CN220362578U - Highly flexible operating components and robots - Google Patents

Abstract

The embodiment of the utility model discloses an operation assembly with high flexibility and a robot. The operation assembly comprises a movable platform, a static platform and N brackets which are connected with the movable platform and the static platform in a rotating way, wherein N is more than or equal to 2, the operation assembly comprises N first connecting pieces and N second connecting pieces, each bracket is connected with the movable platform in a rotating way through one first connecting piece and one second connecting piece, each bracket is connected with one second connecting piece in a rotating way and can rotate around a Z axis, each second connecting piece is connected with one corresponding first connecting piece in a rotating way and can rotate around an X axis relatively, and each corresponding first connecting piece is connected with the movable platform in a rotating way and can rotate around a Y axis relatively, and X, Y, Z shafts are perpendicular to each other. The movable platform and the bracket of the operating assembly can rotate freely relative to each other in the space with three degrees of freedom.

Description

Highly flexible operating components and robots

Technical field

Embodiments of the present invention relate to the field of robots, and in particular, to an operating component and a robot with high flexibility.

Background technique

Master-slave teleoperation robot technology is widely used in dangerous space exploration, mass entertainment, industrial production, medical services and other fields. In the teleoperation robot system, the operating component serves as an interactive device between the operator and the robot. It transmits the posture, speed and other information given by the operator to the slave device. It can also transmit the force received by the slave system to the operator. /torque and other environmental information, so that the operator has a sense of operational presence and can effectively control and intervene in the movement of the slave system in a timely manner.

The most widely used robot operator at present is the delta parallel operating component. The delta parallel operating component usually includes a moving platform, a static platform, and three brackets connected between the moving platform and the static platform. It has three translational degrees of freedom in space to achieve position changes and can achieve force feedback.

However, the movable platform of the existing operating assembly cannot flexibly rotate relative to the bracket.

Utility model content

The embodiment of the present invention provides an operating assembly with high flexibility, in which the moving platform and the bracket can flexibly rotate relative to each other.

The embodiment of the present utility model provides an operating component with high flexibility, which is applied to a robot. The operating component includes a moving platform, a static platform, and an N rotatably connected to the moving platform and the static platform. Brackets, where N≥2, the operating assembly includes N first connectors and N second connectors, and each of the racks is connected to the first connector and the second connector through a first connector and a second connector. The moving platform is rotatably connected, wherein each of the brackets is rotatably connected to a second connecting piece and can rotate with each other around the Z-axis, and each of the second connecting pieces is rotatable with a corresponding first connecting piece. are connected and can rotate relative to each other around the X-axis. Each corresponding first connecting piece is rotationally connected with the moving platform and can rotate around each other around the Y-axis, where the X, Y, and Z axes are two perpendicular to each other. Through the rotational connection between the first connecting piece and the moving platform, the rotating connection between the second connecting piece and the bracket, and the rotating connection between the first connecting piece and the second connecting piece, the moving platform and the bracket can be provided with two vertical XYZ spaces. The three degrees of freedom in the coordinate system effectively improve the flexibility of the moving platform and the bracket to rotate relative to each other, and effectively solve the problem in the prior art that the moving platform cannot flexibly rotate relative to the bracket.

In a possible solution, the second connecting piece is L-shaped and includes a first section and a second section that are vertically connected, and the first section is rotationally connected to a corresponding first connecting piece. , the second section is rotationally connected to a corresponding bracket. The L-shaped second connecting piece can further reduce the interference between the moving platform and the bracket and improve the rotation flexibility of the two.

In a possible solution, the first connecting member includes a ring portion with a first through hole and a protruding column protruding from one side of the ring portion, and the ring portion is rotationally connected to the moving platform. , the first section of the second connecting member has a second through hole, and the protruding column is inserted into the second through hole and is rotationally connected with the first section. This first connecting piece has a simple structure and can effectively avoid interference with the rotation process of the moving platform.

In a feasible solution, the moving platform includes a main body and N first connecting columns protruding from the main body, and each first connecting column is inserted into a corresponding first connecting member. The first through hole of the ring part is rotatably connected to the first ring part. The moving platform and the first connecting piece are connected through the first connecting column, which has a simple structure and stable transmission.

In a feasible solution, a bushing assembly is provided between the ring portion of the first connecting member and the corresponding first connecting column, and each first connecting column has a free end thereof. A connecting element is inserted into the recessed first receiving hole and abuts against the bushing assembly. Bushing assemblies reduce friction and increase machine efficiency.

In a feasible solution, a bushing assembly is provided between the protruding column of the first connecting member and the first section of the second connecting member, and each of the protruding columns has a self-contained The free end surface of the second receiving hole is recessed, and a connecting element is inserted into the second receiving hole and abuts against the shaft sleeve assembly. Bushing assemblies reduce friction and increase machine efficiency.

In a feasible solution, the second section of the second connecting member is connected to the corresponding bracket through a connecting shaft, and the connecting shaft includes a top area that is rotationally connected to the second section. section, and a bottom section fixedly connected to the bracket, and the top section is fixedly connected to the bottom section. The second connecting piece and the bracket are connected through a connecting shaft, which has a simple structure and stable transmission.

In a possible solution, the second section of the second connecting member has a third through hole, the top section is inserted into the third through hole, and the second section is connected to the third through hole. A bushing assembly is disposed between the top sections. The top section has a third receiving hole recessed from its free end surface. A connecting element is inserted into the third receiving hole and abuts against the bushing assembly. Bushing assemblies reduce friction and increase machine efficiency.

In a possible solution, the connecting shaft further includes a support section connected between the top section and the bottom section, and the support section abuts the sleeve assembly and the corresponding between the brackets. The support section can improve the stability of the connection between the second connecting piece and the bracket.

An embodiment of the present invention also provides a robot, including the aforementioned operating component. The technical effects that the robot can achieve can be referred to the technical effects of the aforementioned operating components, which will not be described again here.

Based on the above solution, it can be seen that in the present invention, each bracket is rotatably connected to a second connecting piece and can rotate around the Z axis, and each second connecting piece is rotatably connected to a corresponding first connecting piece and can rotate around the X axis. The axes rotate relative to each other, and each corresponding first connecting piece is rotationally connected to the moving platform and can rotate with each other around the Y axis, where the X, Y, and Z axes are perpendicular to each other, so that the moving platform and the bracket can be relative to each other in the space rectangular coordinate system. Free rotation.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description The drawings illustrate some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.

Figure 1 is a schematic diagram of a surgical robot according to Embodiment 1 of the present invention.

FIG. 2 is a schematic three-dimensional structural diagram of the operating component of the surgical robot shown in FIG. 1 from one perspective.

FIG. 3 is a schematic three-dimensional structural diagram of the operating component of the surgical robot shown in FIG. 1 from another perspective.

Figure 4 is a schematic three-dimensional structural diagram of the moving platform and handle of the operating assembly shown in Figure 3.

Figure 5 is an exploded view of the moving platform and handle of the operating assembly shown in Figure 3.

FIG. 6 is a partial enlarged view of the connection between the moving platform and a bracket of the operating assembly shown in FIG. 3 .

FIG. 7 is a cross-sectional view of the connection part between the moving platform and a bracket shown in FIG. 6 .

FIG. 8 is an exploded view of the connection part between the moving platform and a bracket shown in FIG. 6 .

FIG. 9 is a schematic three-dimensional structural view of a bracket of the operating assembly shown in FIG. 3 , in which the first linear motor is connected to the bracket.

FIG. 10 is a schematic three-dimensional structural view of a bracket of the operating assembly shown in FIG. 3 , in which the first linear motor is separated from the bracket.

Figure 11 is another three-dimensional structural schematic diagram of a bracket of the operating assembly shown in Figure 3, in which the first linear motor is connected to the bracket.

FIG. 12 is another three-dimensional structural diagram of a bracket of the operating assembly shown in FIG. 3 , in which the first linear motor is separated from the bracket.

FIG. 13 is a schematic three-dimensional structural diagram of the static platform and a bracket of the operating assembly shown in FIG. 3 .

Figure 14 is a cross-sectional view of the static platform and bracket shown in Figure 13.

FIG. 15 is an exploded view of the connection part between the static platform and a bracket of the operating assembly shown in FIG. 3 .

Figure 16 is a schematic three-dimensional structural view of the position calibrator between the moving platform and the static platform of the operating assembly shown in Figure 3.

Figure 17 is an exploded view of the position calibrator between the moving platform and the static platform shown in Figure 16.

FIG. 18 is another three-dimensional structural diagram of the position calibrator shown in FIG. 16 .

FIG. 19 is a cross-sectional view of the position calibrator shown in FIG. 18 .

FIG. 20 is a schematic three-dimensional structural view of the first support member of the position calibrator shown in FIG. 18 .

FIG. 21 is a schematic three-dimensional structural view of the second support member of the position calibrator shown in FIG. 18 .

Figure 22 is a schematic three-dimensional structural diagram of the operating component of the surgical robot in Embodiment 2 of the present invention.

Figure 23 is a schematic three-dimensional structural diagram of the static platform and a bracket of the operating assembly shown in Figure 22.

Figure 24 is an exploded view of the connection part between the static platform and the bracket shown in Figure 23.

FIG. 25 is a partial enlarged view of the operating assembly shown in FIG. 22 .

Figure 26 is a partially exploded view of the operating assembly shown in Figure 22.

Labels in the figure:

100. Operating component; 101. Controller; 10. Moving platform; 11. Main body; 110a, 110c, 110b, first connecting column; 111. First receiving hole; 112. Notch; 12. Receiving chamber; 13. No. A flange; 130, first connection hole; 14, first connector; 140, first through hole; 141, ring portion; 142, protruding column; 143, second receiving hole; 144, sleeve assembly; 145, First sleeve; 146, second sleeve; 147, positioning ring; 148, first connecting element; 149, first gasket; 15, second connecting piece; 151, first section; 152, second zone section; 153, second through hole; 154, third through hole; 16, connecting shaft; 161, top section; 162, bottom section; 163, support section; 164, third receiving hole; 165, fourth Receiving hole; 17, second flange; 170, fourth connection hole; 20, static platform; L2, central axis of static platform 20; 21, rotating motor; L1, central axis of rotating motor 21; 210, output shaft; 211. Support column; 212. First connection section; 213. Second connection section; 214. Third connection section; 215. Fifth through hole; 216. Bearing assembly; 217. Second connection element; 218. Second gasket; 22, encoder; 23, fixed frame; 231, first fixed plate; 232, second fixed plate; 240, card slot; 241, sixth connection hole; 30, bracket; 31, upper support ; 310. Fourth through hole; 32. Lower support; 33. First slide rod; 34. First linear motor; 35. Side support; 350. Weight reduction hole; 351. First side plate; 352. Second side plate; 353, left side plate; 354, right side plate; 355, first slide rail; 36, first grating scale; 37, first reading head; 38, third connector; 381, first Support plate; 382, second support plate; 383, rib; 384, third support plate; 385, first slider; 386, rounded portion; 387, second connecting column; 388, fifth receiving hole; 40 , handle; 400, button; 41, upright part; 410, fixed block; 412, second connection hole; 42, holding part; 50, position calibrator; 51, first support member; 510, first support rod; 511. First support seat; 512. Second support seat; 513. Third connection hole; 514. First reinforcing rib; 515. First receiving space; 516. Recessed space; 517. First protruding surface; 518. A concave surface; 52, the second support member; 520, the second support rod; 521, the third support seat; 522, the fourth support seat; 523, the fifth connection hole; 524, the elongated hole; 525, the second receiving Space; 527, second protruding surface; 528, second concave surface; 53, plug-in; 531, first section; 532, second section;

200. Surgical robotic arm; 201. Sensor; 300. Image processing equipment;

600. Operating component; 620. Static platform; 621. Support shaft; 622. Support column; 623. First connection section; 624. Second connection section; 625. Fifth through hole; 626. Support frame; 627. Base; 628, second grating scale; 629, second slide rail; 630, third connecting piece; 631, second connecting column; 632, bearing assembly; 633, fifth receiving hole; 634, second connecting element; 635. Second gasket; 641. Left support; 642. Right support; 643. Second slider; 660. Second linear motor; 661. Second reading head; 662. Second slider; 670. Four connectors; 671, fourth support plate; 672, fifth support plate; 673, pad; 674, second reinforcing rib; 680, third slide rail; 681, support bar; 682, third slide block; 683 , bearing seat; 684, ball bearing; 685, connecting rod.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present utility model more clear, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the present utility model. Obviously, the description The embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present utility model.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", The orientation or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. are based on the drawings The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. Utility model restrictions.

In this utility model, unless otherwise clearly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. The connection can also be integrated; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components or an internal connection between two components. The interaction of elements, unless otherwise expressly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The technical solution of the present invention will be described in detail below with specific examples. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

It is worth explaining that the linear motor in this article refers to a motor that is used to drive the components connected to it to perform linear motion or can perform linear motion relative to the components connected to it, and the rotary motor refers to a motor that is used to drive the components connected to it. A motor whose parts perform rotational motion.

Existing operating components usually include a moving platform, a static platform, and three brackets connected between the moving platform and the static platform. The dynamic platform can be driven to feedback the mechanical information of the slave device. However, the inventor found that the existing moving platform cannot flexibly rotate relative to the bracket. Therefore, there is an urgent need to provide an improved operating assembly in which the moving platform and the bracket can flexibly rotate relative to each other.

Referring to FIG. 1 , a surgical robot according to the first embodiment of the present invention includes an operating component 100 , a surgical robotic arm 200 , and an image processing device 300 . The operating component 100 is used for doctors to actively control operations, and includes a controller 101 . The surgical robot arm 200 is used to respond to the doctor's control operations and control the movements of surgical instruments to perform minimally invasive surgery on the patient, where the surgical instruments may be, for example, electrosurgers, forceps, clips or hooks. The surgical robot arm 200 includes a sensor 201 for detecting the movement of the surgical instrument, and the sensor 201 is coupled to the controller 101 of the operating assembly 100 . The image processing device 300 is coupled to the endoscope, and presents the surgical image peeked by the endoscope in real time, so that the doctor can view the movement trajectory of the surgical instrument 201 and the surgical process.

During surgery, the doctor actively controls the operating component 100 and transmits instructions to the surgical robotic arm 200 through the controller 101 to cause the surgical instruments to move; the sensor 201 of the surgical robotic arm 200 transmits the movement data of the surgical instruments to the operating component 100 through the controller 101 , so that the action of the surgical instrument is fed back to the operating component 100, thereby enabling the doctor to interact with the mechanical information of the surgical instrument during the surgical operation. That is, the operating component 100 enables the doctor to simulate the real surgical operation of the surgical instrument.

Referring to Figures 2 and 3, the operating assembly 100 of this embodiment includes a moving platform 10 and a static platform 20 arranged at intervals, and N brackets 30 connecting the moving platform 10 and the static platform 20, where N is the number of brackets. Quantity, N≥2. Preferably, N=3. It is also preferred that the N brackets 30 are evenly spaced in the circumferential direction. More preferably, the N brackets 30 are tilted and gathered relative to the central axis of the static platform 20 toward the moving platform 10 to reduce the overall volume of the operating assembly 100 so that the doctor's arms can adapt to the movement of the moving platform 10 within a smaller space. situation, thereby making it easier to adjust the position of surgical instruments. A handle 40 is fixedly connected to the moving platform 10 .

Referring to FIGS. 4 and 5 , the handle 40 is provided with a plurality of buttons 400 . The doctor controls the button 400 with his finger to send instructions to the surgical robot arm 200 through the controller 101 . The functions of each button 400 may be the same or different.

In this embodiment, the handle 40 includes an upright portion 41 and a holding portion 42 fixedly connected to the upright portion 41 . The holding portion 42 extends from a top end of the upright portion 41 at a substantially obtuse angle relative to the upright portion 41 . The plurality of buttons 400 are provided on the upright portion 41 . A protruding fixing block 410 is provided on the side of the upright portion 41 facing the gripping portion 42 .

Preferably, the moving platform 10 is generally annular, including a main body portion 11 extending generally along the circumferential direction, and a receiving cavity 12 enclosed by the main body portion 11 . The upright portion 41 of the handle 40 is received in the receiving cavity 12 .

In this embodiment, the top of the main body 11 has a first flange 13 protruding toward the receiving cavity 12 . One or more first connection holes 130 are provided on the first flange 13 . The first connection hole 130 may be a blind hole or a through hole. The fixed block 410 of the handle 40 is provided with one or more second connection holes 412 corresponding to the one or more first connection holes 130 . The second connection hole 412 may be a blind hole or a through hole. Screws or pins are inserted into the first connection hole 130 and the second connection hole 412 to securely connect the moving platform 10 and the handle 40 .

It is understood that in other embodiments, the handle may adopt other configurations. The handle can also be fixedly connected to the moving platform 10 through other structures and/or connection methods.

Preferably, the angle at which the main body 11 of the moving platform 10 extends in the circumferential direction is approximately 360°*(N-1)/N. It can be seen from FIG. 1 and FIG. 5 that in this embodiment, the angle at which the main body 11 of the moving platform 10 extends in the circumferential direction is approximately 360°*(3-1)/3=240°. That is, the main body portion 11 of the moving platform 10 is configured as a two-thirds ring (ie, a ring that extends two-thirds of a complete circle in the circumferential direction). A gap 112 is formed between circumferentially opposite first and second ends of the main body 11 . The notch 112 is connected with the receiving cavity 12 and faces at least one of the buttons 400 . The doctor can conveniently control the button 400 on the upright portion 41 at the notch 112 to avoid interference.

In this embodiment, the moving platform 10 further includes N first connecting columns protruding from the main body 11 for connecting with the corresponding bracket 30 . Specifically, a first connecting column 110a, 110c, 110b protrudes from both circumferential ends of the main body 11 and its circumferential middle portion, and each first connecting column 110a, 110c, 110b has a free end thereof. The recessed first receiving hole 111 is used to connect the moving platform 10 and the corresponding bracket 30 . Preferably, the first connecting posts 110a and 110c at both circumferential ends of the main body 11 protrude toward the notch 112 , and the first connecting post 110b at the circumferential middle portion of the main body 11 is substantially tangential to the outer periphery of the main body 11 .

Referring to Figures 6 to 8, in this embodiment, the moving platform 10 and the corresponding bracket 30 are rotationally connected. Preferably, the moving platform 10 can rotate relative to the bracket 30 around the X, Y, and Z axes of the spatial Cartesian rectangular coordinate system. More preferably, the moving platform 10 is rotatably connected to a corresponding bracket 30 through a first connecting piece 14 and a second connecting piece 15, wherein the first connecting piece 14 is rotatably connected to the moving platform 10, and both can rotate around Y The axes rotate relative to each other, the second connecting piece 15 is rotatably connected to the corresponding bracket 30, and the two can relatively rotate around the Z-axis, the first connecting piece 14 and the second connecting piece 15 are rotatably connected, and the two can relatively rotate around the X-axis. , where the X, Y, and Z axes are perpendicular to each other. Using the first connector 14 and the second connector 15 of this embodiment to connect the movable platform 10 and the bracket 30 can effectively improve the rotational flexibility of the movable platform 10 and the bracket and avoid interference during the rotation of the two.

Specifically, the first connecting member 14 includes a ring portion 141 having a first through hole 140 and a protruding post 142 protruding from one side of the ring portion 141 . The protruding post 142 has a third protrusion recessed from its free end surface. Two receiving holes 143.

The first connecting post 110c of the moving platform 10 is inserted into the first through hole 140 of the first connecting member 14 and is rotationally connected to the ring portion 141 of the first connecting member 14 . Preferably, a sleeve assembly 144 is also arranged between the first connecting post 110c and the ring portion 141 to reduce wear of the first connecting post 110c and the ring portion 141. In this embodiment, the bushing assembly 144 includes a first bushing 145 and a second bushing 146 arranged oppositely, and a positioning ring 147 positioned between the first bushing 145 and the second bushing 146 . The first connecting element 148 such as a screw or a pin is inserted into the first receiving hole 111 of the first connecting column 110c, and is preferably pressed against the second sleeve 146 by the first gasket 149 to connect the first connecting piece 14 and the sleeve assembly 144. , and the first connecting column 110c. The connection structure between the first connecting posts 110a, 110b and the corresponding first connecting piece 14 can be referred to the first connecting post 110c, which will not be described again here.

It is understood that in other embodiments, other structures may be used to connect the moving platform 10 and the first connecting member 14 . For example, a rolling bearing may be used to replace the sleeve assembly 144 . Or, in other embodiments, the first connecting member provides the first connecting post, and the moving platform provides the first through hole, and the first connecting post of the first connecting member is inserted into the first through hole of the moving platform, so as to The moving platform is rotationally connected via a bushing assembly 144, for example.

The second connecting member 15 is generally L-shaped and includes a plate-shaped first section 151 and a second section 152 that are generally vertically connected. The first section 151 has a second section at one end away from the second section 152 . Through hole 153, the second section 152 has a third through hole 154 at one end away from the first section 151. The protruding post 142 of the first connecting member 14 is inserted into the second through hole 153 of the first section 151 and is rotationally connected with the first section 151 . Similarly, a sleeve assembly 144 is also provided between the first section 151 and the protruding column 142. The first connecting element 148 such as a screw or a pin is inserted into the second receiving hole 143 of the protruding column 142, and preferably passes through the first gasket 149. It butts against the second sleeve 146 to connect the first connector 14 , the sleeve assembly 144 , and the second connector 15 .

Similarly, in other embodiments, other structures may be used to connect the first connecting member 14 and the second connecting member 15 . For example, a rolling bearing may be used to replace the sleeve assembly 144 . Or, in other embodiments, the second connecting member provides a protruding post, and the first connecting member provides a second through hole, and the protruding post of the second connecting member is inserted into the second through hole of the first connecting member, so as to It is rotatably connected to the first connecting member through a bushing assembly 144, for example.

Preferably, the second section 152 of the second connecting member 15 is connected to the bracket 30 through the connecting shaft 16 . Specifically, the connecting shaft 16 includes a hollow cylindrical top section 161 and a bottom section 162, and a support section 163 connected between the top section 161 and the bottom section 162. The outer diameter of the support section 163 is larger than the outer diameters of the top section 161 and the bottom section 162 . The outer diameters of the top section 161 and the bottom section 162 may be equal or different. Preferably, the outer diameter of the top section 161 is smaller than the outer diameter of the bottom section 162 . Top section 161 has a third receiving hole 164 recessed from its top end. The bottom section 162 has a fourth receiving hole 165 recessed from its bottom end.

The top section 161 of the connecting shaft 16 is inserted into the third through hole 154 of the second section 152 of the second connecting member 15 and is rotationally connected with the second section 152 . Similarly, a bushing assembly 144 is also provided between the second section 152 and the top section 161. The first connecting element 148 such as a screw or a pin is inserted into the third receiving hole 164 of the top section 161, and preferably passes through the first pad. The piece 149 butts against the second sleeve 146 to connect the second connecting piece 15 , the sleeve assembly 144 , and the connecting shaft 16 .

The bracket 30 has a fourth through hole 310 . The bottom section 162 of the connecting shaft 16 is inserted into the fourth through hole 310 of the bracket 30 and is fixedly connected (for example, tightly fitted) with the bracket 30 . Similarly, the first connecting element 148 such as a screw or a pin is inserted into the fourth receiving hole 165 of the bottom section 162 and is preferably pressed against the bottom section 162 and the bracket 30 through the first gasket 149 to connect the bracket 30 and the connecting shaft 16 .

Preferably, the top and bottom ends of the support section 163 of the connecting shaft 16 are respectively abutted between the first sleeve 145 corresponding to the top section 161 and the bracket 30 to improve the connection between the second connecting piece 15 and the bracket 30 . connection stability.

Referring to Figures 2, 3, and Figures 9 and 10, in this embodiment, the bracket 30 includes an upper support member 31, a lower support member 32, and a first slider connected between the upper support member 31 and the lower support member 32. Rod 33. Preferably, the upper support member 31 and the lower support member 32 are plate-shaped. The fourth through hole 310 is formed in the upper support member 31 .

A first linear motor 34 is mounted on the first sliding rod 33 . The first sliding rod 33 is preferably a screw rod. The first linear motor 34 is used to drive the first slide bar 33 to move in a straight line relative to the first linear motor 34 . The upper support member 31 and the lower support member 32 can effectively prevent the first slide rod 33 from moving to cause the first linear motor 34 to separate from the first slide rod 33 . It is understood that in other embodiments, the lower support member 32 may be omitted.

Referring to FIGS. 9 to 12 , preferably, the bracket 30 further includes a side support 35 fixedly connected between the upper support 31 and the lower support 32 for fixing the second support (for example, by bonding). A grating scale 36. The side support 35 is opposite to the first sliding rod 33 . The first linear motor 34 is also fixedly connected with a first reading head 37 opposite to the first grating scale 36 . Therefore, when the first slide rod 33 linearly moves relative to the first linear motor 34, the upper support member 31 and the lower support member 32 connected to the first slide rod 33 and the upper support member 31 The side support 35 fixedly connected to the lower support 32 and the first grating scale 36 fixedly connected to the side support 35 will also follow the first slide rod 33 to move relative to the first linear motor 34 . Since the first reading head 37 is fixedly connected to the first linear motor 34 , the first grating scale 36 and the first reading head 37 move relative to each other, so that the first reading head 37 can record the first grating scale 36 The moving distance is the moving distance of the first slide rod 33 relative to the first linear motor 34 .

Preferably, the side support 35 is elongated as a whole and has a hollow design, including a plurality of weight-reducing holes 350 spaced apart along the length direction of the side support 35 . The design of multiple weight-reducing holes 350 helps to reduce the weight of the bracket 30 so that the bracket 30 can move relative to the first linear motor 34 more smoothly. More preferably, the circumferential profile of the hole wall of the weight-reducing hole 350 is generally elliptical, wherein the major axis direction of the ellipse is consistent with the length direction of the side support 35 .

Preferably, the side support 35 includes a first side plate 351 and a second side plate 352 vertically connected to the first side plate 351, wherein the length directions of the first side plate 351 and the second side plate 352 are consistent. The weight reduction hole 350 is formed in the first side plate 351 . The upper support member 31 and the lower support member 32 are respectively fixedly connected to both ends of the first side plate 351 (for example, through screws), and the first linear motors 34 are arranged at intervals on the first side plate. The side of 351 facing the first slide rod 33 . The first grating scale 36 is fixed to the second side plate 352 . The first reading heads 37 are arranged at intervals on the side of the second side plate 352 for fixing the first grating scale 36 . That is, the first linear motor 34 and the first reading head 37 are distributed on different sides of the side support 35 . It is understood that in other embodiments, the side support may also adopt other structures, so that the first linear motor 34 and the first reading head 37 are distributed on the same side of the side support.

Preferably, the thickness of the first side plate 351 is greater than the thickness of the second side plate 352 to increase the overall strength of the first side plate 351 . It is also preferred that the side support member 35 is an integral piece to improve the overall strength of the side support member 35 .

More preferably, the first side plate 351 is substantially perpendicular to the middle of the second side plate 352 , that is, the cross section of the side support 35 is substantially T-shaped, so that the second side plate 352 is divided into two sections along the first side plate 351 . The left side panel 353 and the right side panel 354 in the width direction. Preferably, while the upper support member 31 and the lower support member 32 are fixedly connected to the first side plate 351, they also bear against the side of the right side plate 354 facing the first side plate 351, so as to The connection strength between the upper support member 31 and the lower support member 32 and the side support members 35 is improved. The first grating scale 36 is fixed on the side of the left side plate 353 facing away from the first side plate 351, and can be selectively fixed on the side of the right side plate 354 facing away from the first side plate 351 at the same time according to its width. .

It is understood that in other embodiments, the side support may also adopt other configurations, for example, a side support with a substantially L-shaped cross-section may be provided, and the side support includes a first side plate and a second side that are vertically connected to each other. plate. In this case, the upper support 31 and the lower support 32 can be fixedly connected to the first side plate of the side support and butt against the second side plate, and the first linear motor 34 can be arranged On one side of the first side plate, the first grating scale 36 can be fixed on a side of the second side plate facing or away from the first side plate.

Preferably, the first linear motor 34 and the first reading head 37 are fixedly connected through a third connecting member 38 . Specifically, the third connection member 38 includes a first support plate 381 fixedly connected to the first linear motor 34 (for example, through screws), and a first support plate 381 fixedly connected to the first reading head 37 (for example, through screws). The second support plate 382 is vertically connected to the first support plate 381 and the second support plate 382 . More preferably, the third connecting member 38 also includes a rib 383 connected between the first support plate 381 and the second support plate 382 , and the rib 383 is perpendicular to both the first support plate 381 and the second support plate 382 . The connection is preferably vertically connected to the middle portions of the first support plate 381 and the second support plate 382 to further improve the support strength of the third connection member 38 and prevent deformation.

Preferably, the third connection member 38 further includes a third support plate 384 vertically connected to the first support plate 381 for fixedly connecting one or more first slide blocks 385 . The third support plate 384 and the second support plate 382 are respectively located on opposite sides of the first support plate 381 . Preferably, the third connecting member 38 is an integral piece to improve the overall strength of the third connecting member 38 . A first slide rail 355 is fixedly connected to the first side plate 351 , and the length direction of the first slide rail 355 is consistent with the length direction of the first side plate 351 . The one or more first slide blocks 385 are slidingly connected to the first slide rail 355 .

Therefore, when the first linear motor 34 drives the first slide bar 33 to move linearly relative to the first linear motor 34, the upper support member 31 and the lower support member 32 connected to the first slide bar 33 , the side support 35 fixedly connected to the upper support 31 and the lower support 32, and the first grating scale 36 and the first slide rail 355 fixedly connected to the side support 35 will also follow. A sliding rod 33 moves relative to the first linear motor 34 together. Since the first reading head 37 , the first linear motor 34 and the first slide block 385 are fixedly connected through the third connecting member 38 , the first slide rail 355 will slide relative to the first slide block 385 . Through the cooperation of the first slide rail 355 and the first slide block 385, the stability of the movement of the bracket 30 relative to the first linear motor 34 is effectively improved.

Preferably, the first support plate 381 of the third connecting member 38 is generally square, and a corner of the first support plate 381 away from the second support plate 382 and the third support plate 384 has a protruding rounded portion 386, and the middle portion of the rounded portion 386 There is a second connecting column 387 perpendicular to the rounded portion 386 for connecting with the static platform 20 .

Specifically, referring to FIGS. 2 to 3 and FIGS. 13 to 15 , three rotating motors 21 distributed in the circumferential direction are fixedly connected to the static platform 20 . A support column 211 is fixedly connected to the output shaft 210 of the rotating electrical machine 21 . The support column 211 includes a first connection section 212 sleeved on the output shaft 210 and fixedly connected to the output shaft 210, a second connection section 213 for connection to the third connection member 38, and A third connection section 214 is connected between the first connection section 212 and the second connection section 213 .

The first connecting section 212 is preferably in the shape of a hollow cylinder. The second connecting section 213 is preferably semicircular and has a fifth through hole 215 in the middle. The second connecting post 387 of the third connecting member 38 is inserted into the fifth through hole 215 and is rotationally connected with the second connecting section 213 . Preferably, a bearing assembly 216 is provided between the second connecting column 387 and the second connecting section 213 . The second connecting post 387 has a fifth receiving hole 388 recessed from its free end. The second connecting element 217 such as a screw or a pin is inserted into the fifth receiving hole 388 of the second connecting column 387 and is preferably pressed against the bearing assembly 216 through a second gasket 218 .

The third connection section 214 preferably protrudes from the first connection section 212 and the second connection section 213 and is used for fixedly connecting the encoder 22 (for example by means of screws). The encoder 22 is electrically connected to the first linear motor 34 . When the output shaft 210 of the rotating motor 21 rotates, the support column 211 fixedly connected to the output shaft 210 rotates, and the bracket 30 that is rotationally connected to the support column 211 through the third connecting member 38 will rotate relative to the static platform 20, and the encoder 22 will The rotation angle of the third connecting member 38 relative to the static platform 20 is recorded, so the rotation angle of the first slide rod 33 relative to the static platform 20 will also be recorded.

Preferably, in this embodiment, the angle α at which the central axis L1 of the rotating motor 21 deviates from the central axis L2 of the static platform 20 is not a right angle, preferably an acute angle, more preferably in the range of 30° to 35°, and most preferably at an angle α. Preferably α=30°. Compared with placing the rotating motor so that its central axis is perpendicular to the central axis of the static platform, this embodiment is more conducive to retracting each bracket 30 toward the handle 40 so that the doctor's arms can adapt to the moving platform in a smaller space. 10 movement conditions, thereby making it easier to adjust the position of surgical instruments.

In this embodiment, the static platform 20 is roughly configured as a hollow hexagonal body. The top surface of the hexagonal body is a flat surface, and its three mutually spaced sides each have a fixed frame that protrudes outward and is inclined relative to the top surface. 23, used to fix the rotating motor 21. In this embodiment, the fixing frame 23 includes a first fixing plate 231 that is inclined relative to the top surface of the static platform 20 and a second fixing plate 232 that is vertically connected to the first fixing plate 231 . Each rotating motor 21 is pressed against the second fixing plate 232 and is fixedly connected to the first fixing plate 231 (for example, through screws). By designing the deviation angle of the first fixed plate 231 relative to the central axis L2 of the static platform 20, or the deviation angle of the first fixed plate 231 relative to the top surface of the static platform (equal to the central axis L1 of the rotating motor 21 relative to the central axis of the static platform 20 L2), thereby realizing the aforementioned deviation angle α of the central axis L1 of the rotating motor 21 relative to the central axis L2 of the static platform 20, and the rotating motor 21 is easy to install. In this embodiment, one side wall of the static platform 20 has a slot 240 for connecting with other auxiliary accessories (such as a mounting bracket) to stand on the bottom.

Referring to FIG. 3 and FIG. 16 , in order to avoid accumulated position errors on the moving platform 10 after multiple uses of the operating assembly 100 , preferably, the operating assembly 100 further includes a device positioned between the moving platform 10 and the static platform 20 . The position calibrator 50 between the two is used to calibrate the initial position of the moving platform 10 .

Specifically, the position calibrator 50 includes a first support member 51 connected to the moving platform 10 and a second support member 52 connected to the static platform 20 . The first support member 51 and the third support member 52 are connected to the stationary platform 20 . The two support members 52 are detachably connected. Preferably, the first support member 51 and the second support member 52 are plug-fitted.

Referring to Figures 17 to 19, in this embodiment, the first support member 51 includes a longitudinally elongated first support rod 510, and a first support rod connected to the opposite first end and second end of the first support rod 510. The support base 511 and the second support base 512. The first support base 511 is used to connect with the moving platform 10 . The second support seat 512 is used to connect with the second support member 52 .

Specifically, the first support seat 511 is plate-shaped and has one or more third connection holes 513 . The third connection hole 513 may be a blind hole or a through hole. Correspondingly, one or more fourth connection holes 170 are provided on the moving platform 10 . The fourth connection hole 170 may be a blind hole or a through hole. Screws or pins are inserted into the third connection hole 513 and the fourth connection hole 170 to connect the first support member 51 and the moving platform 10 .

Preferably, the top end of the main body 11 of the moving platform 10 has a second flange 17 protruding toward the receiving cavity 12 . The fourth connection hole 170 is formed in the second flange 17 . Correspondingly, the first support base 511 is offset relative to the second support base 512 . In this embodiment, the first support seat 511 extends vertically on the first side of the first support rod 510 , and the second support seat 512 extends on the second side of the first support rod 510 opposite to the first side. The side extends vertically, that is, the first support base 511, the first support rod 510, and the second support base 512 generally form a Z-shaped structure. Preferably, the first support member 51 further includes a first reinforcement connecting a side of the first support base 511 facing the second support base 512 and a side of the second support base 512 facing the first support base 511 Ribs 514 to improve the overall strength of the first support member 51 .

In this embodiment, the second support base 512 is generally block-shaped and has a first receiving space 515 therein for plugging and mating with the second support member 52 . Preferably, the first receiving space 515 is configured as a through hole penetrating the second support base 512 to increase the depth of the first receiving space 515 and thereby improve the coordination stability of the first support member 51 and the second support member 52 sex. Furthermore, the first reinforcing rib 514 has a recessed space 516 on the bottom side toward the first receiving space 515 . The recessed space 516 is connected with the first receiving space 515 to provide a more sufficient avoidance space for the second support member 52 .

In this embodiment, the second support member 52 includes a longitudinally elongated second support rod 520 , a third support base 521 and a fourth support connected to opposite first and second ends of the second support rod 520 . Block 522. The third support base 521 is used to connect with the static platform 20 . The fourth support base 522 is used to connect with the first support member 51 .

Specifically, the third support seat 521 is plate-shaped and has one or more fifth connection holes 523 . The fifth connection hole 523 may be a blind hole or a through hole. Correspondingly, one or more sixth connection holes 241 are provided on the static platform 20 . The sixth connection hole 241 may be a blind hole or a through hole. Screws or pins are inserted into the fifth connection hole 523 and the sixth connection hole 241 to connect the second support member 52 and the static platform 20 .

Preferably, the second support rod 520 has an elongated hole 524 extending through its thickness. The number of elongated holes 524 may be one or more. In the case of a plurality of elongated holes 524 , the plurality of elongated holes 524 are arranged at equal intervals along the length direction of the second support rod 520 .

In this embodiment, the fourth support base 522 is generally block-shaped. The fourth support base 522 and the third support base 521 extend vertically relative to the second support rod 520 on the same side of the second support rod 520 . A second receiving space 525 is provided in the fourth support base 522 , which may or may not penetrate the fourth support base 522 , for receiving the plug-in 53 .

In this embodiment, the plug-in 53 includes a first section 531 received in the second receiving space 525 and connected to the fourth support base 522, and a second section protruding from the top surface of the fourth support base 522. Section 532. The second section 532 is releasably inserted into the first receiving space 515 of the first support member 51 , thereby connecting the first support member 51 and the second support member 52 . Preferably, the plug-in 53 is configured as a screw, wherein the threaded rod of the screw forms the first section 531 and is threadedly connected to the fourth support base 522 , and the nut of the screw forms the second section 532 and is threadedly connected to the fourth support seat 522 . It is plug-fitted with the second support base 512 . The plug-in 53 is provided using screws, making it easy to assemble and disassemble.

Referring to FIGS. 18 to 21 , preferably, the surface of the second support seat 512 facing the fourth support seat 522 is partially recessed to form a first step structure. The first step structure includes a first protruding surface 517 and a first concave surface 518 . Correspondingly, a surface portion of the fourth support seat 522 facing the second support seat 512 is partially recessed to form a second step structure. The second step structure includes a second protruding surface 527 and a second concave surface 528 . When connecting the first support member 51 and the second support member 52, the first protruding surface 517 of the second support seat 512 cooperates with the second recessed surface 528 of the fourth support seat 522, and the first recessed surface 518 of the second support seat 512 It cooperates with the second protruding surface 527 of the fourth support seat 522 to guide the second section 532 of the insert 53 to be inserted into the first receiving space 515 of the first support member 51 , which facilitates operation.

It is understood that in other embodiments, the position calibrator 50 may also adopt other structures. For example, the plug-in 53 and the second support member 52 can also be formed as an integral piece, without the plug-in 53 needing to be fixedly inserted into the second support member 52 . Alternatively, the plug-in may also be connected to the first support member, and a receiving space may be formed on the second support member for receiving the plug-in.

The working principle of the operating component 100 in this embodiment is briefly described as follows: the doctor controls the button 400 on the handle 40 with his fingers to transmit instructions to the surgical robotic arm 200 through the controller 101 to cause the surgical instruments to move; the sensors of the surgical robotic arm 200 201 transmits the action data of the surgical instrument to the rotating motor 21 and the first linear motor 34 through the controller 101, and uses the encoder 22 to control the rotation of the bracket 30 (and therefore the first linear motor 34) relative to the static platform 20 Angle, with the help of the first reading head 37, the moving distance of the first slide rod 33 driven by the first linear motor 34 is controlled, thereby allowing the moving platform 10 and the handle 40 fixedly connected thereto to simulate the movement of surgical instruments, thereby realizing the doctor's operation The interaction with the mechanical information of the surgical instrument during the surgical operation, that is, the doctor's simulation of the real surgical operation of the surgical instrument is realized through the operating component 100 . It is worth mentioning that the movement of the surgical instrument is preferably proportionally amplified at the handle 40, although it may not be amplified.

The operating component 100 of this embodiment has a total of 6 driving quantities, which are three rotary motors 21 used to drive the three brackets 30 to rotate relative to the static platform 20, and three first linear motors 34 used to drive the three brackets 30 to move. , and the first linear motor 34 is rotatably connected to a corresponding rotary motor 21, and one end of the three brackets 30 is also rotatably connected to the moving platform 10 respectively. Therefore, the operating component of this embodiment can achieve 6 degrees of freedom, can realize force feedback and attitude control at the same time, and has simple wiring. Furthermore, the use of sliding rod transmission can effectively avoid force feedback errors.

Referring to Figure 22, the operating assembly 600 of the second embodiment of the present invention is substantially the same as the operating assembly 100 of the first embodiment of the present invention, and also includes the aforementioned moving platform 10, bracket 30, and handle 40 of the operating assembly 100 (in the figure (not shown), the position calibrator 50 (not shown in the figure), the moving platform 10 and the bracket 30 are also connected through the first connecting member 14 and the second connecting member 15, and the same points will not be repeated here. The main difference between the operating assembly 600 of the second embodiment of the present invention and the operating assembly 100 of the first embodiment of the present invention is that this embodiment no longer uses the aforementioned rotating motor 21 arranged on the static platform 20 to drive the bracket 30 to rotate. , but the second linear motor 660 drives the bracket 30 to rotate.

Specifically, referring to Figures 22 to 24, the static platform 620 of this embodiment is generally hexagonal, including three first sides spaced apart from each other, and three second sides spaced apart from each other, wherein the three first sides are spaced apart from each other. Each side has a protruding support shaft 621. A support column 622 is rotatably connected to the support shaft 621 . The support column 622 includes a first connection section 623 rotatably sleeved on the support shaft 621 and a second connection area connected to the first connection section 623 and used to connect to the third connection member 630 Section 624.

The second connecting section 624 is preferably semicircular and has a fifth through hole 625 in the middle. The second connecting post 631 of the third connecting member 630 is inserted into the fifth through hole 625 and is rotationally connected with the second connecting section 624 . Preferably, a bearing assembly 632 is provided between the second connecting column 631 and the second connecting section 624 . The second connecting post 631 has a fifth receiving hole 633 recessed from its free end. The second connecting element 634 such as a screw or a pin is inserted into the fifth receiving hole 633 of the second connecting column 631 and is preferably pressed against the bearing assembly 632 through a second gasket 635 .

The first connection section 623 is in the shape of a hollow cube, and preferably protrudes from the second connection section 624, and is used for fixedly connecting the encoder 22 (for example, through screws). The encoder 22 is electrically connected to the first linear motor 34 . When the bracket 30 that is rotationally connected to the support column 622 through the third connecting member 630 rotates relative to the static platform 620 under the driving of the second linear motor 660, the encoder 22 will record the rotation angle of the third connecting member 630 relative to the static platform 620. , therefore the rotation angle of the first slide rod 33 relative to the static platform 620 will also be recorded.

The three second sides of the static platform 620 that are spaced apart from each other are respectively fixed (for example, through screws) to the base 627 through corresponding support brackets 626, and the base 627 can be placed on the ground.

In this embodiment, the base 627 is roughly triangular in shape, and its three corners are fixedly connected to the support frame 626 (for example, through screws), and each corner is provided with a left support member 641 and a right support member 642. In this embodiment, the left support member 641 and the right support member 642 are plate-shaped and are respectively perpendicular to two adjacent side surfaces of the base 627 . Each side of the base 627 is spaced with a second sliding rod 643 connected between the left support member 641 and the right support member 642 .

Referring to Figures 22 and 25-26 at the same time, each second slide rod 643 is equipped with a second linear motor 660. The second slide rod 643 is preferably a screw rod, so that the second linear motor 660 can move linearly along the second slide rod 643, wherein the left support member 641 and the right support member 642 can effectively The second linear motor 660 is prevented from moving away from the second slide rod 643 .

In this embodiment, a second grating scale 628 is also fixedly connected (eg, bonded) to each side of the base 627 . The second linear motor 660 is fixedly connected with a second reading head 661 opposite to the second grating scale 628 . Therefore, when the second linear motor 660 linearly moves along the second slide bar 643, the second reading head 661 fixedly connected to the second linear motor 660 will also move together with the second linear motor 660. Since the second grating scale 628 is fixedly connected to the base 627, the second reading head 661 and the second grating scale 628 move relative to each other, so that the second reading head 661 can record its own movement distance, and then record the second reading head 661. The moving distance of the two linear motors 660 relative to the second slide rod 643.

Preferably, the second linear motor 660 and the second read head 661 are fixedly connected through a fourth connecting member 670 . Specifically, the fourth connecting member 670 includes a fourth support plate 671 . The second linear motor 660 and the second read head 661 are fixedly connected to the bottom surface of the fourth support plate 671 (for example, through screws). Preferably, the fourth connecting member 670 further includes a fifth supporting plate 672 fixedly connected to one side of the fourth supporting plate 671 for fixedly connecting one or more second sliders 662 . In this embodiment, the second linear motor 660 , the second reading head 661 , and the second slider 662 are all fixed on the bottom surface of the fourth support member 670 . A second slide rail 629 is fixedly connected to the base 627 , and the length direction of the second slide rail 629 is consistent with the length direction of each side of the base 627 . The one or more second slide blocks 662 are slidingly connected to the second slide rail 629 .

Therefore, when the second linear motor 660 linearly moves relative to the second slide rod 643, the second reading head 661 and the second slider are fixedly connected to the second linear motor 660 through the fourth connecting member 670. The block 662 will also follow the second linear motor 660 to move relative to the second slide rod 643. Since the second slide rail 629 is fixedly connected to the base 627, the second slide block 662 will slide relative to the second slide rail 629. Through the cooperation of the second slide block 662 and the second slide rail 629, the stability of the movement of the second linear motor 660 relative to the second slide rod 643 is effectively improved.

In this embodiment, a longitudinal third slide rail 680 is fixedly connected to the top surface of the fifth support plate 672 away from the second slide block 662 . The length direction of the third slide rail 680 is perpendicular to the length direction of the corresponding second slide rail 629 . Preferably, the third slide rail 680 is fixedly connected to the fifth support plate 672 through a support bar 681 (for example, through screws). Preferably, the three third slide rails 680 are at different heights from the base 627 , which can be achieved by arranging pads 673 on the fifth support plate 672 , where the pads 673 are fixedly connected to the support bars 681 . In other words, the heights of the pads 673 corresponding to the three third slide rails 680 are different, so that the heights of the three third slide rails 680 from the base 627 are different. Preferably, the spacer block 673 and the fourth support plate 671 are connected through a second reinforcing rib 674 to improve the strength of the fourth connecting member 670 . More preferably, the fourth connecting member 670 is an integral piece, which can be formed by injection molding, for example.

One or more third slide blocks 682 are slidingly connected to the third slide rail 680 . A bearing seat 683 is fixedly connected to the one or more third slide blocks 682. A rotatable ball bearing 684 is provided in the bearing seat 683. The ball bearing 684 is connected to a connecting rod 685. The connecting rod 685 is slidably connected to the first sliding rod 33 to ensure that the first sliding rod 33 can be driven by the first linear motor 34 to move in a straight line, and is preferably sleeved outside the first sliding rod 33 . In other words, in this embodiment, the bracket 30 is no longer provided with the lower support member 32 .

Therefore, when the second linear motor 660 linearly moves relative to the second slide bar 643, the fourth connecting member 670 fixedly connected to the second linear motor 660 and the third slide rail 680 fixedly connected to the fourth connecting member 670 will also move Follow the second linear motor 660 to move relative to the second slide bar 643. During this process, the connecting rod 685 will be driven by the second linear motor 660 to move along the second slide rail 629 and automatically along the third slide rail 680. The movement drives the bracket 30 to rotate relative to the static platform 620 .

The working principle of the operating component 600 in this embodiment is briefly described as follows: the doctor controls the button 400 on the handle 40 with his fingers to transmit instructions to the surgical robotic arm 200 through the controller 101 to cause the surgical instruments to move; the sensors of the surgical robotic arm 200 201 transmits the action data of the surgical instrument to the first linear motor 34 and the second linear motor 660 through the controller 101, and uses the encoder 22 to control the position of the bracket 30 (and therefore the first linear motor 34) relative to the static platform 620 The rotation angle is controlled by the first reading head 37 to control the moving distance of the first slide rod 33 driven by the first linear motor 34, and the second reading head 661 is used to control the moving distance of the second linear motor 660, thereby making the movement The platform 10 and the handle 40 fixedly connected thereto simulate the movements of the surgical instruments, thereby enabling the doctor to interact with the mechanical information of the surgical instruments during the surgical operation. That is, the operating component 600 enables the doctor to simulate the actual surgical operation of the surgical instruments. It is worth mentioning that the movement of the surgical instrument is preferably proportionally amplified at the handle 40, although it may not be amplified.

Similar to the operating component 100 of the first embodiment, the operating component 600 of this embodiment has a total of 5 driving quantities, which are respectively used to drive the three second linear motors 660 for driving the three brackets 30 to rotate relative to the static platform 20, and for driving The three first linear motors 34 move the three brackets 30, and the first linear motors 34 are rotationally connected to the static platform, and one end of the three brackets 30 is also rotationally connected to the moving platform 10 respectively. Therefore, the operating component of this embodiment can achieve 6 degrees of freedom, can realize force feedback and attitude control at the same time, and has simple wiring. Furthermore, the use of sliding rod transmission can effectively avoid force feedback errors.

It is understandable that the operating component of the present invention is not limited to surgical robots used in the medical field, but can also be used in robots in other fields, such as the exploration of dangerous spaces, mass entertainment, industrial production and other fields.

In the present invention, unless otherwise expressly stipulated and limited, the first feature "on" or "below" the second feature may be the first feature and the second feature in direct contact, or the first feature and the second feature passing through Indirect contact through intermediaries.

Furthermore, the terms “above”, “above” and “above” a first feature on a second feature can mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. "Below", "below" and "beneath" the first feature to the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

In the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" or the like, means that specific features are described in connection with the embodiment or example. , structures, materials or features are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification unless they are inconsistent with each other.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it. Although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that : It is still possible to modify the technical solutions recorded in the foregoing embodiments, or to equivalently replace some or all of the technical features; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the embodiments of the present utility model. Scope of technical solutions.

Claims (10)

1. The operation assembly is characterized by comprising a movable platform, a static platform and N brackets which are rotatably connected with the movable platform and the static platform, wherein N is more than or equal to 2, the operation assembly comprises N first connecting pieces and N second connecting pieces, each bracket is rotatably connected with the movable platform through one first connecting piece and one second connecting piece, each bracket is rotatably connected with one second connecting piece and can rotate around a Z axis, each second connecting piece is rotatably connected with one corresponding first connecting piece and can rotate around an X axis relatively, each corresponding first connecting piece is rotatably connected with the movable platform and can rotate around a Y axis, and X, Y, Z axes are perpendicular to each other.

2. The operating assembly of claim 1, wherein the second connector is L-shaped and includes a first section and a second section that are vertically connected, the first section being rotatably connected to a corresponding first connector, and the second section being rotatably connected to a corresponding bracket.

3. The operating assembly of claim 2 wherein the first connector includes a ring having a first through hole, the ring being rotatably coupled to the movable platform, and a post projecting from one side of the ring, the first section of the second connector having a second through hole, the post being inserted into the second through hole and rotatably coupled to the first section.

4. An operating assembly according to claim 3, wherein the movable platform comprises a main body portion, and N first connection posts projecting from the main body portion, each of the first connection posts being inserted into the first through hole of the ring portion of a corresponding one of the first connection members and being rotatably connected to the ring portion.

5. The operating assembly according to claim 4, wherein a bushing assembly is provided between the ring portion of the first connector and the corresponding first connecting post, each of the first connecting posts having a first receiving hole recessed from a free end thereof, and a connecting member is inserted into the first receiving hole and abuts against the bushing assembly.

6. An operating assembly according to claim 3, wherein a sleeve assembly is provided between the boss of the first connector and the first section of the second connector, each boss having a second receiving aperture recessed from its free end face, a connecting element being inserted into the second receiving aperture and abutting against the sleeve assembly.

7. The operating assembly of claim 2, wherein the second section of the second connector is connected to the corresponding bracket by a connecting shaft including a top section rotatably connected to the second section and a bottom section fixedly connected to the bracket, the top section being fixedly connected to the bottom section.

8. The operating assembly according to claim 7, wherein the second section of the second connecting member has a third through hole, the top section is inserted into the third through hole, a boss member is provided between the second section and the top section, the top section has a third receiving hole recessed from a free end surface thereof, and a connecting member is inserted into the third receiving hole and abuts against the boss member.

9. The operating assembly of claim 8, wherein the connecting shaft further comprises a support section connected between the top section and the bottom section, the support section abutting between the bushing assembly and the respective bracket.

10. A robot, characterized in that it comprises an operating assembly according to any one of claims 1 to 9.