WO2022105151A1

WO2022105151A1 - Self-balancing adjustment support platform, robot, and self-balancing adjustment method

Info

Publication number: WO2022105151A1
Application number: PCT/CN2021/093510
Authority: WO
Inventors: 王光鑫; 黄华杰
Original assignee: 南京佗道医疗科技有限公司
Priority date: 2020-11-20
Filing date: 2021-05-13
Publication date: 2022-05-27
Also published as: CN112587246A; CN112587246B

Abstract

A self-balancing adjustment support platform, a robot (20), and a self-balancing adjustment method. The self-balancing adjustment support platform comprises: at least three legs (11) used for supporting a support platform and controlled by corresponding motors to ascend and descend; and a control module used for controlling the rotation and stop of each motor and acquiring the current of each current in real time. The self-balancing adjustment support platform based on current feedback has a simple structure and high reliability, and can achieve automatic adjustment and balancing only by means of a proximity sensor, and also reduce the volume size of an electric support module (1).

Description

Self-balancing adjusting support platform, robot and self-balancing adjusting method

technical field

The invention relates to the field of medical devices, in particular to a self-balancing adjusting support platform, a robot and a self-balancing adjusting method.

Background technique

With the development of science and technology, more and more various types of surgical equipment are used to assist doctors in related surgical work. Auxiliary equipment is usually heavy, and casters with foot brakes are generally installed at the bottom of the base, which not only facilitates transfer, but also locks the position of the equipment through the brakes of the casters, ensuring the stability of the auxiliary equipment. There are also supporting devices at the bottom of some equipment to support the equipment, but such devices usually cannot guarantee the stability and balance of the equipment. Generally, a four-point leveling system is used for equipment with relatively small size. The existing leveling structure is generally unreliable and unstable, or a pressure sensor and other mechanisms are used, and the control method is relatively complicated. For medical equipment, the reliability is insufficient. High risk, unable to provide a reliable and stable support platform for surgical equipment.

Secondly, the commonly used support devices have high requirements for the flatness of the working ground. For the working environment with uneven ground, if the operator wants to support the equipment in a stable and balanced manner, he needs to manually adjust the support base by himself, which is rather cumbersome in the actual use process. And it's not very reliable.

SUMMARY OF THE INVENTION

Objectives of the invention: The present invention provides a self-balancing adjustment support platform, a robot and a self-balancing adjustment method in view of the above shortcomings, with simple structure and high reliability.

Technical solutions:

A self-balancing adjusting support platform, comprising:

at least three foot supports for supporting the supporting platform and controlling the lifting and lowering through its corresponding motors;

The control module is used to control the rotation and stop of each motor and obtain the current of each motor in real time.

The foot support further includes a lifting assembly, and the motor realizes the lifting and lowering of the foot support by driving the lifting assembly.

The lifting assembly includes a screw rod and a lifting block threadedly matched with the screw rod.

A driven gear is provided on the screw rod, a driving gear is meshed with the driven gear, and the motor shaft of the motor is fixedly connected with the driving gear.

A rotational speed detection sensor that recognizes the rotational speed and the rotational angle of the driven gear by recognizing the teeth of the driven gear is also provided on the side of the driven gear.

An outer cylinder is arranged outside the screw rod, an axial long groove notch is opened on the side wall of the lifting block, and a plug is installed at the lower end of the inner side wall of the outer cylinder corresponding to the long groove notch , the rotation movement of the lifting block and the length of the extension out of the outer cylinder are restricted by the cooperation between the plug and the long slot notch.

The support platform further includes a detection sensor for detecting the displacement of the foot support, the detection sensor feeds back the displacement of the foot support to the control module, and controls the foot support when the foot support retracts to a preset threshold. The module controls the corresponding motor to stop.

The lift assembly includes a toothed rod installed vertically slidably and a lift gear mounted in cooperation with the toothed rod. The lift gear is fixedly connected to a motor shaft of the motor and is driven to rotate by the motor.

A rotation speed detection sensor that recognizes the rotation speed and the rotation angle of the lifting gear by recognizing the teeth of the lifting gear is also provided on the side of the lifting gear.

A robot using the aforementioned self-balancing adjustment support platform.

A self-balancing adjustment method using the aforementioned self-balancing adjustment support platform, comprising the steps of:

(1) The control module drives all motors to rotate at the same time, and controls all foot supports to extend;

(2) When one of the foot supports touches the ground, the control module obtains the current in the motor in real time, and controls the motor to stop when the current in the motor is greater than the preset threshold of the motor;

(3) Repeat step (2) until all motors stop.

After all motors stop, that is, after all foot supports touch the ground, the control module synchronizes the speed adjustment of all motors and controls the motors to continue to rotate until the extension distance of all foot supports reaches the preset parameter, then the control module controls all the The motor stops and reports that the support balance is complete.

When the extension distance of all the legs reaches the preset parameter, the control module obtains the current of each motor, and judges whether the current of each motor is greater than or equal to the preset balance value corresponding to it, and if so, the control module controls all the motors stop, and report that the support balance is completed; if not, the control module reports a fault.

Beneficial effects: The self-balancing adjustment support platform based on current feedback of the present invention has a simple structure and high reliability, and can realize automatic adjustment and balance only by relying on the proximity sensor, while reducing the size of the electric support module. At the same time, when the ground is uneven (with protrusions, pits, etc.), the present invention can realize self-adaptive balance adjustment of the trolley, ensure the stability of the trolley, and ensure the normal use of the trolley.

Description of drawings

FIG. 1 is a structural diagram of the whole machine with the supporting platform of the present invention installed.

FIG. 2 is a diagram of a support platform of the present invention.

3 is a cross-sectional view of the electric support module of the present invention.

FIG. 4 is an axonometric view of the electric support module of the present invention.

FIG. 5 is a schematic diagram of the internal structure of the electric support module of the present invention.

FIG. 6 is a control flow chart of the present invention.

Among them, 1. Electric support module, 2. Gear box cover, 3. Driven gear, 4. Bearing, 5. Gear box, 6. Nut, 7. Lead screw, 8. Inner cylinder, 9. Outer cylinder, 10 .End flange, 11. Foot support, 12. Plug, 13. Motor assembly, 14. Drive gear, 15. Retraction detection sensor, 16. Adapter, 17. Speed detection sensor, 20. Robot assembly machine, 21. Chassis components.

Detailed ways

The present invention will be further illustrated below in conjunction with the accompanying drawings and specific embodiments.

FIG. 1 is a structural diagram of the whole machine with the supporting platform of the present invention installed. As shown in FIG. 1 , it includes a complete robot 20 and a support platform, and an internal power supply and a control module are installed in the complete robot 20 . As shown in FIG. 2 , the support platform includes a chassis assembly 21 and an electric support module 1 installed at the four corners of the chassis assembly 21; further, support holes are symmetrically opened at the four corners of the chassis assembly 21, and are fixedly installed in the support holes There is an electric support module 1 to achieve four-point support.

Fig. 3 is a sectional view of the electric support module of the present invention. As shown in Fig. 3, the electric support module 1 includes a gear box cover 2, a driven gear 3, a bearing 4, a gear box 5, a nut 6, a lead screw 7, an inner cylinder 8. The outer cylinder 9, the end flange 10, the foot support 11, the plug 12, the motor assembly 13 and the driving gear 14; wherein, the motor assembly 13 is fixedly installed on the gear end cover on the lower end face of the gearbox 5 by screws , the motor assembly 13 is connected with the control module in the whole robot 20 and controlled by the control module; the control module obtains the current of the motor assembly 13 in real time; the driving gear 14 is arranged in the gearbox 5 and fixedly installed in the motor assembly On the output shaft of 13, it rotates with the output shaft; in the gear box 5 through the bearing 4, a screw rod 7 is rotated and installed, and a driven gear 3 is fixedly installed on the upper end of the screw rod 7, and the driven gear 3 meshes with the driving gear 14, and The driven gear 3 is driven to rotate by the driving gear 14, thereby driving the lead screw 7 to rotate; a nut 6 is installed on the lower end of the lead screw 7 through threaded fitting; The gear end cover is fixedly installed on the end face by screws, and the outer side wall of the upper end of the outer cylinder 9 is provided with a mounting block extending radially outward, and the outer cylinder 9 is fixedly connected with the gear end cover on the lower end face of the gear box 5 by screws through the mounting block. In order to realize the fixed connection between the outer cylinder 9 and the gear box 5; the inner cylinder 8 is arranged in the outer cylinder 9; the outer diameter of the inner cylinder 8 is smaller than the inner diameter of the outer cylinder 9, and can slide in the outer cylinder 9; the inner cylinder 8 is sleeved Outside the nut 6, and is fixedly connected with the nut 6 by screws; since the screw rod 7 is fixedly installed on the inner ring of the bearing 4, the rotation of the screw rod 7 can drive the nut 6 to move up and down, thereby driving the inner cylinder 8 up and down sports. A foot support 11 is fixed and installed on the lower end surface of the inner cylinder 8 by screws, and the foot support 11 can move with the up and down movement of the inner cylinder 8 .

In the present invention, the outer side wall of the inner cylinder 8 is provided with an axial long groove notch, and a plug 12 is installed at the lower end of the inner side wall of the outer cylinder 9 corresponding to the long groove notch. The long groove notch on the wall restricts the rotational movement of the inner cylinder 8 and can limit the length of the inner cylinder 8 extending out of the outer cylinder 9 at the same time.

In the present invention, an end flange 10 is also fixedly installed on the lower end surface of the outer cylinder 9. As shown in Figures 3 and 4, a retraction detection sensor 15 is fixedly installed on the end flange 10 through an adapter 16. The retraction detection sensor 15 is installed parallel to the axis of the lead screw 7, and is used to detect the upper end surface of the foot support 11. When the upper end surface of the foot support 11 is retracted close to the retraction detection sensor 15, the retraction detection sensor 15 is blocked by a signal and fed back to the robot The control module, the robot control module stops the rotation of the motor, and then stops the retraction of the inner cylinder 8 to limit the retracted position of the inner cylinder 8 .

As shown in FIG. 5 , a rotational speed detection sensor 17 is also fixedly installed in the gearbox 5 under the driven gear 3 , and is installed under the driven gear 3 at any position in the circumferential direction where the teeth of the driven gear 3 are located. The axis is installed parallel to the axis of the lead screw 7, and the rotational speed and rotation angle of the driven gear 3 are identified by identifying the teeth of the driven gear 3.

The electric support module 1 is powered by the internal power supply of the whole robot 20, and the motor is driven and controlled by its control module; the motor assembly 13 drives the lead screw 7 to rotate through the meshing of the gear pair, and then through the cooperation of the lead screw nut pair , push the inner cylinder 8 to move up and down, and then drive the foot support 11 to move up and down in a straight line;

The rotational speed detection sensor 17 can detect and obtain the number of rotating teeth of the driven gear 3 per unit time in real time, and then can convert the rotation angle and even the angular velocity of the driven gear 3 per unit time; The fixed rotation angle of the driven gear 3 or the rotation angle of the motor, etc.) can control the extension length of the foot support 11; 3 teeth and the position where the number of teeth changes.

When the control module drives the motor to reverse, the inner cylinder 8 drives the foot support 11 to retract. When the upper end surface of the foot support 11 retracts and approaches the retraction detection sensor 15, the retraction detection sensor 15 is blocked and sends a signal back to the control module. , the control module stops the rotation of the motor, thereby stopping the retraction of the inner cylinder 8 .

In the present invention, the structure of the aforementioned electric support module adopts a screw nut structure, but the present invention is not limited to this, and can also be designed as a toothed rod assembly, specifically: the top of the foot support 11 is fixedly connected with the toothed rod, On the side of the toothed rod, a lifting gear that meshes with it is rotatably installed. The lifting gear is fixedly connected with the motor shaft of the motor, and is driven to rotate by the motor, so as to drive the lifting and lowering of the toothed rod meshing with it, thereby driving the foot support 11 to move up and down. Movement up and down. Correspondingly, the rotational speed detection sensor 17 is installed on the side of the lifting gear at any position in the circumferential direction where the teeth of the lifting gear are located, and its axis is installed in parallel with the axis of the motor shaft. Rotation angle: In the present invention, the installation method of the rotational speed detection sensor 17 is not single, as long as it is installed at a position where the teeth of the lifting gear and the change of the number of teeth can be detected and recognized.

FIG. 6 is a control flow chart of the present invention. As shown in FIG. 6 , the control module simultaneously drives the motor assemblies 13 of the electric support modules 1 at the four corners of the four chassis assemblies 21 to rotate forward, thereby pushing the inner cylinder 8 to extend. When the foot support 11 of the first electric support module contacts the ground, the current of the motor assembly 13 becomes larger, and the control module can monitor the current of the motor assembly 13 in real time. When the current value is greater than the preset threshold value A of the motor assembly current of the electric support module inside the control module, the control module stops the motor assembly of the electric support module, and then stops the movement of the first electric support module; when When the foot support 11 of the second electric support module touches the ground, when the current value of its motor assembly 13 is greater than its corresponding predetermined threshold value B inside the control module, the control module stops the movement of the second electric support module, and controls the control module in turn. The third and fourth electric support modules; the current thresholds of the motor assemblies of each electric support module in the control module are not necessarily the same, and can be preset; when all the foot supports 11 of the electric support modules have touched the ground and stopped , the control module obtains the rotation angle of the driven gear 3 through the rotational speed detection sensor 17; and synchronizes the speed adjustment of all the electric support modules, when the total extension distance reaches the preset parameter (that is, the length used to support the entire support platform) The extension distance of the foot support 11, here can be set as the rotation angle of the driven gear 3), and the current value is greater than or equal to the preset balance value, then the control module stops the extension of the support module, and reports that the support balance is completed; thus Precisely control the extension lengths of the four electric support modules 1 to ensure that the extension lengths are consistent, so as to automatically adjust and balance the entire robot 20 .

According to the principle of determining a plane from three points, the first three electric support modules 1 first contact the ground to form a plane, and the elongation of the fourth electric support module 1 can be accurately controlled through current feedback, thereby ensuring the fourth electric support module. The foot support 11 of 1 is on the same plane as the front three points, which realizes the automatic adjustment and balance of the robot trolley in any plane.

The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above-mentioned embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations (such as quantity, shape, etc.) can be performed on the technical solutions of the present invention. , position, etc.), these equivalent transformations all belong to the protection scope of the present invention.

Claims

A self-balancing adjusting support platform is characterized in that: comprising:

at least three foot supports for supporting the supporting platform and controlling the lifting and lowering through its corresponding motors;

The control module is used to control the rotation and stop of each motor and obtain the current of each motor in real time.
The self-balancing adjusting support platform according to claim 1, wherein the foot support further comprises a lifting assembly, and the motor realizes the lifting and lowering of the foot support by driving the lifting assembly.
The self-balancing adjusting support platform according to claim 2, wherein the lifting assembly comprises a screw rod and a lifting block threadedly matched with the screw rod.
The self-balancing adjusting support platform according to claim 3, wherein a driven gear is provided on the screw rod, a driving gear is meshed with the driven gear, and the motor shaft of the motor is connected to the driving gear. Fixed connection.
The self-balancing adjusting support platform according to claim 4, characterized in that: the side of the driven gear is further provided with a rotational speed detector for identifying the rotational speed and the rotational angle of the driven gear by identifying the teeth of the driven gear sensor.
The self-balancing adjusting support platform according to claim 3, characterized in that: an outer cylinder is arranged outside the screw rod, an axial long groove is notched on the side wall of the lifting block, A plug is installed at the lower end of the inner side wall of the cylinder corresponding to the gap in the long groove, and the plug and the gap in the long groove are matched to limit the rotational movement of the lifting block and the length of the block extending out of the outer cylinder.
The self-balancing adjustment support platform according to claim 1, wherein the support platform further comprises a detection sensor for detecting the displacement of the foot support, and the detection sensor feeds back the displacement of the foot support to the control module, and when the foot support retracts to a preset threshold, the control module controls the corresponding motor to stop.
The self-balancing adjusting support platform according to claim 2, wherein the lifting assembly comprises a toothed rod installed vertically slidably and a lifting gear installed in cooperation with the toothed rod, and the lifting gear is connected to the toothed rod. The motor shaft of the motor is fixedly connected, and is driven to rotate by the motor.
The self-balancing adjusting support platform according to claim 8, wherein a rotation speed detection sensor for identifying the rotation speed and rotation angle of the lifting gear is further provided on the side of the lifting gear by identifying the teeth of the lifting gear.
A robot using the self-balancing adjustment support platform according to any one of claims 1 to 9.
A self-balancing adjustment method using the self-balancing adjustment support platform according to any one of claims 1 to 9, characterized in that: comprising the steps of:

(1) The control module drives all motors to rotate at the same time, and controls all foot supports to extend;

(2) When one of the foot supports touches the ground, the control module obtains the current in the motor in real time, and controls the motor to stop when the current in the motor is greater than the preset threshold of the motor;

(3) Repeat step (2) until all motors stop.
The self-balancing adjustment method according to claim 11, characterized in that: after all motors stop, that is, after all foot supports are in contact with the ground, the control module synchronizes the speed adjustment of all motors, and controls all motors to continue to rotate until all feet are in contact with the ground. When the extension distance reaches the preset parameter, the control module controls all motors to stop, and reports that the support balance is completed.
The self-balancing adjustment method according to claim 12, wherein the control module obtains the current of each motor and determines whether the current of each motor is greater than or equal to the value when the extension distance of all the foot supports reaches a preset parameter. The corresponding preset balance value, if yes, the control module controls all motors to stop, and reports that the support balance is completed; if not, the control module reports a fault.