first positioning structure 100 and the second positioning structure 200 are electrically connected to an external control device 60, and the control device 60 is used for controlling the first positioning structure 100 and the second positioning structure 200 to drive the operation device 20 to autonomously move so as to adjust the position of the operation device 20.
The first positioning structure 100 is a supporting structure of the positioning device 10, and the second positioning structure 200 is disposed on the first positioning structure 100. The second positioning structure 200 is provided with an operating device 20 at its end. The first positioning structure 100 can drive the second positioning structure 200 to move when moving, and then the second positioning structure 200 can drive the operating device 20 thereon to move synchronously, and the second positioning structure 200 can drive the operating device 20 thereon to move when moving.
The first positioning structure 100 is used for adjusting a larger spatial position of the operating device 20, so as to realize coarse alignment of the operating device 20 and a focus area, the second positioning structure 200 is used for realizing fine alignment of the operating device 20 and the focus area, and the first positioning structure 100 and the second positioning structure 200 cooperate to realize automatic adjustment of the spatial position of the operating device 20. In the present utility model, the first positioning structure 100 and the second positioning structure 200 drive the operation device 20 to move, so that the operation device 20 can align with the card on the body surface of the patient, and mount the card on the operation device 20 to complete the positioning of the operation device 20.
Specifically, the first positioning structure 100 can drive the second positioning structure 200 to perform lifting motion in a vertical plane, moving motion in a horizontal plane, and at least one rotation motion in the vertical plane. In this way, the first positioning structure 100 can drive the second positioning structure 200 in a larger space range, so as to achieve coarse alignment between the operation device 20 at the tail end of the second positioning structure 200 and the focus area. The second positioning structure 200 can drive the operation device 20 to do lifting, translation and rotation motions so as to drive the operation device 20 to move, so that the operation device 20 can be aligned to the card for conveniently docking with the card. Moreover, when the operation device 20 is positioned, the first positioning structure 100 can be controlled to move, and then the second positioning structure 200 can be controlled to move; the first positioning structure 100 and the second positioning structure 200 can also move simultaneously.
The second positioning structure 200 includes a suspension link 210 and a plurality of positioning mechanical arms 220, where the suspension link 210 is rotatably connected to an end of the first positioning structure 100, and the end of the first positioning structure 100 can drive the suspension link 210 to rotate relative to the main body of the first positioning structure 100. A plurality of positioning arms 220 are rotatably mounted on the suspension link 210 at intervals, and the positioning arms 220 can rotate relative to the suspension link 210. An operating device 20 is mounted at the end of each positioning arm 220. In this way, when the first positioning structure 100 drives the suspension link 210 to rotate, the suspension link 210 can drive the plurality of positioning mechanical arms 220 to rotate synchronously, and each positioning mechanical arm 220 can drive the corresponding operating device 20 to rotate relative to the suspension link 210.
It should be noted that the number of the positioning robots 220 may be plural, including 2, 3, or other numbers. In one embodiment of the present application, the number of positioning robots is 4. Correspondingly, the suspension link 210 has four mounting locations thereon for rotatably mounting four swing arms 220. One end of each positioning mechanical arm is connected with the suspension connecting rod 210, the other end is provided with the operating device 20, and the operating device 20 is used for bearing the operating instrument 40, and it should be noted that the operating instrument not only comprises a surgical instrument, but also comprises tools for assisting surgical operations such as an endoscope. The surgical instruments 40 carried on the manipulator 20 mounted at the ends of the different positioning robots 220 may be identical or different. The positioning structure of each positioning arm 220 is the same, and only the structure of one positioning arm 220 will be described below.
Referring to fig. 1 and 2, in one embodiment, the first positioning structure 100 includes a plurality of joints having driving means for driving the first positioning structure 100 to perform lifting, rotating, and translating movements. In one embodiment of the present application, the first positioning structure 100 includes a lifting member 110, a first rotating member 120, a moving member 130, and a second rotating member 140, where the first rotating member 120 is disposed between the lifting member 110 and the moving member 130 and is rotatably connected between the lifting member 110 and the moving member 130, and the second rotating member 140 is disposed on the moving member 130 and is rotatably connected with the suspension link 210.
When the positioning device 10 of the present utility model is applied to a surgical robot, the positioning device 10 is mounted to the carriage base 50. That is, the bottom of the lifting member 110 is mounted to the trolley base 50, the lifting member 110 is of a liftable structure, the top of the lifting member 110 is mounted with the first rotating member 120, and the first rotating member 120 is also connected with the moving member 130, the end of the moving member 130 remote from the first rotating member 120 is mounted with the second rotating member 140, and the second rotating member 140 is connected with the suspension link 210.
In this way, the lifting member 110 can drive the moving member 130 and the second rotating member 140 to perform lifting movement through the first rotating member 120, and then the second rotating member 140 can drive the positioning mechanical arm 220 and the operating device 20 thereon to perform lifting movement through the suspension link 210. The first rotating member 120 can drive the moving member 130 and the second rotating member 140 to rotate in a horizontal plane, and the second rotating member 140 can drive the positioning mechanical arm 220 and the operating device 20 thereon to rotate through the suspension link 210. When the moving member 130 moves, the second rotating member 140 can drive the suspension link 210, the positioning mechanical arm 220 and the operating device 20 thereon to perform a translational motion. When the second rotating member 140 rotates, the suspension link 210 drives the swing mechanical arm 220 and the operating device 20 thereon to perform a rotational motion.
Alternatively, the lifting member 110 and the moving member 130 are ball screw structures, belt transmission structures, or other structures capable of outputting linear motion. Illustratively, the lifting member 110 and the moving member 130 each include a motor, a movable mounting housing, and a ball screw member. The movable mounting shell comprises a main shell body and a movable shell body, wherein the movable shell body is movably arranged in the main shell body and can extend out of the main shell body. The ball screw of the ball screw rod piece is rotatably arranged in the movable mounting shell and is connected with the motor, and the screw nut of the ball screw rod piece is sleeved on the ball screw and is connected with the movable shell. When the motor drives the ball screw to rotate, the screw nut can move along the ball screw, and then the screw nut can drive the movable shell to extend out of or retract into the main shell. Of course, in other embodiments of the present utility model, the lifting member 110 and the moving member 130 may have other structures capable of outputting linear motion.
Alternatively, the first rotating member 120 and the second rotating member 140 are motors, rotating joints, or the like. Illustratively, the first and second rotary members 120, 140 each include a motor, a rotatably mounted housing. The motor is mounted in the rotation mounting housing, and an output end of the motor outputs a rotation motion. The rotation mounting housing of the first rotation member 120 is mounted to the top of the elevation member 110, and the motor output end of the first rotation member 120 is connected to the moving member 130 and drives the moving member 130 to rotate. The rotation mounting housing of the second rotating member 140 is mounted to the moving member 130, and the motor output end of the second rotating member 140 is connected to the suspension link 210 and drives the suspension link 210 to rotate. Of course, in other embodiments of the present utility model, the first rotating member 120 and the second rotating member 140 may have other structures capable of outputting the rotational motion, or a brake, a speed reducer, or the like may be added in the above-described embodiment.
The first positioning structure 100 of the above embodiment has a four-degree-of-freedom structure, that is, the four joints of the lifting member 110, the first rotating member 120, the moving member 130 and the second rotating member 140 are connected in series, so that the first positioning structure 100 has four degrees of freedom, and the second positioning structure 200 and the operating device 20 are positioned by the four-degree-of-freedom structure. Of course, in other embodiments of the present utility model, the first positioning structure 100 may further include a plurality of moving members, lifting members and rotating members, so as to increase the degree of freedom of the first positioning structure 100.
Referring to fig. 1 to 4, in an embodiment, the positioning mechanical arm 220 includes a plurality of joint members, and the plurality of joint members are connected in series to the suspension link 210 and the operation device 20, and the joint members are provided with driving means for driving the joint members to autonomously move the operation device 20. Further, the plurality of the joint members include a plurality of rotating assemblies and a plurality of linear motion assemblies, each rotating assembly is connected in series with each linear motion assembly, the rotating assembly at the head end after the series connection is rotatably connected with the suspension link 210, and the linear motion assembly at the tail end after the series connection is connected with the operation device 20.
The positioning mechanical arm 220 drives the terminal operating device 20 to move through a plurality of rotating components and a plurality of linear motion components. The rotating component outputs rotary motion, and the linear motion component outputs linear motion. Each rotating component is connected in series with each linear motion component to form a positioning mechanical arm 220, the head end of the positioning mechanical arm 220 is a rotating component and is used for rotationally connecting the suspension connecting rod 210, and the tail end of the positioning mechanical arm 220 is a linear motion component and is used for connecting the operating device 20.
The plurality of rotating assemblies are connected in series with the plurality of linear motion assemblies: the rotary assembly can be connected in series with a plurality of linear motion assemblies in series; the plurality of rotating assemblies and the plurality of linear motion assemblies can be arranged in a staggered manner, the head end is the rotating assembly, and the tail end is the linear motion assembly; the head end of the rotating component is a linear motion component, and the tail end of the rotating component is a linear motion component. Of course, in other embodiments of the present utility model, the plurality of rotating assemblies and the plurality of linear motion assemblies may have other structures capable of moving the operating device 20. In this embodiment, a plurality of rotating assemblies and a plurality of linear motion assemblies are staggered and connected in series, and the head end is the rotating assembly and the tail end is the linear motion assembly.
Referring to fig. 1 to 4, in an embodiment, the plurality of rotating assemblies includes a first rotating assembly 221 and a second rotating assembly 223, the plurality of linear motion assemblies includes a first linear motion assembly 222 and a second linear motion assembly 224, the first rotating assembly 221, the first linear motion assembly 222, the second rotating assembly 223, and the second linear motion assembly 224 are connected in series, the suspension link 210 and the operating device 20 are rotatably connected to the suspension link 210 via the first rotating assembly 221, and the second linear motion assembly 224 is connected to the operating device 20.
That is, the positioning mechanical arm 220 of the present embodiment includes four joint members, namely a first rotating member 221, a second rotating member 223, a first linear motion member 222 and a second linear motion member 224. The four joint members are respectively connected in series, that is, the first rotating assembly 221 is connected in series with the first linear motion assembly 222, the first linear motion assembly 222 is connected in series with the first rotating assembly 221, and the first rotating assembly 221 is connected in series with the first linear motion assembly 222. The first rotating component 221 is a head end of the positioning mechanical arm 220 and is used for connecting the suspension link 210, and the second linear motion component 224 is a tail end of the positioning mechanical arm 220 and is used for installing the operating device 20.
The first linear motion assembly 222 is disposed in a horizontal direction, and the first rotation assembly 221 is disposed at an end of the first linear motion assembly 222 to rotatably connect the suspension link 210. The second rotating member 223 is connected to the first linear motion member 222, and is connected to a transmission set 2222 (described in detail below) of the first linear motion member 222, so that the first linear motion member 222 can drive the second rotating member 223 to move, and the rotation axis of the second rotating member 223 is perpendicular to the first linear motion member 222. The second linear motion assembly 224 is connected to the second rotation assembly 223 and then is disposed perpendicular to the first linear motion assembly 222.
After the first rotating assembly 221 is connected to the suspension link 210, the first rotating assembly 221 can rotate relative to the suspension link 210, so that the first rotating assembly 221 can drive the first linear motion assembly 222, the second rotating assembly 223 and the second linear motion assembly 224 to rotate when rotating. The first linear motion assembly 222 outputs linear motion to drive the second rotary assembly 223 to move, and when the second rotary assembly 223 rotates, the second linear motion assembly 224 can be driven to rotate, and the second linear motion assembly 224 can output lifting motion (linear motion) to drive the operating device 20 to lift.
By the cooperation of the first rotating assembly 221, the first linear motion assembly 222, the second rotating assembly 223, and the second linear motion assembly 224, the operation device 20 at the tail end can be linearly moved, lifted, and rotated, and the positioning of the operation device 20 can be realized. That is, the positioning arm 220 can reach the distal end of the manipulator 20 to the target position in the operation space through the degrees of freedom of the four joints.
Referring to fig. 1, 4 to 6, in an embodiment, the first rotating assembly 221 includes a first output member 2211, a first mounting housing 2212, and a rotating electric machine 2213, a first brake 2214 and a first encoder 2215 which are disposed on the first mounting housing 2212, the first mounting housing 2212 is mounted on the first linear motion assembly 222, the first brake 2214 is disposed at an end portion of the rotating electric machine 2213, the first encoder 2215 is electrically connected to the rotating electric machine 2213, an output end of the rotating electric machine 2213 is mounted with the first output member 2211, and the first output member 2211 is connected to the suspension link 210. The first rotary assembly 221 is used to implement a direct drive transmission.
The first installation housing 2212 is a housing of the first rotating assembly 221, and each part of the first rotating assembly 221 is borne by the first installation housing 2212, so that the installation of the first rotating assembly 221 is facilitated, and each part of the first rotating assembly 221 is protected from damage. When the first rotating assembly 221 is mounted to the first linear motion assembly 222, the first mounting housing 2212 is connected to a second mounting housing 2221 (to be mentioned later) of the first linear motion assembly 222.
The rotary electric machine 2213 is a rotary power source of the first rotary assembly 221, and the rotary electric machine 2213 is mounted in the first mounting housing 2212. The output end of the rotary electric machine 2213 is connected to the first output member 2211, and the first output member 2211 protrudes out of the first mounting housing 2212. The first rotation assembly 221 is mounted to the first linear motion assembly 222, and the first output member 2211 is connected to the suspension link 210 while rotating the mounting position of the suspension link 210. Thus, when the rotary motor 2213 outputs a rotary motion, the rotary motor 2213 drives the first linear motion assembly 222 to move relative to the suspension link 210 through the first output member 2211.
The first brake 2214 is a brake piece of the first rotating assembly 221, and the first brake 2214 is used for contracting brake of the rotating motor 2213, so that the rotating motor 2213 can be locked when stopping rotating, the rotating motor 2213 is prevented from moving under the action of slight external force, and the position accuracy of the first rotating assembly 221 and the first linear motion assembly 222 after stopping moving is ensured. The first brake 2214 is located in the first mounting housing 2212 and at an end of the rotary electric machine 2213 remote from the first output 2211.
The first encoder 2215 is disposed in the first mounting housing 2212 and is electrically connected to the rotary electric machine 2213 for detecting a rotation angle of the rotary electric machine 2213 outputting a rotary motion. The positioning device 10 of the present utility model has an active positioning function and a drag positioning function, both of which can realize automatic positioning of the positioning mechanical arm 220. In the active positioning, the first rotating component 221 receives the set rotation angle fed back by the external control device 60, and the first encoder 2215 detects the rotation angle of the rotating motor 2213, if the rotation angle is the same as the set rotation angle, the rotation is indicated to be in place, and if the rotation angle is different, the rotation is indicated to be not in place or excessive. When dragging and positioning, the first encoder 2215 records the position difference values of the rotating motor 2213 at different moments, and the stress of the first rotating assembly 221 is indirectly calculated through the product of the position difference values and the rigidity. Thus, the control device 60 calculates the difference value of the first rotating assembly 221 according to the force, and drives the rotating motor 2213 to output a corresponding rotating angle.
Optionally, the first rotary assembly 221 comprises a first drive in transmission connection with the control device 60, the first drive being further electrically connected with the rotary electric machine 2213 and the brake. The first driver can control the rotary electric machine 2213 to output a corresponding rotary motion according to a control instruction issued by the control device 60, and can control the first brake 2214 to lock the rotary electric machine 2213 according to a stop instruction issued by the control device 60.
Alternatively, the rotary electric machine 2213 includes a motor stator 22131 and a motor rotor 22312, the motor stator 22131 is mounted on the first mounting housing 2212, and the motor rotor 22312 is rotatably mounted on the motor stator 22131 and connected to the first output member 2211. After the motor stator 22131 is energized, the motor rotor 22312 can be driven to rotate the first output member 2211. Optionally, the motor stator 22131 is fixed to the inner wall of the first mounting housing 2212 by gluing; of course, it may be fixed to the inner wall of the first mounting case 2212 by other means. Optionally, the first output member 2211 is fixed to the motor rotor 22312 by a clamping ring (not shown). Alternatively, the first output member 2211 and the motor rotor 22312 may be fixed by a bolt or the like. Alternatively, the first output member 2211 is a member capable of transmitting the rotational motion of the motor rotor 22312, such as an output flange or an output shaft, and can be connected to the suspension link 210.
Optionally, the first rotating assembly 221 further includes a first support bearing 2216, the first support bearing 2216 being disposed between the motor rotor 22312 and the first mounting housing 2212 for rotatably supporting the motor rotor 22312. The outer ring of the first support bearing 2216 abuts against the inner wall of the first mounting housing 2212, the inner ring of the first support bearing 2216 is sleeved with the outer wall of the motor rotor 22312, and the inner ring and the outer ring of the first support bearing 2216 are fixed through a pressing ring (not shown).
Optionally, the first rotating assembly 221 further comprises a fixing flange 2217, the fixing flange 2217 is mounted on top of the first mounting housing 2212, and the fixing flange 2217 is used for supporting the first brake 2214. Specifically, the first brake 2214 includes a friction plate, a spring plate, a brake stator 22141, and a brake rotor 22142, where the friction plate is fixed on the elastic plate, and the spring plate is fixedly connected to the brake rotor 22142. The brake stator 22141 is mounted to the fixed flange 2217. The friction plates are capable of axial movement relative to the brake rotor 22142. After the brake is energized, the friction plate is adsorbed so that the friction plate abuts against the brake rotor 22142, and rotation of the brake rotor 22142 is limited. Brake rotor 22142 is coupled to motor rotor 22312 and, in turn, limits the rotation of motor rotor 22312. The brake releases the friction plate, and the friction plate is far away from the brake rotor 22142 under the action of the spring piece, at this time, the brake rotor 22142 can rotate synchronously with the motor rotor 22312. The on-off of the brake is controlled by the control device 60.
Optionally, the first rotary assembly 221 further comprises an encoder support 2218 and a second support bearing 2219, the encoder support 2218 being mounted to the fixed flange 2217 by the second support bearing 2219, the end of the encoder support 2218 being connected to the first output 2211. The code wheel of the first encoder 2215 is fixed to the encoder support 2218, and the readhead of the first encoder 2215 is fixed to the fixed flange 2217 coaxially with the code wheel. Thus, when the motor rotor 22312 drives the first output member 2211 to rotate, the first output member 2211 drives the code wheel of the first encoder 2215 to rotate, and the reading head of the first encoder 2215 can read the position of the code wheel on the fixed flange 2217. Optionally, the first encoder 2215 is a high resolution encoder.
As shown in fig. 6, the first output member 2211 extends to the fixed flange 2217, and is indirectly connected to the fixed flange 2217 through the second support bearing 2219 and the first encoder 2215, so as to rotatably support the first output member 2211, and ensure that the first output member 2211 can rotate stably. Alternatively, the rotary motor 2213, the first brake 2214, and the first encoder 2215 need to be coaxially disposed to ensure the entire normal rotation of the respective components.
Optionally, the first rotating assembly 221 further includes a cable support 2210, where the cable support 2210 is located above the first encoder 2215, and the first output member 2211 is a hollow structure. The cable from the previous structure passes through the inner bore of the first output member 2211 (shown in phantom in fig. 6), is constrained by the cable holder 2210, and passes through the through-hole in the first mounting housing 2212 to the next structure. The cable passes through each joint of the first positioning structure 100 and each positioning mechanical arm 220 of the second positioning structure 200, so as to realize the power on and communication of the positioning mechanical arm 220, and then is connected to the operation device 20, so as to power on and communication for the operation device 20, as shown in fig. 13.
Alternatively, the first support bearing 2216 and the second support bearing 2219 are crossed roller bearings, but other types of circumferential sides are also possible. In the active positioning, the first rotating component 221 needs to drive the positioning mechanical arm 220 to drive the operating device 20 to move, and the load has the characteristics of large driving inertia and large bearing bending moment. Therefore, the first rotating assembly 221 adopts the compact arrangement of the first brake 2214 band-type brake, the rotating motor 2213, the crossed roller bearing and the high-resolution encoder, and the joint where the first rotating assembly 221 is positioned has high-precision movement and position maintenance while the structure is miniaturized.
Referring to fig. 1, 4, 7 and 8, in one embodiment, the first linear motion assembly 222 is a low reduction ratio drive structure, and the drive structure in the first linear motion assembly 222 is a chain drive structure, a belt drive structure or a rope drive structure. The first linear motion assembly 222 with low reduction ratio can realize back driving motion, has high transmission rigidity, and performs position feedback with high precision, thereby realizing accurate position control. The structure is specifically introduced as follows:
referring to fig. 1, 4, 7 and 8, in an embodiment, the first linear motion assembly 222 includes a second mounting housing 2221, and a transmission group 2222, a driving group 2223 and a first coding group disposed in the second mounting housing 2221, where the driving group 2223 is connected to the transmission group 2222 and drives the transmission group 2222 to move, and the transmission group 2222 is connected to the second rotating assembly 223 and drives the second rotating assembly 223 to move.
One end of the second mounting housing 2221 is mounted to the first mounting housing 2212, and the transmission group 2222, the driving group 2223, and the first encoding group are mounted in the first mounting housing 2212. The first rotation assembly 221 drives the second rectilinear motion assembly 224 to rotate through the connection of the first and second mounting housings 2212 and 2221. The driving group 2223 is connected to the driving group 2222, and the driving group 2223 can drive the driving group 2222 to move, so that the driving group 2222 outputs linear movement. The drive train 2222 is coupled to a third mounting housing 2232 of the second rotating assembly 223. When the driving set 2223 drives the driving set 2222 to move, the driving set 2222 can drive the third installation housing 2232 to do linear motion, so as to drive the third rotating assembly 223 to move. The first encoding set is used to detect the position of movement of the third mounting housing 2232 and the movement of the output of the drive set 2223.
Optionally, the driving set 2223 includes a driving motor 22231, where the driving motor 22231 is connected to the driving set 2222 to drive the driving set 2222 to make a linear motion. Of course, the driving set 2223 further includes a switching set, and the switching set connects the output end of the driving motor 22231 and the transmission set 2222. Optionally, the transfer set is a timing belt 22234 structure, a gear structure, a sprocket structure, or the like. Illustratively, the adapter group is a belt transmission structure, which includes a driving wheel 22232, a driven wheel 22233, and a timing belt 22234, the driving wheel 22232 is mounted at an output end of the driving motor 22231, the driven wheel 22233 is connected with an input end of the transmission group 2222, and the timing belt 22234 connects the driving wheel 22232 with the driven wheel 22233. The drive motor 22231 drives the transmission group 2222 to move through the cooperation of the drive wheel 22232, the timing belt 22234 and the driven wheel 22233. Optionally, the diameter of drive wheel 22232 is smaller than the diameter of driven wheel 22233. Optionally, the driving set 2223 further includes a tensioning component 22235, where the tensioning component 22235 is configured to tension the timing belt 22234, and the tensioning of the timing belt 22234 is achieved by adjusting the position of the screws.
Referring to fig. 1, 4, 7 and 8, optionally, the first linear motion assembly 222 includes a guide group 2225, where the guide group 2225 is disposed on an inner wall of the second installation housing 2221 and is connected to the transmission group 2222, so as to guide the motion of the transmission group 2222, ensure that the linear motion track output by the transmission group 2222 is accurate, and further ensure that the second rotation assembly 223 moves accurately. Optionally, the guide set 2225 includes a guide rail 22251 and a slider 22252, the guide rail 22251 is disposed on an inner wall of the first mounting housing 2212, and the slider 22252 is slidably disposed on the guide rail 22251. The slider 22252 connects the drive train 2222 and the third mounting housing 2232. Optionally, the number of guide rails 22251 is two, and two sliders 22252 are slidably disposed on each guide rail 22251.
Referring to fig. 1, 4, 7 and 8, optionally, the encoding set includes a second encoder 2224 and a third encoder, the third encoder is integrated in the driving set 2223, and the second encoder 2224 is disposed in the second rotating assembly 223. The third encoder is integrated in the driving motor 22231, which detects the encoder value of the driving motor 22231 end, the grating ruler of the second encoder 2224 is attached to the first mounting housing 2212, and the reading head of the second encoder 2224 is fixed to the third mounting housing 2232 of the second rotating assembly 223. When the driving motor 22231 drives the driving set 2222 to drive the slider 22252 to move along the guiding sliding rail 22251, the second encoder 2224 can detect the position of the reading head through the grid ruler, and then the second encoder 2224 can feed back the absolute position of the second rotating assembly 223 relative to the second mounting housing 2221.
Referring to fig. 1, 4, 7 and 8, in an embodiment, the second rotating assembly 223 further includes a dust-proof winder 2226, and the dust-proof winder 2226 is disposed in the second mounting housing 2221 and can abut against an outer wall of the third mounting housing 2232 to seal the second mounting housing 2221 and the third mounting housing 2232. The dustproof winder 2226 can stretch or wind, and the end connection third installation casing 2232 of dustproof winder 2226, when drive group 2222 drove the second rotating assembly 223 and remove, third installation casing 2232 can drive dustproof winder 2226 part coiling part and stretch, and in the in-process that the second rotating assembly 223 removed, the clearance between second rotating assembly 223 and the second installation casing 2221 is laminated to dustproof winder 2226's dustproof area activity.
In an embodiment, the driving set 2222 is a chain driving structure, a belt driving structure, a rope driving structure, or the like capable of outputting a linear motion. The traditional linear motion structure adopts ball screw transmission, has the advantages of good transmission rigidity, high precision and the like, but is difficult to reversely drive. The drive train 2222 in the present utility model is a chain drive, belt drive, or rope drive, among others.
In this embodiment, the transmission set 2222 is a rope transmission structure, which has a low reduction ratio, and can implement a counter-driving motion. Meanwhile, the transmission group 2222 has higher transmission rigidity, and the second encoder 2224 with high precision is used for position feedback, so that accurate position control is realized. The transmission group 2222 of the rope transmission is multi-beam steel wire rope transmission, so that the high rigidity of transmission and the position accuracy of operation are maintained while the flexible counter-driving is realized. The structure of the drive train 2222 for a rope drive is as follows:
referring to fig. 1, 4, 7 and 8, in an embodiment, the transmission set 2222 includes a plurality of tensioning wheels 22221, a wire harness 22222 and a pulley block, the tensioning wheels 22221 and the pulley block are disposed at two ends of the second installation housing 2221 in the length direction, the wire harness 22222 is sleeved with an output end of the driving set 2223, the tensioning wheels 22221 and the pulley block, and the wire harness 22222 is connected with the second rotating assembly 223.
The driven pulley 22233 of the pulley block and driving group 2223 is disposed at two ends of the second mounting housing 2221, the wire harness 22222 bypasses the driven pulley 22233 and the pulley block, and the plurality of tensioning wheels 22221 and the driving wheels 22232 are disposed on the same side for tensioning the wire harness 22222. The transmission group 2222 further includes two movable pulleys 22223, the wire harness 22222 is disposed between the driven pulley 22233 and the pulley block, the wire harness 22222 bypasses the movable pulleys 22223, at this time, the two movable pulleys 22223 bear the wire harness 22222 and are disposed oppositely, so as to form two output ends of the transmission group 2222, and the two movable pulleys 22223 are connected with the two sliding blocks 22252 respectively. When the driving motor 22231 drives the wire harness 22222 to rotate through the driven wheel 22233, the wire harness 22222 can drive the two movable pulleys 22223 to move, and then the two movable pulleys 22223 can drive the corresponding sliding blocks 22252 to move, so that the sliding blocks 22252 drive the second rotating assembly 223 to move.
Of course, in other embodiments of the present utility model, the pulley block and the driven pulley 22233 are disposed at both ends of the second mounting housing 2221, and the wire harness 22222 bypasses the driven pulley 22233 and the pulley block, and the plurality of tensioning pulleys 22221 are disposed on the same side as the driving pulley 22232 for tensioning the wire harness 22222. The slider 22252 is directly connected to the harness 22222. Thus, when the driving motor 22231 drives the wire harness 22222 to rotate through the driven wheel 22233, the wire harness 22222 drives the two sliders 22252 to move, so that the sliders 22252 drive the second rotating assembly 223 to move.
Optionally, the driving set 2223 further includes a motor connection board 22236, where the driving motor 22231, the driving wheel 22232 and the driven wheel 22233 are separately disposed on two sides of the motor connection board 22236. The tensioning wheel 22221 is provided on the same side as the driven wheel 22233 for tensioning the wire harness 22222. Optionally, the transmission set 2222 further includes a reel, which is coaxially disposed with the driven wheel 22233, and the reel is configured to wind the wire harness 22222, so that when the driven wheel 22233 rotates, the coaxial reel can be driven to rotate synchronously, and thus the wire harness 22222 is driven to rotate. Optionally, the driving set 2223 further includes a support shaft and a third brake, where the third brake is coaxially disposed with the reel and the driven wheel 22233, the reel is disposed on the support shaft, a rotor of the third brake is installed at one end of the support shaft, the driven wheel 22233 is installed at the other end of the support shaft, and the support shaft is coupled with the motor connecting plate 22236 and a fixing plate of the third brake through bearings. Optionally, the driving set 2223 further includes a second driver, which is electrically connected to the driving motor 22231 and the external control device 60.
The tensioning wheel 22221 is used for tensioning the wire harness 22222, and guaranteeing the transmission effect of the transmission group 2222. The plurality of tension pulleys 22221 can wind the wire harness 22222, respectively. Illustratively, the number of the tensioning wheels 22221 is five, and the five tensioning wheels 22221 are provided with motor connecting plates 22236 to realize tensioning of the wire harness 22222. Tightening of the screw of the wire tensioner 22221 by the torque wrench can adjust the tension of the wire harness 22222. Optionally, the transmission set 2222 further includes a first idler 22226, and a second idler 22227, where the first idler 22226 is disposed on the motor connection board 22236, the second idler 22227 is disposed corresponding to the pulley block, and the first idler 22226 and the second idler 22227 can limit the position of the wire harness 22222. Optionally, the pulley block includes a fixed pulley 22224 and a fixed pulley 22225, the fixed pulley 22224 and the fixed pulley 22225 are disposed on an inner wall of the second mounting housing 2221, and one of the movable pulleys 22223 is disposed between the fixed pulley 22224 and the fixed pulley 22225.
Optionally, the transmission set 2222 further includes an adapter plate 22228, the adapter plate 22228 connects the slider 22252 with the wire harness 22222 or the pulley block, and the adapter plate 22228 connects the second rotating assembly 223. The adapter plate 22228 is connected to the movable pulley 22223 and the sliding block 22252, and is connected to the third installation housing 2232, so that the wire harness 22222 can drive the second rotating assembly 223 to move through the movable pulley 22223, the sliding block 22252 and the adapter plate 22228 when moving. Optionally, the number of the wire harnesses 22222 is multiple, and the multiple wire harnesses 22222 are arranged in parallel, so that the rigidity of the transmission set 2222 can be enhanced, and the performance of the transmission set 2222 is ensured.
One end of a wire harness 22222 of the rope-driven transmission group 2222 is fixed on a fixed wheel 22225, the middle of the wire harness passes through one movable pulley 22223, a fixed pulley 22224 and a second idler wheel 22227, then passes through the other movable pulley 22223 again by passing through a winding wheel, and is respectively fixed on five tensioning wheels 22221 through the first idler wheel 22226. The driving motor 22231 may rotate with the driving wheel 22232, the driving wheel 22232 drives the driven wheel 22233 to rotate through the synchronous belt 2223451, and simultaneously, the reel rotates to drive the movable pulley 22223 on the wire harness 22222 to move in a specified direction, and the movable pulley 22223 is connected to the second rotating assembly 223 to move through the adapter plate 22228 and the sliding block 22252.
Referring to fig. 1, 4, 9 and 10, in one embodiment, the second rotation assembly 223 is configured as an articulation drive module. That is, the driving module 2233 used by the second rotating member 223 is a joint driving module of the general-purpose robot, which improves joint response capability and reduces cost. Alternatively, the driving module 2233 can be used for the first rotating member 120 and the second rotating member 140.
Referring to fig. 1, 4, 9 and 10, in an embodiment, the second rotating assembly 223 includes a second output member 2231, a third mounting housing 2232, and a driving module 2233 and a speed reducer 2234 disposed in the third mounting housing 2232, the speed reducer 2234 is mounted at an output end of the driving module 2233, the second output member 2231 is mounted at an output end of the speed reducer 2234, the second output member 2231 is connected to the second linear motion assembly 224, and at least two fourth encoders are integrated in the driving module 2233.
The third installation housing 2232 is provided with a driving module 2233, a speed reducer 2234 is disposed at an end of the driving module 2233, and an output end of the speed reducer 2234 is provided with a second output member 2231. The third installation housing 2232 is connected to the sliding block 22252 through the adapter plate 22228 to the movable pulley 22223 such that the third installation housing 2232 moves with the movement of the wire. The second output member 2231 is coupled to the fourth mounting housing 2241 of the second linear motion assembly 224. The driving module 2233 is decelerated by the decelerator 2234 and drives the second output member 2231 to rotate, and the second output member 2231 can drive the fourth installation housing 2232 to rotate.
Optionally, the second output member 2231 is an output flange or output shaft, or the like. Alternatively, the second mounting housing 2221 is provided in a cylindrical shape, and a longitudinal section of the second mounting housing 2221 is provided in a square shape. Optionally, the second rotating assembly 223 further includes a third support bearing that connects the third mounting housing 2232 with the reducer 2234. Optionally, the reducer 2234 is a harmonic reducer 2234 or other type of reducer 2234. Optionally, the third support bearing is a crossed roller bearing. The driving module 2233 is provided with a high integration of the fourth brake, the torque motor and the two fourth encoders. The driving module 2233 is hollow, so that cables can be conveniently arranged. Optionally, a third driver 222237 is integrated into the drive module 2233, and the third driver 222237 is electrically connected to the torque motor and the external control device 60.
The two fourth encoders can provide accurate angle feedback and deceleration feedback, and have 90 DEG/s 2 Is a part of the acceleration response capability of the vehicle. The encoded value of the fourth encoder at the output end of the driving module 2233 is multiplied by the reduction ratio of the speed reducer 2234, and is different from the value of the fourth encoder at the motor end, and the difference is used for detecting the stress of the second rotating assembly 223.
Referring to fig. 1, 4, 11 and 12, in one embodiment, the second linear motion assembly 224 is a gravity balance structure to balance most of the weight of the load, where the gravity balance structure primarily compensates for the weight of the load and provides active motion.
Referring to fig. 1, 4, 11 and 12, in one embodiment, the second linear motion assembly 224 includes a fourth mounting housing 2241, a gravity balance set 2242, a lifting set 2243, a lifting link 2244, a second brake 2245, a fifth encoder 2246 and a sixth encoder, the gravity balance set 2242 is disposed in the fourth mounting housing 2241, the bottom of the gravity balance set 2242 is connected with the lifting link 2244, the lifting set 2243 is disposed in the fourth mounting housing 2241, the second brake 2245 is disposed in the gravity balance set 2242 and the lifting set 2243, the lifting set 2243 is connected with the lifting link 2244 and drives the lifting link 2244 to lift, the end portion of the lifting link 2244 is connected with the operating device 20, the fifth encoder 2246 is connected with the second brake 2245, and the sixth encoder is integrated in the lifting set 2243.
The fourth mounting housing 2241 is a housing of the linear motion assembly, and the fourth mounting housing 2241 is coupled to the second output member 2231 of the second rotation assembly 223. The fourth mounting housing 2241 can rotate with the second output member 2231 to rotate the second linear motion assembly 224. Lifting link 2244 is movably mounted at the bottom of the fourth housing and is capable of extending or retracting into the fourth housing. Lifting of the lifting link 2244 is achieved through a lifting group 2243, the lifting group 2243 is provided in the fourth installation housing 2241, and the lifting group 2243 is connected with the lifting link 2244, and the lifting link 2244 can be driven to lift when the lifting group 2243 moves.
The gravity balance set 2242 is used for balancing the gravity of the lifting rod, so that when the lifting set 2243 drives the lifting connecting rod 2244 to do lifting motion, the loss of the lifting set 2243 can be reduced, and the output force of the lifting set 2243 can be reduced. A second brake 2245 is provided on top of the lifting link 2244 and is connected to the base of the gravity balance set 2242, the second brake 2245 being capable of stopping the movement of the gravity balance set 2242 and fixing the position of the lifting link 2244. The sixth encoder is integrated in the lifting set 2243, and is used for detecting the encoded value of the motor output end of the lifting set 2243. The fifth encoder 2246 is disposed coaxially with the second brake 2245, and is configured to detect a position difference of the lifting link 2244 at different moments to calculate the force applied by the second linear motion assembly 224.
Referring to fig. 1, 4, 11 and 12, in one embodiment, the gravity balance set 2242 includes a constant force elastic member 22421, a winding member 22422 and a mounting plate 22423, the lifting link 2244 is connected below the mounting plate 22423, the winding member 22422 and the second brake 2245 are mounted above the mounting plate 22423, one end of the constant force elastic member 22421 is fixed to the top of the fourth mounting housing 2241, and the other end thereof is windable on the winding member 22422.
The top of the constant force elastic member 22421 is mounted to the top of the fourth mounting housing 2241, the winding of the constant force elastic member 22421 is mounted to the mounting plate 22423, and the bottom of the mounting plate 22423 is mounted with the lifting link 2244. The elastic force of the constant force elastic member 22421 can offset a portion of the gravity. When an external force is applied, the lifting link 2244 may be lifted and lowered in the direction of the external force by the automatic rotation of the constant force elastic member 22421. And, the weight of lifting link 2244 can cause constant force spring 22421 to stretch. The constant force elastic member 22421 is wound around the winding member 22422, and the rotor of the second brake 2245 is disposed coaxially with the fifth encoder 2246, and is connected to the constant force elastic member 22421. When the second brake 2245 brakes, the rotor of the second brake 2245 cannot rotate, so that the constant force elastic member 22421 cannot automatically rotate and release, and thus cannot drive the lifting link 2244 to rotate. The second brake 2245 is used to brake the constant force spring 22421.
Optionally, the gravity balance set 2242 further includes a fixing block 22424, the fixing block 22424 is disposed on top of the fourth mounting housing 2241, and the fixing block 22424 is used to connect the constant force elastic member 22421. Alternatively, the constant force resilient member 22421 is a constant force wrap spring or other resilient member capable of being wrapped. Since the constant force spring 22421 balances most of the weight of the load, the lifting group 2243 herein primarily compensates for the weight of the load and provides active motion.
Optionally, the second linear motion assembly 224 further includes a guide 2247, and a chute is provided on an outer wall of the lifting link 2244, and cooperates with the guide 2247 to guide the lifting motion of the lifting link 2244. Optionally, the number of the guide rails 2247 is two, and the two guide rails 2247 are disposed corresponding to the sliding grooves. Of course, in the present embodiment, a slider may be provided on the guide 2247, and the slider may be fixed to the outer wall of the lifting link 2244.
Referring to fig. 1, 4, 11 and 12, in one embodiment, the lifting set 2243 includes a lifting motor 22431, a motor fixing plate 22432, a belt set 22433 and a mounting set 22434, the motor fixing plate 22432 is mounted to the top of the fourth mounting housing 2241, the lifting motor 22431 is mounted to the motor fixing plate 22432, the belt set 22433 is mounted to the fourth mounting housing 2241, and an output end of the lifting motor 22431 is connected to one end of the belt set 22433, and the other end of the belt set 22433 extends to the bottom of the fourth mounting housing 2241. Mounting block 22434 is mounted to belt set 22433 and is connected to lifting link 2244. In this way, when lifting motor 22431 drives belt set 22433 to rotate, belt set 22433 drives lifting link 2244 to lift via mounting set 22434. The sixth encoder is integrated at the output of the lift motor 22431. Optionally, lifting group 2243 includes a fourth drive that is in transmission connection with external control device 60 and is electrically connected to lifting motor 22431.
Alternatively, the belt set 22433 is a belt drive, chain drive or rope drive. The driving belt group 22433 is a rope driving structure and comprises a first belt pulley 224331, a second belt pulley 224333 and a driving rope 224332, wherein the first belt pulley 224331 is installed at the output end of the motor, the second belt pulley 224333 is rotatably installed at the bottom of the fourth installation shell 2241, and the driving rope 224332 is in driving connection with the first belt pulley 224331 and the second belt pulley 224333. The mounting block 22434 is mounted to the drive line 224332.
Optionally, the mounting set 22434 includes a fifth brake 224346, a carrier plate 224341, a tension block 224342, a guide wheel 224343, a roping wheel 224344, and an adapter block 224345. The adapter 224345 is disposed on the carrier plate 224341 for fixing the driving rope 224332 to the carrier plate 224341. Optionally, adapter 224345 secures both ends of both drive lines 224332 to carrier plate 224341. Tensioning block 224342 is disposed on carrier plate 224341 and is movably disposed relative to adapter block 224345 for tensioning drive line 224332. The guiding wheel 224343 is rotatably disposed on the bearing plate 224341 and is used for guiding the movement of the driving rope 224332. The carrier plate 224341 is used to mount the stator of the fifth brake 224346, and the rope pulley 224344 is disposed coaxially with the rotor of the fifth brake 224346. The fifth brake 224346 is for braking the elevating motor 22431.
One end of the driving rope 224332 is clamped on the tensioning block 224342, passes around the first pulley 224331, passes through the guide wheel 224343, passes around the rope pulley 224344, passes through the guide wheel 224343, passes around the second pulley 224333, and finally is clamped on the adapting block 224345. When the lifting motor 22431 drives the first pulley 224331 to rotate, the first pulley 224331 drives the driving rope 224332 to rotate, and drives the carrying plate 224341 to move, so as to drive the mounting plate 22423 and the lifting link 2244 to move up and down through the carrying plate 224341.
Referring to fig. 1 and 13, the positioning mechanical arm 220 of the present utility model adopts a serial power supply and communication link, and all control instructions are responded by controlling corresponding components through the drivers of the joints. Wherein the first rotating component 221 implements position feedback through a single absolute encoder, i.e., first encoder 2215; the second linear motion assembly 224 provides speed feedback via a third encoder integrated into the drive motor 22231, and the second encoder 2224 provides position feedback; both fourth encoders in the second rotating assembly 223, i.e., the output encoders, are absolute value encoders, capable of providing speed and position feedback. A sixth encoder integrated in lift motor 22431 in second linear motion assembly 224 provides speed feedback and fifth encoder 2246 provides position feedback; the second brake 2245 and the fifth brake 224346 are configured in redundancy.
In the positioning device 10 of the present utility model, the positioning of the operating device 20 is achieved by the plurality of positioning mechanical arms 220 of the first positioning structure 100 and the second positioning structure 200. The driving positioning and the passive flexible dragging positioning of the positioning mechanical arm 220 can be realized through the driver and the encoder of each joint in the positioning mechanical arm 220, so that the response is fast and the movement is stable. Moreover, the positioning device 10 has compact structures, low backlash and high positioning accuracy, and has rigidity.
The positioning device 10 of the present utility model has two positioning methods, one is an active positioning method and the other is a dragging positioning method, and both positioning methods can implement positioning of the operating device 20. Two positioning methods are described below.
As shown in fig. 14 (a), the present utility model further provides a positioning method, which is applied to the positioning device 10 of any embodiment, and the positioning method includes the following steps:
acquiring a target position of the operation device 20;
performing inverse kinematics solution on the plurality of positioning mechanical arms 220 of the second positioning structure 200, and obtaining control instructions of the plurality of positioning mechanical arms 220;
performing kinematic positive solution on the plurality of positioning mechanical arms 220, and checking interference conditions of the plurality of positioning mechanical arms 220;
If no interference exists, issuing control instructions to the plurality of positioning mechanical arms 220;
the plurality of positioning mechanical arms 220 move according to the corresponding control instructions;
the positioning mechanical arm 220 drives the operation device 20 to move to the target position, and the positioning operation is completed.
The above-mentioned positioning method is an active positioning method. The active positioning function can realize rapid expansion and contraction; in addition, the automatic positioning can be realized by matching with visual positioning; the optimal processing can be carried out on the positioning gesture, so that the positioning efficiency in operation is improved. The control mode is as follows: firstly, the control equipment 60 acquires the pose to be reached of the target (namely, telecentric point) of the operation device 20, then the inverse kinematics solution of the positioning mechanical arm 220 is carried out, constraint optimization is carried out on the conditions of the positioning pose, the distance between adjacent arms and the like in the inverse solution process, and an optimal set of joint position values is found; then, structural interference and motion control instruction inspection are carried out on the positioning mechanical arm 220 in a simulation environment, after no error is confirmed, the structural interference and motion control instruction inspection are issued to drivers of all joints, and the drivers control all joints of the positioning mechanical arm 220 to act; finally, the control device 60 performs positioning completion confirmation. The whole positioning process has the advantages of rapidness, stability, safety, no need of manual secondary adjustment and the like.
As shown in fig. 14 (b), the present utility model further provides a positioning method applied to the positioning device 10 of any one of the above embodiments, where the positioning method includes the following steps:
pressing an enable button of the positioning mechanical arm 220;
unlocking each positioning mechanical arm 220, and enabling each positioning mechanical arm 220 to enter a following mode;
periodically acquiring the position difference value of each joint in the positioning mechanical arm 220;
comparing the difference of each joint position of the positioning mechanical arm 220 with a joint threshold;
if the position difference value is smaller than or equal to the joint threshold value, continuously acquiring a feedback difference value;
if the position difference is greater than the joint threshold, generating a motion instruction to control the joint motion corresponding to the positioning mechanical arm 220;
until the positioning operation is completed.
The above-mentioned positioning method performs passive positioning. An enabling key is arranged on a certain joint of the positioning mechanical arm 220, unlocking of the positioning mechanical arm 220 is achieved through the enabling key, and a user can manually drag the position of the positioning mechanical arm 220. Specifically, the drag positioning function is enabled by pressing an enable switch on the positioning robotic arm 220. When dragging and positioning, the first encoder 2215 of the first rotating component 221 adopts a high-resolution encoder, and indirectly detects the stress of the joint by recording the position difference values at different moments. The second linear motion assembly 224 indirectly detects the force magnitude of the joint through the second encoder 2224. The output encoder value is multiplied by the reduction ratio of the speed reducer in the second rotating assembly 223, and is differenced from the motor encoder value, and the difference is used for detecting the stress of the joint. The fourth linear motion assembly detects the magnitude of the force by the fifth encoder 2246 by different time differences. When the position difference value is larger than a preset threshold value, the joint is dragged by external force, and the position difference between the two is eliminated through the action of the motor end, so that the dragging assistance is realized, and the dragging and positioning of the positioning mechanical arm are realized.
The specific drag positioning control procedure is as shown in fig. 14 (b): the joint threshold Pj is a displacement value preset according to the corresponding joint. Whether the joint responds to movement is controlled by comparing the position difference deltap of the joints with the magnitude of the joint threshold Pj at each time period T. When the delta p of the j joint is judged to be larger than Pj in the next period, the j joint starts to move in a stepping mode, the direction is determined by the positive value and the negative value of the delta p, and the stepping quantity is delta p; judging the sizes of delta p and Pj again after the movement is completed, and entering the next cycle; if Δp < Pj, the position difference Δp of each joint is repeatedly compared with the joint threshold Pj.
The speed jacobian matrix of the robot is: V=J (q) dθ/dt (1)
The method can obtain: dX=J (q) dθ (2)
Here dx= [ px, py, pz,0, Φz ], dθ= [ dq1, dp2, dq3, dp4]; sequentially taking px, py, pz and phi z as minimum dragging amounts, and respectively solving dq1, dp2, dq3 and dp4 by adopting a formula (2), wherein the values are joint threshold values Pj and theoretical threshold values; in order to improve the dragging precision and flexibility, the joint threshold Pj may also be obtained by a calibration method, that is, applying a minimum dragging displacement/angle to the target position (x, y, z) of the operation device 20 and the z-axis direction, reading the position difference value of each joint encoder, and selecting the maximum value as the joint threshold Pj. Also, given the drag speed of the target position of the operation device 20, the speed of the stepping motion is obtained by the formula (1).
The utility model also provides a surgical robot comprising a trolley base 50, an operating device 20 and the positioning device 10 of any of the above embodiments; the first positioning structure 100 of the positioning device 10 is mounted to the trolley base 50 and the operating device 20 is mounted to the end of the second positioning structure 200 of the positioning device 10, the operating device 20 carrying the operating instrument 40.
The trolley base 50 is supported by four wheels, the first two wheels are booster wheels, the power is provided for the movement of the surgical robot, and the two wheels on the rear side are passive universal wheels, so as to provide a steering function. The bottom of the lifting piece 110 of the first positioning structure 100 is mounted above the trolley base 50, the positioning device 10 is driven to move by the trolley base, the operating device 20 is mounted at the tail end of the positioning device 10, and the operating device 40 is clamped by the operating device 20, so that the operation function of the operation robot is realized.
In the preoperative preparation stage, the operating device 20 is worn with a sterile cover, then the surgical robot is moved to a proper position near the sickbed 300, and then the tail end of the operating device 20 is moved to the position near the stamping card through the adjustment of the positioning device 10, so that the stamping card is in butt joint; finally, the instrument and the endoscope are manually installed on the operation device 20; ready for surgery. The positioning device 10 of the present utility model is simple in control and can be incorporated into a surgical robot as a functional unit.
It should be noted that the above-mentioned positioning device 10 is used in, but not limited to, a surgical robot, and can be applied to other equipment or fields requiring active positioning. Moreover, the structure and implementation of each joint of the positioning robot 220 are not limited to the surgical robot field, and the positioning method of the positioning device 10 can also be used in, but not limited to, the surgical robot field.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (10)

1. A positioning device (10) of a surgical robot, comprising:
a first positioning structure (100);
a second positioning structure (200) comprising a suspension link (210) and a plurality of positioning robotic arms (220);
an operation device (20);
one end of each of the plurality of positioning mechanical arms is rotatably connected with the first positioning structure (100) through a suspension connecting rod (210), and the other end of each of the plurality of positioning mechanical arms is provided with an operating device (20);
and the control equipment (60) is used for controlling the first positioning structure (100) and the second positioning structure (200) to drive the operating device (20) to autonomously move.
2. The positioning device (10) according to claim 1, wherein the positioning robot (220) comprises a plurality of articulations, a plurality of the articulations connecting the suspension link (210) and the operating device (20) in series, the articulations being provided with driving means for driving the articulations to autonomously move the operating device (20).
3. The positioning device (10) of claim 2, wherein the plurality of articulations comprises a first rotational assembly (221) and a second rotational assembly (223), and a first linear motion assembly (222) and a second linear motion assembly (224), the suspension link (210) and the operating device (20) being connected in series via the first rotational assembly (221), the first linear motion assembly (222), the second rotational assembly (223), and the second linear motion assembly (224).
4. The positioning device (10) of claim 3, wherein the first rotating assembly (221) includes a first output member (2211), a first mounting housing (2212), and a rotating electric machine (2213), a first brake (2214), and a first encoder (2215) disposed in the first mounting housing (2212), the first mounting housing (2212) is mounted to the first linear motion assembly (222), the first brake (2214) is disposed at an end portion of the rotating electric machine (2213), the first encoder (2215) is electrically connected to the rotating electric machine (2213), the output end of the rotating electric machine (2213) is mounted to the first output member (2211), and the first output member (2211) is connected to the suspension link (210).
5. A positioning device (10) according to claim 3, wherein the first linear motion assembly (222) is a low reduction ratio transmission, and the transmission in the first linear motion assembly (222) is a chain transmission, a belt transmission or a rope transmission.
6. The positioning device (10) according to claim 5, wherein the first linear motion assembly (222) comprises a second mounting housing (2221), a transmission group (2222) arranged in the second mounting housing (2221), a driving group (2223), the driving group (2223) being connected to the transmission group (2222) and driving the transmission group (2222) to move, the transmission group (2222) being connected to the second rotation assembly (223) and driving the second rotation assembly (223) to move;
When the transmission group (2222) is of a rope transmission structure, the transmission group (2222) realizes transmission through a plurality of wire harnesses (22222) which are arranged in parallel.
7. A positioning device (10) according to claim 3, wherein the second rotating assembly (223) adopts a structure of an articulation driving module, and an output end of the second rotating assembly (223) is connected with the second linear motion assembly (224).
8. A positioning device (10) according to claim 3, wherein the second linear motion assembly (224) is a weight balancing structure.
9. The positioning device (10) of claim 8, wherein the second linear motion assembly (224) includes a fourth mounting housing (2241), a gravity balance set (2242), a lifting set (2243), and a lifting link (2244), the gravity balance set (2242) is disposed in the fourth mounting housing (2241), and a bottom of the gravity balance set (2242) is connected to the lifting link (2244), the lifting set (2243) is disposed in the fourth mounting housing (2241), the lifting set (2243) is connected to the lifting link (2244), and drives the lifting link (2244) to lift, and an end of the lifting link (2244) is connected to the operating device (20).
10. Surgical robot characterized by comprising a trolley base (50), an operating instrument (40) and a positioning device (10) according to any of claims 1 to 9;
a first positioning structure (100) of the positioning device (10) is mounted to the trolley base (50), and an operating device (20) of the positioning device carries the operating device (40).
CN202222303429.0U 2022-08-31 2022-08-31 Surgical robot and positioning device Active CN219089637U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202222303429.0U CN219089637U (en) 2022-08-31 2022-08-31 Surgical robot and positioning device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202222303429.0U CN219089637U (en) 2022-08-31 2022-08-31 Surgical robot and positioning device

Publications (1)

Publication Number Publication Date
CN219089637U true CN219089637U (en) 2023-05-30

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Family Applications (1)

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Country Status (1)

Country Link
CN (1) CN219089637U (en)

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