WO2023169377A1

WO2023169377A1 - Multi-degree-of-freedom master manipulators, robot, and minimally invasive robotic surgery system

Info

Publication number: WO2023169377A1
Application number: PCT/CN2023/079918
Authority: WO
Inventors: 陈晓红; 黄善灯; 柏龙; 潘鲁锋
Original assignee: 诺创智能医疗科技(杭州)有限公司
Priority date: 2022-03-07
Filing date: 2023-03-06
Publication date: 2023-09-14

Abstract

Disclosed in the present application are multi-degree-of-freedom master manipulators, a robot and a minimally invasive robotic surgery system. A multi-degree-of-freedom master manipulator comprises a movable platform, a static platform and three branches respectively connected to the movable platform and the static platform; the branches are rotatably connected to the static platform by means of first connection assemblies, the branches having two rotational degrees of freedom relative to the static platform; the branches are rotatably connected to the movable platform by means of second connection assemblies, the branches having at least two rotational degrees of freedom relative to the movable platform. The multi-degree-of-freedom master manipulator further comprises a rotation driving assembly and a handle, the rotation driving assembly being used for driving the branches to rotate relative to the static platform, and the handle being provided on the movable platform.

Description

Multi-degree-of-freedom main hand, robot, and minimally invasive surgical robot system

Technical field

The present disclosure relates to the field of robotic technology, and in particular, to a multi-degree-of-freedom main hand, a robot, and a minimally invasive surgical robot system.

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 main operator serves as an interactive device between the operator and the robot, transmitting the posture, speed and other information given by the operator to the slave device. It can also transmit to the operator the information received from the slave system. Environmental information such as force/torque is provided 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 main hand. The delta main hand usually includes a moving platform, a static platform, and three branch chains 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 existing delta main hand cannot perform posture control.

Contents of the invention

The present disclosure aims to provide a multi-degree-of-freedom main hand, a robot, and a minimally invasive surgical robot system that can perform posture control.

In a first aspect, the present disclosure provides a multi-degree-of-freedom main hand, including a moving platform, a static platform, and three branch chains respectively connected to the moving platform and the static platform; the branch chains pass through a first connecting component It is rotatably connected to the static platform, and the branch chain has two degrees of rotational freedom relative to the static platform; the branch chain is rotatably connected to the moving platform through a second connecting component, and the branch chain is rotatably connected to the moving platform relative to the static platform. The moving platform has at least two rotational degrees of freedom; the multi-degree-of-freedom main hand also includes a rotational drive assembly and a handle. The rotational drive assembly is used to drive the branch chain to rotate relative to the static platform. The handle is configured on the moving platform. The branch chain of this technical solution has two degrees of freedom of rotation relative to the static platform, and has at least two degrees of freedom of rotation relative to the moving platform. Not only does it have a high degree of freedom, but the branch chain can be driven by the rotating drive assembly to rotate relative to the static platform, thereby driving and The moving platform connected by branch chain rotation can adjust the posture, which effectively solves the problem in the prior art that the main hand cannot perform posture control, and the wiring of the main hand in this technical solution is simple.

In a second aspect, the present disclosure provides a multi-degree-of-freedom main hand, including a moving platform, a static platform, and N branch chains rotatably connected between the moving platform and the static platform, where N≥2, each One end of the branch chain is rotatably connected to the moving platform. Each branch chain includes a linear shaft. A linear motor is set on the linear shaft. The linear motor is used to drive the corresponding branch chain relative to the moving platform. The linear motor moves. N rotary motors are fixed on the static platform. Each linear motor is rotationally connected to a corresponding rotary motor on the static platform. The rotary motor is used to drive the corresponding rotary motor. The branch chain rotates relative to the static platform. This technical solution uses a rotary motor to drive the branch chain to rotate relative to the static platform, and a linear motor to drive the branch chain to translate, and then drives the moving platform connected to the branch chain to move and/or rotate, so that the main hand can simultaneously achieve force feedback and Attitude control solves the problem of few degrees of freedom and inability to perform attitude control in the existing technology.

In a third aspect, embodiments of the present invention provide a main hand capable of attitude control. The main hand is applied to a robot. The main hand includes a moving platform and a static platform, and rotates with the moving platform and the static platform. N connected branch chains, where N ≥ 2, are fixedly connected to the static platform with N rotating motors arranged obliquely relative to the horizontal top surface of the static platform, and each branch chain is connected to a motor for driving the static platform. A linear motor that moves the branch chain along a straight line. Each rotary motor is rotationally connected to a corresponding linear motor to drive the corresponding branch chain to rotate relative to the static platform.

In a fourth aspect, embodiments of the present invention provide a main hand with a small volume, which is used in robots. The main hand includes a moving platform, a static platform, and is rotatably connected to the moving platform and the static platform. N branch chains, where N ≥ 2, N rotating motors are fixedly connected to the static platform, each of the rotating motors is rotationally connected to a corresponding branch chain, and the N rotating motors are configured as The N branch chains are inclined and gathered toward the moving platform relative to the central axis of the static platform.

In a fifth aspect, embodiments of the present invention provide a main hand driven by a linear motor. The main hand is used in a robot. The main hand includes a moving platform and a static platform, and rotates with the moving platform and the static platform. N connected branch chains, where N≥2, each branch chain is connected to a first linear motor and a second linear motor, and the first linear motor is used to drive the corresponding branch chain relative to the The first linear motor moves along a straight line, and the second linear motor is used to drive the corresponding branch chain to rotate relative to the static platform.

In a sixth aspect, embodiments of the present invention provide a main hand applied to a robot. The main hand includes a moving platform, a static platform, and N supports that are rotationally connected to the moving platform and the static platform. Chain, where N≥2, each branch chain is driven by a linear motor to rotate relative to the static platform.

In the seventh aspect, embodiments of the present invention provide a main hand that is easy to operate. The main hand is applied to a robot. The main hand includes a moving platform, a static platform, and a rotating platform that is rotatably connected to the moving platform and the static platform. N branch chains, where N≥2, the moving platform includes a circumferentially extending main body and a receiving cavity enclosed by the main body. The main body has circumferentially opposite first and second ends. , a gap communicating with the receiving cavity is formed between the first end and the second end, and a handle fixedly connected to the main body is provided in the receiving cavity, and the handle is opposite to the gap. .

In an eighth aspect, embodiments of the present invention provide a main hand with a position calibrator. The main hand is used in a robot. The main hand includes a moving platform, a static platform, and a moving platform and a static platform. N branch chains are rotationally connected, where N ≥ 2. The main hand also includes the position calibrator for calibrating the initial position of the moving platform. The position calibrator includes a third link connected to the moving platform. A support member and a second support member connected to the static platform. The first support member and the second support member are detachably connected.

In the ninth aspect, embodiments of the present invention provide a main hand with high flexibility, which is used in robots. The main hand includes a moving platform, a static platform, and And N branch chains that are rotationally connected to the moving platform and the static platform, where N≥2, the main hand includes N first connectors and N second connectors, and each branch chain passes through A first connecting piece and a second connecting piece are rotatably connected to the moving platform, wherein each branch chain is rotatably connected to a second connecting piece and can rotate with each other around the Z axis, and each branch chain is rotatably connected to the second connecting piece. One of the second connecting parts is rotationally connected to a corresponding first connecting part and can rotate relative to each other around the X axis. Each corresponding first connecting part is rotationally connected to the moving platform and can rotate around each other around the Y axis. The axis rotates, and the X, Y, and Z axes are vertical in pairs.

In the tenth aspect, embodiments of the present invention provide a main hand with high stability. The main hand is used in robots. The main hand includes a moving platform and a static platform, and rotates with the moving platform and the static platform. N connected branch chains, where N≥2, the branch chain includes an upper support member that is rotationally connected to the moving platform, a sliding rod that is connected to the upper support member, and a fixedly connected and connected upper support member to the upper support member. A side support member opposite to the sliding rod. A linear motor is mounted on the sliding rod. The linear motor is rotationally connected to the static platform and is used to drive the sliding rod to move. The side support member is provided with a linear motor. A plurality of weight-reducing holes are arranged at intervals along the length direction of the side support member.

Description of the drawings

Figure 1 is a schematic diagram of a surgical robot system according to an embodiment of the present disclosure;

Figure 2 is a schematic diagram of the operating components of the surgical robot system shown in Figure 1;

Figure 3 is a three-dimensional schematic diagram of a multi-degree-of-freedom main hand according to the first embodiment of the present disclosure;

Figure 4 is a partially exploded view of the multi-degree-of-freedom main hand shown in Figure 3, with one bracket not shown;

Figure 5 is a partial exploded view of the multi-degree-of-freedom main hand shown in Figure 4;

Figure 6 is a three-dimensional schematic diagram of a multi-degree-of-freedom main hand according to the second embodiment of the present disclosure;

Figure 7 is a schematic three-dimensional structural diagram of the multi-degree-of-freedom main hand shown in Figure 6 from another perspective;

Figure 8 is a schematic three-dimensional structural diagram of the moving platform and handle of the multi-degree-of-freedom main hand shown in Figure 6;

Figure 9 is an exploded view of the moving platform and handle shown in Figure 8;

Figure 10 is a partial enlarged view of the second connection component between the moving platform of the multi-degree-of-freedom main hand and a chain shown in Figure 6;

Figure 11 is a cross-sectional view of the second connection component shown in Figure 10;

Figure 12 is an exploded view of the second connection component shown in Figure 10;

Figure 13 is a schematic three-dimensional structural diagram of a chain of the multi-degree-of-freedom main hand shown in Figure 6;

Figure 14 is an exploded view of the branch chain shown in Figure 13;

Figure 15 is a schematic three-dimensional structural diagram of a chain of the multi-degree-of-freedom main hand shown in Figure 6 from another perspective;

Figure 16 is an exploded view of the branch chain shown in Figure 15;

Figure 17 is a schematic three-dimensional structural diagram of the static platform of the multi-degree-of-freedom main hand shown in Figure 6 and one of its branches;

Figure 18 is a cross-sectional view of the static platform and branch chains shown in Figure 17;

Figure 19 is an exploded view of the first connection component between the static platform and the branch chain shown in Figure 17;

Figure 20 is a schematic three-dimensional structural diagram of the position calibrator between the moving platform and the static platform of the multi-degree-of-freedom master hand shown in Figure 6;

Figure 21 is an exploded view of the position calibrator between the moving platform and the static platform shown in Figure 20;

Figure 22 is another three-dimensional structural schematic diagram of the position calibrator shown in Figure 20;

Figure 23 is a cross-sectional view of the position calibrator shown in Figure 22;

Figure 24 is a schematic three-dimensional structural view of the first support member of the position calibrator shown in Figure 22;

Figure 25 is a schematic three-dimensional structural view of the second support member of the position calibrator shown in Figure 22;

Figure 26 is a schematic three-dimensional structural diagram of a multi-degree-of-freedom main hand according to the third embodiment of the present disclosure;

Figure 27 is a schematic three-dimensional structural diagram of the static platform of the main hand and one of the brackets shown in Figure 26;

Figure 28 is an exploded view of the first connection component between the static platform and the bracket shown in Figure 27;

Figure 29 is a partial enlarged view of the main hand shown in Figure 26;

Figure 30 is a partial exploded view of the main hand shown in Figure 26.

Figure 31 is a schematic three-dimensional structural diagram of a robotic arm according to an embodiment of the present disclosure;

Figure 32 is a schematic diagram of the layout principle of the rotation drive assembly of the robotic arm shown in Figure 31;

Figure 33 is a schematic diagram of the force analysis of one of the chains of the robotic arm shown in Figure 31;

Figure 34 is another modification of the robotic arm shown in Figure 31;

Figure 35 is a front view of the mechanical arm in Figure 34 when it is arranged laterally;

Figure 36 is a side view of the mechanical arm in Figure 34 when it is arranged laterally;

Figure 37 is a schematic three-dimensional structural diagram of a robotic arm according to another embodiment of the present disclosure;

Fig. 38 is a partial structural diagram of the robotic arm shown in Fig. 37.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments These are some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of this disclosure.

In the description of the present disclosure, 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 those shown in the accompanying drawings. The orientation or positional relationship shown is only to facilitate the description of the present disclosure and simplify 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 a limitation of the present disclosure. limit.

In this disclosure, unless otherwise explicitly 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. , or it can 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, or an internal connection between two elements or two elements. interactions, unless otherwise expressly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this disclosure can be understood according to specific circumstances. The technical solutions of the present disclosure 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 noting 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, such as the first linear motor that will be described below, or that can move relative to the components connected to it. A motor that performs linear motion, such as a second linear motor that will be described below. A rotary motor refers to a motor that is used to drive the parts connected to it to perform rotational motion.

Referring to FIGS. 1 to 2 , a minimally invasive surgical robot system 100 according to an embodiment of the present disclosure includes an operating component 101 , a surgical robotic arm 102 , and an image processing device 103 . The operation component 101 is used for an operator (such as a doctor) to actively control the operation, and includes a controller 105 . The surgical robot arm 102 is used to respond to the operator'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. Surgical robotic arm 102 includes sensors 107 . The image processing device 103 is coupled to the endoscope, and presents the surgical image peeked by the endoscope in real time, so that the operator can view the movement trajectory of the surgical instrument and the surgical process. The operating component 101 adopts or includes a multi-degree-of-freedom main hand which will be described in detail below. It can be understood that the main hand of the present disclosure is not limited to surgical robots used in the medical field, but can also be used in robots in other fields, such as exploration of dangerous spaces, mass entertainment, industrial production and other fields.

During surgery, the operator (doctor) can use the operating component 101 to transmit instructions to the surgical robot arm 102 through the controller 105 to cause the surgical instrument to move. The sensor 107 of the surgical robot arm 102 transmits the action data of the surgical instrument to the operating component 101 through the controller 105, so that the action data of the surgical instrument is fed back to the operating component 101, thereby realizing the doctor's communication with the mechanical information of the surgical instrument during the surgical operation. Interaction enables doctors to simulate real surgical operations of surgical instruments.

Referring to Figure 3, the multi-degree-of-freedom main hand 200 of the first embodiment of the present disclosure includes a moving platform 210, a static platform 220, a plurality of branch chains 230 respectively connected to the moving platform 210 and the static platform 220, and for The rotation drive assembly 240 drives the branch chain 230 to rotate relative to the static platform 210 . The branch chain 230 is rotationally connected to the static platform 210 through a first connecting component 250 , and the branch chain 230 has two rotational degrees of freedom relative to the static platform 210 . The branch chain 230 is rotationally connected to the moving platform 210 through the second connecting component 260 , and the branch chain 230 has at least two degrees of rotational freedom relative to the moving platform 210 .

The branch chain 230 in this embodiment has two rotational degrees of freedom relative to the static platform 220, and has at least two rotational degrees of freedom relative to the moving platform 210. Not only is the degree of freedom high, but the branch chain 230 can be driven by the rotational driving assembly 240 to rotate relative to the static platform. 220 rotates, and then drives the moving platform 210 that is rotationally connected to the branch chain 230 to adjust the posture, which effectively solves the problem in the prior art that the main hand cannot perform posture control, and the wiring of the main hand in this embodiment is simple.

Preferably, the plurality of branch chains 230 include at least three branch chains 230 arranged in parallel, so that the transmission errors of the branch chains 230 will not be accumulated and transmitted, and partial mutual cancellation is also achieved, thereby improving the control accuracy and stiffness of the main hand 200 , avoiding the defects of progressively increasing errors, low stiffness and relatively low precision in the series structure in the prior art. It is also preferred that the plurality of branch chains 230 include exactly three branch chains 230 to minimize the possibility of motion interference between the branch chains 230 and between the branch chains 230 and the dynamic and static platforms 210 and 220, thereby maximizing the expansion of the main hand. 200° range of motion and ease of installation.

It is also preferred that the plurality of branch chains 230 are evenly spaced in the circumferential direction. Therefore, the structure of the main hand 200 is more stable and the force distribution is more balanced. When the main hand 200 is arranged in the horizontal direction, the gravity of the branch chain 230 and the moving platform 210 can be distributed as evenly as possible on the three branch chains 230. The rotation drive assembly 240 has low power loss.

Preferably, the plurality of branch chains 230 are tilted and gathered relative to the central axis of the static platform 220 toward the moving platform 210 to reduce the overall volume of the main hand 200 so that the doctor's arm can fit into the moving platform within a smaller space. 210 degree of movement, thereby making it easier to adjust the position of surgical instruments.

Referring to Figure 4, in this embodiment, the branch chain 230 includes a moving part and a connecting part, where the moving part is a moving rod, preferably a screw rod 233, and the connecting part is a first linear motor set on the screw rod 233. 234, the screw rod 233 can be driven and moved by the first linear motor 234. In this embodiment, the rotation drive component 240 is a rotation motor 240 disposed on the static platform 220 . The first linear motor 234 is rotatably connected to a corresponding rotary motor 240 . It can be understood that, corresponding to the three branch chains 230 , the number of the first linear motor 234 and the rotary motor 240 in this embodiment is also three.

It is worth noting that the “connection part” in this article refers to the part of the branch chain used to connect to the static platform through the first connecting component, and the “moving part” refers to the part of the branch chain used to connect to the moving platform through the second connecting component. part, and it can move relative to the connecting part. The "connecting part" can be used as a driving source to directly drive the "moving part" to move. For example, the servo motor of the linear electric cylinder can be used as the "connecting part", such as the first linear motor 234 in this embodiment, and the wire of the linear electric cylinder can be used as the "connecting part". The rod can serve as the "moving part", such as the screw rod 233 in this embodiment. Alternatively, the "connecting part" can also be used only as a relatively stationary connecting mechanism, such as the connecting rod 1310 described below with reference to Figure 31, while the "moving part" is driven by other driving sources to move relative to the "connecting part", for example The moving rod 1320 will be described below with reference to FIG. 31 .

It can be seen that the main hand of this embodiment has a total of 6 driving quantities, which are three rotating motors 240 on the static platform 220 and three first linear motors 234 on the three branch chains 230, and the first linear motors 234 Rotatingly connected to a corresponding rotating motor 240, one end of the three branch chains 230 is also rotationally connected to the moving platform 210 respectively. Therefore, the main hand 200 of this embodiment can achieve 6 degrees of freedom of movement.

Preferably, the first connection component 250 adopts a Hooke hinge with 2 degrees of freedom (U pair). Specifically, the first linear motor 234 of the branch chain 230 passes through a Hooke hinge with 2 degrees of freedom (U pair). ) is connected to the rotating motor 240 on the static platform 220; the second connection component 260 adopts a 3-degree-of-freedom mechanism such as a spherical hinge (S pair); and as mentioned above, each branch chain 230 includes a link that can be relative to the first The linear motor 234 moves (ie P amplitude) the screw rod 233 . In other words, the main hand 200 of this embodiment is preferably a 3-UPS main hand with 6 degrees of freedom.

In this embodiment, each branch chain 230 has the same structure. Only one of the branch chains 230 will be used as an example for explanation below. The other branch chains 230 are similar and will not be described again. Specifically, referring to Figure 4, the branch chain 230 also includes a long bracket 235 and a first slide rail 2355 fixed on the bracket 235. The bracket 235 is connected to the screw rod 233. A first slider 2385 is fixedly connected to the first linear motor 234 , and the first slider 2385 is slidingly connected to the first slide rail 2355 .

More specifically, the bracket 235 includes a long bottom plate 2351, two opposite side plates 2352 extending from the bottom plate 2351 along its length, and upper supports 2353 and 2353 respectively located at both ends of the length of the bottom plate 2351. Lower support 2354. In this embodiment, the bottom plate 2351 and the two opposite side plates 2352 are integrally formed. The upper support 2353 and the lower support 2354 are respectively fixed to both ends of the length of the bottom plate 2351 by screws. In other embodiments, the bracket 235 can be formed as an integral piece, that is, the upper support 2353 and the lower support 2354 can also be integrally formed with the bottom plate 2351 and the two opposite side plates 2352. The first slide rail 2355 is in the shape of a long strip and is fixed along the length of the first slide rail 2355 in the length direction of the bottom plate 2351 of the bracket 235 through a plurality of screws. The first slide block 2385 is slidably fitted on the side of the first slide rail 2355 away from the bottom plate 2351 .

In this embodiment, the first linear motor 234 is further fixed with a connecting base 238 through screws, for example. The connecting seat 238 includes a plate-shaped middle section 2381 and two ear portions 2382 extending vertically from opposite sides of the middle section 2381 respectively. The first slide block 2385 is fixed on the middle section 2381 of the connecting base 238 by, for example, screws. Therefore, the screw rod 233 and the bracket 235 can stably slide relative to the first linear motor 234 through the cooperation of the first slide rail 2355 and the first slide block 2385 .

In this embodiment, both ends of the screw rod 233 are inserted into the upper support 2353 and the lower support 2354 of the bracket 235 respectively. Preferably, the branch chain 230 further includes a first limiting sleeve 2356 and a second limiting sleeve 2357 respectively sleeved on both ends of the screw rod 233 . Specifically, the first limiting sleeve 2356 abuts against the lower end surface of the upper support 2353 , and the second limiting sleeve 2357 abuts against the upper end surface of the lower support 2354 . In this embodiment, the length of the first limiting sleeve 2356 is greater than the length of the second limiting sleeve 2357. The first linear motor 234 is located between the first limiting sleeve 2356 and the second limiting sleeve 2357 . The design of the first limit sleeve 2356 and the second limit sleeve 2357 helps prevent the screw rod 233 from moving excessively relative to the first linear motor 234 so that the first linear motor 234 separates from the screw rod 233 and gives the screw rod 233 a fixed position. Movement stroke.

In this embodiment, the branch chain 230 further includes a first grating scale 236 fixed on one of the side plates 2352 of the bracket 235 and a first grating scale fixedly connected to the first linear motor 234 Readhead 237. Specifically, a fixing bar 2371 is fixed on the first grating scale reading head 237 . The fixing bar 2371 is generally bent at 90°, with one end fixedly connected to the first grating scale reading head 237 through screws, and the other end connected to the top of the middle section 2381 of the connecting seat 238 through screws. Fixed connection, thereby achieving fixed connection with the first linear motor 234. When the screw rod 233 moves relative to the first linear motor 234, the bracket 235 connected to the screw rod 233 and the first grating scale 236 fixedly connected to the bracket 235 also move synchronously with the screw rod 233, so that they are connected to the first linear motor. The first grating scale reading head 237 fixedly connected to 234 can detect the displacement of the first grating scale 236, that is, the displacement of the branch chain 230.

As mentioned above, in this embodiment, the first linear motor 234 is connected to the rotating motor 240 on the static platform 220 through the first connection component 250 (2-degree-of-freedom Hooke joint). In other words, the first connection assembly 250 includes a first rotation axis and a second rotation axis such that the first branch chain motor 234 (and therefore the branch chain 230 ) can rotate about the first rotation axis of the first rotation axis and about the second rotation axis. The second axis of rotation of the shaft rotates, providing 2 degrees of freedom of motion. Specifically, the first connection component 250 includes a connection bracket 2510 and a pin 2530, and a first bearing component 2530 connected between the connection bracket 2510 and the pin 2530. In this embodiment, the connecting bracket 2510 includes a hollow cylindrical first section 2511 and a U-shaped second section 2512 that is vertically connected to the first section 2511 of the connecting bracket 2510 . The first section 2511 of the connecting bracket 2510 covers the output shaft of the rotating electrical machine 240 and is fixedly connected to the output shaft of the rotating electrical machine 240 . That is, the first section 2511 can be regarded as the third section of the first connecting component 250 . An axis of rotation. Accordingly, the pin 2530 can be regarded as the second rotation axis of the second assembly 250 . The second section 2512 of the connecting bracket 2510 is rotationally connected to the ear portion 2382 of the connecting seat 238 via the first bearing assembly 2530 and the pin 2530, thereby being rotationally connected to the first linear motor 234. . It can be seen that the first linear motor 234 (and therefore the branch chain 230) of this embodiment can not only rotate around the central axis of the first section 2511 of the connecting bracket 2510 (ie, the first rotation axis), but also can rotate around the central axis of the pin 2530. The axis (i.e. the second axis of rotation) rotates. Preferably, the first bearing assembly 2530 is a deep groove ball bearing.

In this embodiment, the main hand further includes three angle measuring devices 222 , each angle measuring device 222 is fixed to a Hooke hinge to detect the rotation angle of the first linear motor 234 around the second rotation axis. For example, angle measuring device 222 may be an encoder. Specifically, the detection shaft 2221 of the angle measurement device 222 is coaxially inserted into the pin shaft 2530 and fixed to the connecting bracket 2510 through the fixing piece 2222. Specifically, the fixing piece 2222 has a bent shape, one end thereof is fixed to the angle measuring device 222 , for example, by screws, and the other end is fixed to one of the arms of the second section 2512 of the connecting bracket 2510 , for example, by screws.

In this embodiment, the rotating motor 240 is fixed to the static platform 220 through a fixing bracket 223 . Specifically, the fixed bracket 223 includes a vertical part 2231 fixedly connected to the rotating motor 240, for example, through screws, and a horizontal part 2232, fixedly connected to the static platform 220, for example, through screws. Preferably, the static platform 220 is in the shape of a plate, which can be erected on the ground through other supporting structures. Preferably, the three rotating motors 240 are evenly distributed along the circumference on the static platform 220, that is, The adjacent rotating motors 240 form an included angle of 120°.

As mentioned above, in this embodiment, the upper end of each branch chain 230 is connected to the moving platform 210 through the second connection component 260 (a spherical joint with 3 degrees of freedom). Specifically, referring to FIG. 5 , the ball hinge includes a rotating frame 261 and a second bearing assembly 262 connected to the rotating frame 261 . The rotating frame 261 includes a first section 2611 connected to the screw rod 233 via the upper support 2353, and a U-shaped second section 261 connected to the moving platform 210 via the second bearing assembly 262. Section 2612. The second section 2612 of the rotating frame 261 includes two opposite arm portions 2613.

The peripheral edge of the moving platform 210 is recessed to form three U-shaped notches 2100 for receiving the three second bearing assemblies 262 . Preferably, the three second bearing assemblies 262 are evenly distributed along the circumference of the moving platform 210 , that is, there is an included angle of 120° between adjacent second bearing assemblies 262 . In this embodiment, the second bearing assembly 262 includes a hollow cylindrical bearing housing 2620, a long support shaft 2621 that penetrates the bearing housing 2620 along the axis of the bearing housing 2620, is supported on the bearing housing 2620 and Two first bearings 2622 respectively penetrated at both ends of the long support shaft 2621, two short support shafts 2623 supported on the bearing housing 2620 and perpendicular to the long support shaft 2621, and respectively supported on the rotating frame. The two arm portions 2613 of the second section 2612 of the second section 261 respectively pass through the two second bearings 2624 of the two short support shafts 2623, wherein the long support shaft 2621 is fixedly connected to the moving platform 210, for example, through screws. Preferably, the long support shaft 2621 is fixed on the lower surface of the moving platform 210 facing the static platform 220 to prevent interference and increase the movement range of the moving platform 210 . Preferably, a washer 2625 is disposed between each first bearing 2622 in the second bearing assembly 262 and the wall of the U-shaped notch 2100 of the moving platform 210 . Similarly, a washer 2625 is disposed between each second bearing 2624 in the second bearing assembly 262 and the outer wall of the bearing housing 2620 . The first bearing 2622 and the second bearing 2624 are preferably deep groove ball bearings.

In this embodiment, the main hand 200 further includes a handle 270 fixedly connected to the moving platform 210 . The handle 270 is provided with buttons for the doctor to operate. When operating the main hand 200 of this embodiment, the doctor can release the handle 270 in any posture, and the moving platform 210 will maintain its posture without "falling".

Referring to Figures 6 and 7, the main hand 400 of the second embodiment of the present disclosure has the same basic principles as the main hand of the first embodiment, and also includes a moving platform 410 and a static platform 420, respectively. A plurality of branch chains 430 connected to the static platform 420 and a rotation drive assembly 440 for driving the branch chains 430 to rotate relative to the static platform 420 . The branch chain 430 is rotationally connected to the static platform 420 through a first connecting component 450 , and the branch chain 430 has two rotational degrees of freedom relative to the static platform 420 . The branch chain 430 is rotationally connected to the moving platform 410 through the second connecting component 460 , and the branch chain 430 has at least two degrees of rotational freedom relative to the moving platform 410 . The similarities between the two will not be repeated here, and the differences between the two will be mainly explained below.

Specifically, referring to FIGS. 8 and 9 , similar to the first embodiment, the handle 470 of this embodiment is also provided with a plurality of buttons 4700 . The doctor controls the button 4700 with his finger to send instructions to the surgical robot arm 102 through the controller 101 . The functions of each button 4700 may be the same or different.

In this embodiment, the handle 470 includes an upright portion 471 and a holding portion 472 fixedly connected to the upright portion 471 . The holding portion 472 extends from a top end of the upright portion 471 at a substantially obtuse angle relative to the upright portion 471 . The plurality of buttons 4700 are provided on the upright portion 471 . A protruding fixing block 4710 is provided on the side of the upright portion 471 facing the gripping portion 472 .

Preferably, the moving platform 410 is generally annular, including a main body portion 411 extending generally along the circumferential direction, and a receiving cavity 412 enclosed by the main body portion 411 . The upright portion 471 of the handle 470 is received in the receiving cavity 412 .

In this embodiment, the top end of the main body 411 has a first flange 413 protruding toward the receiving cavity 412 . One or more first connection holes 4130 are provided on the first flange 413 . The first connection hole 4130 may be a blind hole or a through hole. The fixing block 4710 of the handle 470 is provided with one or more second connection holes 4712 corresponding to the one or more first connection holes 4130 . The second connection hole 4712 may be a blind hole or a through hole. Screws or pins are inserted into the first connection hole 4130 and the second connection hole 4712 to securely connect the moving platform 410 and the handle 470 .

It is understood that in other embodiments, the handle may adopt other configurations. The handle can also be fixedly connected to the moving platform 410 through other structures and/or connection methods.

Preferably, the angle at which the main body 411 of the moving platform 410 extends in the circumferential direction is about 360°*(N-1)/N, where N is the number of branch chains 430. It can be seen from FIG. 9 and FIG. 10 that in this embodiment, the angle at which the main body 411 of the moving platform 410 extends in the circumferential direction is approximately 360°*(3-1)/3=240°. That is, the main body portion 411 of the moving platform 410 is configured as a two-thirds ring (ie, a ring that extends two-thirds of a complete circle in the circumferential direction). A gap 4112 is formed between circumferentially opposite first and second ends of the main body 411 . The notch 4112 is connected with the receiving cavity 412 and faces at least one of the buttons 4700 . The doctor can conveniently control the button 4700 on the upright portion 471 at the notch 4112 to avoid interference.

In this embodiment, the moving platform 410 further includes N first connecting columns protruding from the main body 411 for connecting with corresponding branch chains 430 . Specifically, a first connecting column 4110a, 4110c, 4110b protrudes from both circumferential ends of the main body 411 and its circumferential middle portion, and each first connecting column 4110a, 4110c, 4110b has a free end thereof. The recessed first receiving hole 4111 is used to connect the moving platform 410 and the corresponding branch chain 430 . Preferably, the first connecting posts 4110a and 110c at both circumferential ends of the main body 411 protrude toward the notch 4112, and the first connecting posts 4110b at the circumferential middle portion of the main body 411 are substantially tangential to the outer periphery of the main body 411.

Referring to FIGS. 10 to 12 , in this embodiment, the moving platform 410 and the corresponding branch chain 430 are rotationally connected through a second connection component 460 . Preferably, through the second connection component 460, the moving platform 410 can rotate relative to the branch chain 430 around the X, Y, and Z axes of the spatial Cartesian rectangular coordinate system. More preferably, the second connection component 460 includes a first connection part 14 and a second connection part 15, that is, the moving platform 410 rotates with a corresponding branch chain 430 through the first connection part 14 and the second connection part 15. connection, wherein the first connecting piece 14 is rotatably connected to the moving platform 410, and the two can rotate relative to each other around the Y-axis, and the second connecting piece 15 is rotatably connected to the corresponding branch chain 430, and the two can relatively rotate around the Z-axis, The first connecting member 14 and the second connecting member 15 are rotationally connected, and they can rotate relative to each other 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 410 and the branch chain 430 can effectively improve the rotational flexibility of the movable platform 410 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 4110c of the moving platform 410 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 4110c and the ring portion 141 to reduce wear of the first connecting post 4110c 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 connecting element 148 such as a screw or a pin is inserted into the first receiving hole 4111 of the first connecting column 4110c, and is preferably pressed against the second bushing 146 through the gasket 149 to connect the first connecting piece 14, the bushing assembly 144, and the first Connect post 4110c. The connection structure between the first connecting posts 4110a, 4110b and the corresponding first connecting piece 14 can be referred to the first connecting post 4110c, which will not be described again here.

It is understood that in other embodiments, other structures may be used to connect the moving platform 410 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 connecting element 148 such as a screw or a pin is inserted into the second receiving hole 143 of the protruding column 142, and is preferably connected to the second shaft through a gasket 149. The sleeve 146 abuts to connect the first connecting member 14 , the sleeve assembly 144 , and the second connecting member 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 and the branch chain 430 are connected 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 connecting element 148 such as a screw or a pin is inserted into the third receiving hole 164 of the top section 161 and is preferably connected to the third receiving hole 164 through a gasket 149 . The two sleeves 146 push against each other to connect the second connecting piece 15 , the sleeve assembly 144 , and the connecting shaft 16 .

The branch chain 430 has a fourth through hole 4310 . The bottom section 162 of the connecting shaft 16 is inserted into the fourth through hole 4310 of the branch chain 430 and is fixedly connected (for example, tightly fitted) with the branch chain 430 . Similarly, the 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 branch chain 430 through a gasket 149 to connect the branch chain 430 and the connecting shaft 16 .

Preferably, the top and bottom ends of the support section 163 of the connecting shaft 16 are respectively pressed between the first sleeve 145 and the branch chain 430 corresponding to the top section 161 to improve the connection between the second connecting member 15 and the branch chain. Connection stability between 430.

Referring to Figures 13 and 14, in this embodiment, the branch chain 430 includes an upper support member 431, a lower support member 432, and a screw rod 433 connected between the upper support member 431 and the lower support member 432. Preferably, the upper support member 431 and the lower support member 432 are plate-shaped. The fourth through hole 4310 is formed in the upper support member 431 .

A first linear motor 434 is mounted on the screw rod 433 . The first linear motor 434 is used to drive the screw rod 433 to move in a straight line relative to the first linear motor 434 . The upper support member 431 and the lower support member 432 can effectively prevent the screw rod 433 from moving to cause the first linear motor 434 to separate from the screw rod 433 . It is understood that in other embodiments, the lower support member 432 may be omitted.

Referring to Figures 13 to 16, preferably, the branch chain 430 also includes a side support 435 fixedly connected between the upper support 431 and the lower support 432 for fixing (for example, by bonding) First grating scale 436. The side support member 435 is opposite to the screw rod 433 . The first linear motor 434 is also fixedly connected with a first grating scale reading head 437 opposite to the first grating scale 436 . Therefore, when the screw rod 433 linearly moves relative to the first linear motor 434, the upper support member 431 and the lower support member 432 connected to the screw rod 433 are in contact with the upper support member 431 and the lower support member 432. The side support 435 fixedly connected to the lower support 432 and the first grating scale 436 fixedly connected to the side support 435 will also move relative to the first linear motor 434 along with the screw rod 433 . Since the first grating scale reading head 437 is fixedly connected to the first linear motor 434, the first grating scale 436 and the first grating scale reading head 437 move relative to each other, so that the first grating scale reading head 437 can record The moving distance of the first grating scale 436 is also the moving distance of the screw rod 433 relative to the first linear motor 434 .

Preferably, the side support 435 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 435 . The design of multiple weight-reducing holes 350 helps to reduce the weight of the branch chain 430 so that the branch chain 430 can move relative to the first linear motor 434 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 435 .

Preferably, the side support 435 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 431 and the lower support member 432 are respectively fixedly connected to both ends of the first side plate 351 (for example, through screws), and the first linear motors 434 are arranged at intervals on the first side plate. 351 toward the side of the lead screw 433. The first grating scale 436 is fixed to the second side plate 352 . The first grating scale reading heads 437 are arranged at intervals on one side of the second side plate 352 for fixing the first grating scale 436 . That is, the first linear motor 434 and the first grating scale reading head 437 are distributed on different sides of the side support 435 . It is understood that in other embodiments, the side support may also adopt other structures, so that the first linear motor 434 and the first grating scale reading head 437 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 435 is an integral piece to improve the overall strength of the side support member 435.

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 435 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 431 and the lower support member 432 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 431 and the lower support member 432 and the side support member 435 is improved. The first grating scale 436 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 431 and the lower support 432 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 434 can be arranged On one side of the first side plate, the first grating scale 436 can be fixed on a side of the second side plate facing or away from the first side plate.

Preferably, the first linear motor 434 and the first grating scale reading head 437 are fixedly connected through the connection base 38 . Specifically, the connection base 38 includes a first support plate 381 fixedly connected to the first linear motor 434 (for example, through screws), and a first support plate 381 fixedly connected to the first grating scale reading head 437 (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 connecting seat 38 also includes a rib 383 connected between the first support plate 381 and the second support plate 382, and the rib 383 is vertically connected to both the first support plate 381 and the second support plate 382, It is preferably connected vertically to the middle portions of the first support plate 381 and the second support plate 382 to further improve the support strength of the connection base 38 and prevent deformation.

Preferably, the connection base 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 connecting seat 38 is an integral piece to improve the overall strength of the connecting seat 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 434 drives the screw rod 433 to move linearly relative to the first linear motor 434, the upper support member 431 and the lower support member 432 connected to the screw rod 433 and the The side support 435 fixedly connected to the upper support 431 and the lower support 432 , as well as the first grating scale 436 and the first slide rail 355 fixedly connected to the side support 435 will also follow the screw rod 433 to face each other. The first linear motor 434 moves. Since the first grating scale reading head 437 , the first linear motor 434 and the first slide block 385 are fixedly connected through the connecting base 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 branch chain 430 relative to the first linear motor 434 is effectively improved.

Preferably, the first support plate 381 of the connecting seat 38 is generally square, with a protruding rounded portion 386 at a corner away from the second support plate 382 and the third support plate 384, and a middle portion of the rounded portion 386. The second connecting column 387 perpendicular to the rounded portion 386 is used to connect with the static platform 420 .

Specifically, referring to FIGS. 17 to 19 , three rotating motors 440 distributed in the circumferential direction are fixedly connected to the static platform 420 . The connecting bracket 4510 of the first connecting component 450 is fixedly connected to the output shaft 441 of the rotating motor 440. In this embodiment, the connecting bracket 4510 is in the form of a support column 4510. The support column 4510 includes a first connection section 4511 sleeved on the output shaft 441 and fixedly connected to the output shaft 441, a second connection section 4512 for connection to the connection base 38, and a second connection section 4512 connected to the connection base 38. The third connection area 4513 between the first connection section 4511 and the second connection section 4512.

The first connection section 4511 is preferably in the shape of a hollow cylinder. The second connecting section 4512 is preferably semicircular and has a fifth through hole 4514 in the middle. The second connecting post 387 of the connecting base 38 is inserted into the fifth through hole 4514 and is rotationally connected with the second connecting section 4512 . Preferably, a bearing assembly 4515 is provided between the second connecting column 387 and the second connecting section 4512. The second connecting post 387 has a fifth receiving hole 388 recessed from its free end. The pin 4520 of the first connecting component 450 is inserted into the fifth receiving hole 388 of the second connecting column 387 and is preferably pressed against the bearing component 4515 through a gasket 4521 .

The third connection area 4513 preferably protrudes from the first connection section 4511 and the second connection section 4512 and is used to securely connect the angle measuring device - the encoder 422 (for example by screws). The encoder 422 is electrically connected to the first linear motor 434 . When the output shaft 441 of the rotating motor 440 rotates, the support column 4510 fixedly connected to the output shaft 441 rotates, and the branch chain 430 rotatably connected to the support column 4510 through the connecting seat 38 will rotate relative to the static platform 420, and the encoder 422 will record The rotation angle of the connecting base 38 relative to the static platform 420 will also be recorded. Therefore, the rotation angle of the screw rod 433 relative to the static platform 420 will also be recorded.

Preferably, in this embodiment, the angle α at which the central axis L1 of the rotating motor 440 deviates from the central axis L2 of the static platform 420 is not a right angle, preferably an acute angle, more preferably in the range of 30° to 35°, and at most Preferably α=30°. Compared with the first embodiment in which the rotating motor is placed so that its central axis is perpendicular to the central axis of the static platform, this embodiment is more conducive to retracting each branch chain 430 toward the handle 470 so that the doctor's arm can move in a smaller position. The spatial range adapts to the movement of the moving platform 410, thereby making it easier to adjust the position of the surgical instruments.

In this embodiment, the static platform 420 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. 423, used to fix the rotating motor 440. In this embodiment, the fixing frame 423 includes a first fixing plate 4231 that is inclined relative to the top surface of the static platform 420 and a second fixing plate 4232 that is vertically connected to the first fixing plate 4231. Each rotating motor 440 abuts against the second fixing plate 4232 and is fixedly connected to the first fixing plate 4231 (for example, through screws). By designing the deviation angle of the first fixed plate 4231 relative to the central axis L2 of the static platform 420, or the deviation angle of the first fixed plate 4231 relative to the top surface of the static platform (equal to the central axis L1 of the rotating motor 440 relative to the central axis of the static platform 420 L2), thereby realizing the aforementioned deviation angle α of the central axis L1 of the rotating motor 440 relative to the central axis L2 of the static platform 420, and the rotating motor 440 is easy to install. In this embodiment, one side wall of the static platform 420 has a slot 4240 for connecting with other auxiliary accessories (such as a mounting bracket) to stand on the bottom.

Referring to Figure 20, in order to avoid accumulated position errors on the moving platform 410 after multiple uses of the main hand 400, preferably, the main hand 400 also includes a position calibration positioned between the moving platform 410 and the static platform 420. 450 is used to calibrate the initial position of the moving platform 410.

Specifically, the position calibrator 450 includes a first support member 51 connected to the moving platform 410 and a second support member 52 connected to the static platform 420. The first support member 51 and the third support member 52 are connected to the stationary platform 420. 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 21 to 23, 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 410 . 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 4170 are provided on the moving platform 410 . The fourth connection hole 4170 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 4170 to connect the first support member 51 and the moving platform 410 .

Preferably, the top end of the main body 411 of the moving platform 410 has a second flange 417 protruding toward the receiving cavity 412 . The fourth connection hole 4170 is formed in the second flange 417 . 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 420 . 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 4241 are provided on the static platform 420 . The sixth connection hole 4241 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 4241 to connect the second support member 52 and the static platform 420 .

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. 22 to 25 , 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 450 may also adopt other configurations. 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.

Referring to Figure 26, the main hand 600 of the third embodiment of the present disclosure has the same basic principles as the main hand 400 of the second embodiment of the present disclosure. It also includes a moving platform 410 and a static platform 620, respectively with the moving platform 410 and the static platform. A plurality of branch chains 630 connected to the platform 620 and a rotation drive assembly 640 for driving the branch chains 630 to rotate relative to the static platform 620 . The branch chain 630 is rotationally connected to the static platform 620 through a first connecting component 650 , and the branch chain 630 has two rotational degrees of freedom relative to the static platform 620 . The branch chain 630 is rotationally connected to the moving platform 410 through the second connecting component 460 , and the branch chain 630 has at least two rotational degrees of freedom relative to the moving platform 410 . The similarities between the two will not be repeated here. The main difference between the two is that the rotary drive assembly 640 of this embodiment no longer uses the aforementioned rotary motor 440 arranged on the static platform 420 to drive the branch chain 630 to rotate. The branch chain 630 is driven to rotate by the second linear motor 660 .

Specifically, referring to Figures 26 to 28, 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 connection bracket 622 of the first connection component 650 is rotatably connected to the support shaft 621. In this embodiment, the connection bracket 622 takes the form of a support column 622. The support column 622 includes a first connection section 623 rotatably sleeved on the support shaft 621, and a second connection section 624 connected to the first connection section 623 and used to connect to the connection base 638. . 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 angle measuring device - the encoder 22 (for example, through screws).

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 connecting base 638 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 pin 634 of the first connecting component 650 is inserted into the fifth receiving hole 633 of the second connecting column 631 and is preferably pressed against the bearing component 632 through a gasket 635 .

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 sliding rod 643 connected between the left support member 641 and the right support member 642 .

Referring to Figures 26 and 29-30 at the same time, each sliding rod 643 is equipped with a second linear motor 660. The sliding rod 643 is preferably a screw rod, so that the second linear motor 660 can move linearly along the sliding rod 643, wherein the left supporting member 641 and the right supporting member 642 can effectively prevent the second linear motor 660 from moving linearly along the sliding rod 643. The two linear motors 660 move to disengage the sliding 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 grating scale reading head 661 opposite to the second grating scale 628 . Therefore, when the second linear motor 660 linearly moves along the slide bar 643 , the second grating ruler 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 grating scale reading head 661 and the second grating scale 628 move relative to each other, so that the second grating scale reading head 661 can record its own movement distance. , and then record the moving distance of the second linear motor 660 relative to the slide bar 643 .

Preferably, the second linear motor 660 and the second grating scale reading head 661 are fixedly connected through a third connecting piece 670 . Specifically, the third connection member 670 includes a fourth support plate 671 . The second linear motor 660 and the second grating scale reading head 661 are fixedly connected to the bottom surface of the fourth support plate 671 (for example, through screws). Preferably, the third connection member 670 further includes a fifth support plate 672 fixedly connected to one side of the fourth support plate 671 for fixedly connecting one or more second sliders 662 . In this embodiment, the second linear motor 660 , the second grating scale 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 sliding rod 643, the second grating ruler reading head 661 and the second sliding scale are fixedly connected to the second linear motor 660 through the third connecting member 670. The block 662 will also follow the second linear motor 660 to move relative to the sliding 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 slide rod 643 is effectively improved. In particular, the movement of the second linear motor 660 on the sliding rod 643 enables the branch chain 630 to rotate around the first rotation axis of the first connection assembly 650 (ie, the central axis of the first connection section 623 of the connection bracket 622 ). . The use of slide rod 643 transmission can effectively avoid force feedback errors.

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 cushion block 673 and the fourth support plate 671 are connected through a second reinforcing rib 674 to improve the strength of the third connecting member 670 . More preferably, the third 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 screw rod 433 to ensure that the screw rod 433 can be driven by the first linear motor 434 to move along a straight line, and is preferably sleeved outside the screw rod 433 . In other words, in this embodiment, the branch chain 630 is no longer provided with the lower support member 432 .

Therefore, when the second linear motor 660 linearly moves relative to the slide rod 643, the third connecting member 670 fixedly connected to the second linear motor 660 and the third slide rail 680 fixedly connected to the third connecting member 670 will also follow the third linear motor 660. The two linear motors 660 move together relative to the sliding rod 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 at the same time automatically move along the third slide rail 680, thereby achieving The branch chain 630 rotates relative to the 2 degrees of freedom of the static platform 620 . In particular, the movement of the connecting rod 685 on the third slide rail 680 enables the branch chain 630 to rotate around the second rotation axis of the first connection component 650 (ie, the central axis of the pin 634 of the connection bracket 622).

Referring to Figure 31, the mechanical arm 1000 of one embodiment of the present disclosure has the same basic principle as the main hand 200 of the first embodiment of the present disclosure. It also includes a moving platform 1100 and a static platform 1200, respectively. A plurality of branch chains 1300 connected by 1200, and a rotation drive assembly 1600 for driving the branch chains 1300 to rotate relative to the static platform 1200. The branch chain 1300 is rotationally connected to the static platform 1200 through the first connecting component 1500, and the branch chain 1300 has two rotational degrees of freedom relative to the static platform 1200. The branch chain 1300 is rotationally connected to the moving platform 1100 through the second connecting component 1400, and the branch chain 1300 has at least two degrees of rotational freedom relative to the moving platform 1100. The main difference between the two is that the moving platform 1100 of this embodiment no longer has a handle, but is used to load execution components, such as surgical instruments, nozzles or welding heads, which can perform surgical operations, spraying operations or welding operations.

Similar to the first embodiment, the robot arm 1000 of this embodiment also adopts a 3UPS structure, where U refers to a connection mechanism with two degrees of freedom in two directions, such as a Hooke hinge (or cross hinge). In this embodiment, it is the first connection component 1500), P refers to a connection mechanism such as a moving pair with a degree of freedom in one direction (in this embodiment, it is the branch chain 1300), and S refers to a connection mechanism such as a ball hinge with A connection mechanism with three degrees of freedom in three directions (in this embodiment, the second connection component 1400). As another example, the robot arm 1000 may also have a 3UCU structure, where C refers to a connection mechanism such as a cylindrical pair with degrees of freedom in two directions.

Specifically, the first connection component 1500 has two rotation axes whose axes perpendicularly intersect each other, and the second connection component 1400 has at least two rotation axes whose axes perpendicularly intersect each other. The first connection component 1500 can be implemented by a Hooke hinge, so that the branch chain 1300 has two degrees of rotational freedom relative to the static platform 1200 . The second connection component 1400 can be realized by a ball joint (as shown in Figure 31), or can be realized by a Hooke hinge and a bearing forming a composite ball joint (as shown in Figure 34), so that the branch chain 1300 is relative to the moving platform 1100 Has three rotational degrees of freedom. When using a composite spherical joint to achieve three degrees of rotational freedom, the rotation angle is larger and the load-bearing capacity is stronger than using a spherical joint.

Similar to the first embodiment, the branch chain 1300 also includes a connecting part and a moving part, where the moving part can move relative to the connecting part. However, unlike the connecting part in the first embodiment using a linear motor, the connecting part in this embodiment The part adopts the form of connecting rod 1310. Specifically, the branch chain 1300 of this embodiment includes a connecting rod 1310 and a moving rod 1320 connected to the connecting rod 1310. The moving rod 1320 can telescopically move and/or rotate relative to the connecting rod 1310. The branch chain 1300 can be realized by a linear electric cylinder in the prior art, and is connected to the static platform 1200 through an electric cylinder bracket. The branch chain 1300 can also be realized by a hydraulic cylinder, a pneumatic cylinder, etc., or by a screw assembly plus a rotary drive motor.

Similar to the first embodiment, in order to control the posture of the braking platform 1100, each branch chain 1300 has two drives, namely a moving drive and a rotation drive. The moving drive assembly (not shown) can be provided on the branch chain 1300. , to drive the branch chain 1300 to perform telescopic motion. The rotation drive assembly 1600 can be disposed on the static platform 1200 to drive the branch chain 1300 to rotate relative to the static platform 1200. By moving the drive assembly and the rotation drive assembly 1600, each drive component is driven. The branch chain 1300 expands, contracts and/or rotates, thereby driving the moving platform 1100 to move with six degrees of freedom relative to the static platform 1200 . In the example of the present disclosure, the rotational drive is realized by a rotary motor; the branch chain 1300 is realized by a linear electric cylinder, and the servo motor in the linear electric cylinder serves as a mobile driving component and is integrated with the branch chain 1300 into an integrated structure. Since each branch chain 1300 is driven independently, the response time and movement errors of multiple branch chains 1300 will not be accumulated and transmitted. Therefore, the robotic arm 1000 can achieve precise control of the execution components and improve the safety during the operation. The connection structure between the branch chain 1300 and the static platform 1100 and the rotation drive assembly 1600 is described in detail below.

As shown in FIG. 31 , the connecting rod 1310 is provided with a connecting fulcrum connected to the rotational driving assembly 1600 . The rotating driving assembly 1600 uses the connecting fulcrum as a force application point to drive the connecting rod 1310 to rotate around the first rotation axis 1301 . The connection fulcrum is arranged between the two axial ends of the connecting rod 1310. By arranging the connecting fulcrum between the two ends of the connecting rod 1310, the self-weight of the branch chain 1300, the moving platform 1100 and the gravity of the load on the moving platform 1100 are controlled. Since the connection fulcrum is located at the non-end, the unbalanced moment generated can be partially or completely balanced, achieving at least a part of the self-gravity balance through self-gravity compensation; on the other hand, when the gravity is compensated by the rotation drive assembly 1600, The output force arm of the rotary drive assembly 1600 is reduced, thereby reducing the output torque; therefore, the loss of the rotary drive assembly 1600 in its own gravity compensation is reduced, thereby improving the load capacity of the robotic arm 1000.

In an exemplary embodiment of the present disclosure, the connection fulcrum is provided between the midpoint of the connecting rod 1310 and the end of the connecting rod 1310 away from the moving platform 1100 . With this arrangement, by setting the connection fulcrum relatively far away from the moving platform 1100 , the distance between the moving platform 1100 and the static platform 1200 is prevented from being too small, causing interference between the two, and the outer size of the robotic arm 1000 is prevented from being too large. In the case of achieving partial gravity self-balancing, interference between the rear end of the branch chain 1300 and the static platform 1200 is further avoided.

In an exemplary embodiment of the present disclosure, the mobile driving component may be disposed at an end of the connecting rod 1310 away from the moving platform 1100 , and at least a part of the moving driving component is located at the connection fulcrum away from the moving platform 1100 one side. In this way, by disposing the mobile driving component on the side of the connecting fulcrum away from the moving platform 1100, the mobile driving component has the function of a counterweight block to further balance the self-weight of the branch chain, the moving platform and the moment generated by the gravity of the load on the moving platform. .

Referring to FIGS. 31 and 32 simultaneously, in an exemplary embodiment of the present disclosure, one of the two rotational degrees of freedom of the branch chain 1300 relative to the static platform 1200 is driven by the rotational drive assembly 1600 to drive the connecting rod 1310 around the first The other of the two rotational degrees of freedom is realized by the connecting rod 1310 around the second rotation axis 1302 where the connection fulcrum is located. The first rotation axis 1301 intersects the second rotation axis 1302. With this arrangement, the rotation of the branch chain 1300 relative to the static platform can be realized through the rotation drive assembly 1600, so that the branch chain 1300 can rotate around the first rotation axis 1301, and can also rotate around the second rotation axis 1302, and the rotation around the first rotation axis 1301 The rotation does not interfere with the rotation around the second rotation axis 1302, so that the branch chain 1300 can rotate smoothly. On the other hand, by arranging the connection fulcrum to be located on the second rotation axis 1302, partial self-gravity balance is achieved in the direction perpendicular to the second rotation axis 1302. When the branch chain 1300 moves, the branch chain 1300 is further balanced. The self-gravity of the chain 1300 and the like reduces the output torque of the rotary drive assembly 1600 .

Among them, the first rotation axis 1301 and the second rotation axis 1302 intersect at the intersection o, each intersection o is distributed on the same circle (hereinafter referred to as the first circle), and the three branch chains 1300 surround the moving platform 1100 and the static platform 1200 along the third A circle is evenly distributed around its circumference. Each of the intersection points o is evenly arranged around the first circumference, one of the first rotation axis 1301 and the second rotation axis 1302 is arranged along the radial direction of the first circumference, the first rotation axis 1301 and the second rotation axis 1301 The other of the rotation axes 1302 is arranged along the tangential direction of the first circumference. With this arrangement, the branch chains 1300 can be evenly arranged on the first circumference, the structure is more stable, the force distribution is more balanced, and when the robot arm 1000 is arranged in the horizontal direction, the branch chains, the moving platform and the load (execution component) can be The gravity is distributed as evenly as possible on the three branch chains, and the power loss of the rotating drive assembly 1600 is small.

As mentioned before, the first connection component 1500 has two rotation axes whose axes are perpendicular to each other, that is, the first rotation axis 1301 and the second rotation axis 1302 are perpendicular to each other. With this arrangement, the branch chain 1300 can rotate in a wider range around the first rotation axis 1301 and the second rotation axis 1302, achieving two rotational degrees of freedom, with a simple structure and less likely to interfere with each other. In this case, the maximum benefit is achieved when the static platform 1200 is installed vertically, that is, when the normal line of the static platform 1200 is parallel to the horizontal plane. In this embodiment, the static platform 1200 can be installed at any angle with the horizontal plane, which greatly broadens the application range of the robotic arm 1000 of the present disclosure.

Figure 33 shows a schematic diagram of the force analysis of the branch chain 1300 according to this embodiment. As shown in FIG. 33 , the branch chain 1300 is represented by the straight line AB, and point o represents the intersection o of the first rotation axis 1301 and the second rotation axis 1302 , that is, the branch chain 1300 can swing around the intersection point o. Assume that the center of gravity of branch chain 1300 is point C, the gravity of branch chain 1300 is G1, and G1 acts on the center of gravity C of branch chain 1300. Since the use state of the robot arm 1000 is usually tilted, and the intersection point o does not coincide with the center of gravity C of the branch chain 1300 and the intersection point o is located on the side of the center of gravity C away from the moving platform 1100, the torque exerted by gravity G1 relative to the intersection point o is G1*L1, the gravity and load force exerted by the moving platform 1100 at point A is G2, the gravity and load force are G2, and the torque exerted relative to the intersection point o is G2*L2. In order to keep the branch chain 1300 balanced, the rotation drive assembly 1600 needs to provide a torque T that satisfies T=G1*L1+G2*L2, and the direction of the torque T is opposite to the direction of the torque provided by gravity G1. Optionally, referring to FIG. 33 , the torque provided by the center of gravity C relative to the intersection point o is in the clockwise direction, and the torque T is in the counterclockwise direction, but is not limited to this.

Whether the intersection point o is selected at point C depends on the load capacity of the rotary drive assembly 1600 and the interference of each part. Robotic arm according to embodiments of the present disclosure 1000. By reasonably setting the position of the intersection point o, part of the self-gravity balance can be achieved when the static platform is installed tilted. The optimal range of intersection o is selected through an algorithm. Within the optimal range, the moving platform 1100 has a relatively good range of degrees of freedom. The branches at the static platform end have less interference than the static platform and have a certain self-weight balancing effect. Therefore, according to the robot arm 1000 of the present disclosure, the load balance of the branched chain structure is better improved than in the prior art.

In actual use, when the static platform 1200 is at a certain angle with the horizontal plane, it is preferably arranged as shown in Figures 35 and 36, that is, the rotation axis connecting one of the first connection components 1500 to the rotation drive component 1600 is always at In the horizontal state, in this embodiment, the first rotation axis of the first connection component 1500 extends horizontally, and the second rotation axis extends longitudinally. This arrangement allows the gravity of the branch chains 1300, the moving platform 1100 and the load (execution assembly) arranged on the moving platform 1100 to be distributed as evenly as possible on the three branch chains 1300, thereby reducing the power of the rotation drive assembly 1600 on the static platform 1200. The loss is minimal, and the stability of the entire robotic arm 1000 is better.

Optionally, the connecting fulcrums of the moving platform 1100 and the three branch chains 1300 are also located on the same circle, which is referred to as the second circle below. Preferably, the diameter of the second circle is smaller than the diameter of the first circle, thereby reducing the dead weight of the moving platform 1100 and the front end size of the robotic arm, reducing the output torque of the rotating motor, and improving the load and control flexibility of the robotic arm 1000 .

Referring again to FIG. 31 , according to the robotic arm 1000 according to the embodiment of the present application, the rotation drive assembly 1600 is installed on the static platform 1200 and is connected to the branch chain 1300 through the first connection assembly 1500 . In this embodiment, the first connection component 1500 has a first rotation axis and a second rotation axis. The rotation axis of the first rotation axis coincides with the first rotation axis 1301 , and the rotation axis of the second rotation axis coincides with the second rotation axis 1302 . The first connection component 1500 is connected to the rotation drive component 1600 through the first rotation axis, and is connected to the branch chain 1300 through the second rotation axis. In this embodiment, the first rotation axis extends along the radial direction of the first circle, and the second rotation axis extends along the tangential direction of the first circle. The rotation drive assembly 1600 is disposed on the static platform 1200 on the inside of the first circle. By connecting with the first rotation axis, the rotation driving force is transmitted to the branch chain 1300 through the second rotation axis, thereby driving the branch chain 1300 to rotate relative to the static platform 1200 . By installing the rotary drive assembly 1600 on the static platform 1200, the dead weight and motion inertia of the moving part are reduced as much as possible, which reduces the load on the moving platform 1100, improves the control effect of the robotic arm, and makes the mechanical arm more stable. It is strong and reduces movement energy consumption; compared with existing robots using serially structured robotic arms, the robotic arm 1000 can withstand a larger load.

Further, the rotation drive assembly 1600 is disposed inside the branch chain 1300. Specifically, relative to the above-mentioned first circle, the rotation drive assembly 1600 is disposed radially inside the branch chain 1300. Compared with the structure in which the rotation drive assembly 1600 is arranged outside the branch chain, the size of the static platform can be reduced, the space occupied by the robot arm can be reduced, and the multiple robot arms of the robot can be prevented from interfering with each other, thereby improving the mechanical performance of the robot. The operating flexibility of the arm.

In this embodiment, the rotation drive assembly 1600 includes a rotation motor, and the first connection assembly 1500 includes a connection bracket. The connection bracket is disposed between the static platform 1200 and the branch chain 1300 . The transmission of rotational driving force between the rotating motor and the branch chain 1300 is realized through the connecting bracket, and the structure of the branch chain 1300 is simplified while realizing two rotational degrees of freedom of the branch chain 1300.

As an example, when the first circle is used as a reference, the connecting bracket extends generally along the radial direction of the first circle, the first rotation axis is provided at the first end of the connecting bracket, and the first end of the connecting bracket passes through The first rotating shaft is connected to the output shaft of the rotating motor, and the first end is the radial inner end of the connecting bracket. The second rotating shaft is arranged at the second end of the connecting bracket. The second end of the connecting bracket is connected to the connecting bracket through the second rotating shaft. The second end of the connecting fulcrum is the radial outer end of the connecting bracket. The branch chain 1300 is combined with the second rotation axis through the connecting fulcrum, thereby being connected to the radial outer end of the connecting bracket. By arranging the connecting bracket, the transmission of rotational driving force between the rotating motor and the branch chain is realized; on the other hand, the connecting bracket is arranged between the static platform and the branch chain, further optimizing the spatial structure of the mechanical arm. making its overall size smaller.

In the example shown in Figure 31, the connecting bracket includes a U-shaped bracket 1510 and a pin. The opening of the U-shaped bracket 1510 faces the connecting rod 1310. The two legs located at one end of the U-shaped bracket 1510 are arranged on both sides of the connecting rod 1310. , connected to the connecting rod 1310 through a pin. In this embodiment, the pin can serve as the second rotation axis of the first connection component 1500 . The other end of the U-shaped bracket is provided with a bottom connecting shaft. The bottom connecting shaft serves as the first rotation axis and is fixedly connected to the output shaft of the rotating motor provided on the static platform 1200 to apply rotational driving force to the U-shaped bracket so that the U-shaped bracket is The bracket can rotate around the first rotation axis, thereby driving the branch chain to rotate around the first rotation axis 1301 relative to the static platform 1200 through the U-shaped bracket. By using the U-shaped bracket 1510, the connection between the rotation drive assembly 1600 and the branch chain 1300 is stable and has a simple structure. It can transmit a large torque to the branch chain and improve the load capacity of the robotic arm.

Continuing to refer to FIG. 31 , the robotic arm according to the first embodiment of the present disclosure further includes an angle measurement device 1700 for measuring the rotation angle of the branch chain 1300 relative to one of the two rotational degrees of freedom of the static platform 1200 , and the rotational drive The assembly 1600 is used to drive the rotation of the branch chain 1300 relative to the other of the two rotational degrees of freedom of the static platform 1200 .

The angle measuring device 1700 is installed on the branch chain 1300 or on the first connecting component 1500, and can directly obtain the rotation angle of the branch chain 1300 relative to the static platform 1200, thereby reducing the calculation process and the process of indirectly obtaining the rotation angle of the branch chain. coming error. The angle measuring device 1700 may be installed on one of the two rotation axes of the first connection assembly 1500 . In this embodiment, as shown in the drawings, the angle measurement device 1700 is disposed on the second rotation axis and is used to measure the rotation angle of the branch chain 1300 around the second rotation axis. The straight double arrow in Figure 31 shows the branch chain. 1300 degree telescopic direction.

In the examples shown in FIG. 31 and FIG. 34 , the angle measurement device 1700 is an angle encoder, used to record the rotation angle of the branch chain 1300 around the second rotation axis. The rotation drive assembly 1600 itself may have an angle measurement function, capable of outputting and measuring the rotation angle of the branch chain 1300 around the first rotation axis relative to the static platform 1200 . The linear electric cylinder on the branch chain 1300 can output the displacement of the moving rod 1320 of the branch chain relative to the connecting rod 1310. According to the mechanical arm provided by the embodiment of the present disclosure, an angle measurement device is used to measure the rotation angle of the branch chain around the second rotation axis, the rotation angle of the branch chain around the first rotation axis obtained by rotating the driving assembly, and the rotation angle of the branch chain around the first rotation axis obtained by moving the driving assembly. The translational displacement of the chain can be uniquely determined in real time through the algorithm to determine the forward kinematics solution of the robotic arm, thus solving the problem of difficulty in solving the forward kinematics of the robotic arm.

Figure 34 shows another modification of the robot arm 1000. Based on the robot arm 1000 of the previous embodiment, the example of Figure 34 further provides a load rotation drive assembly 2110 on the moving platform 1100 for driving the load (executing assembly) rotates relative to the moving platform 1100 around the normal line of the moving platform 1100 . By further arranging the load rotation drive assembly 2110 on the moving platform 1100, the rotation angle of the execution assembly can be further increased, and the control flexibility or spatial freedom of the execution assembly can be improved. Especially when the rotation angle of the moving platform 1100 in the Z-axis direction is small, by providing the load rotation drive assembly 2110, the control flexibility of the load can be greatly improved.

For example, in the robotic arm shown in Figure 34, the branch chain 1300 is connected to the moving platform 1100 through a spherical joint. The spherical joint in this embodiment is a composite spherical joint formed by a combination of a Hooke joint and a bearing. The moving platform 1100 is relatively The platform 1200 can have a large moving stroke, but the rotating stroke of the moving platform 1100 around its own normal line is small, resulting in a small rotation angle of the actuator assembly in the normal direction (Z-axis direction) around the moving platform 1100. The above-mentioned load rotation drive assembly 2110 is arranged between the platform 1100 and the actuator assembly, which can increase the rotation stroke of the actuator assembly around the normal direction of the platform 9100, improve the range of movement of the actuator assembly, and thus further broaden the applicable scope of the robotic arm.

The load rotation drive assembly 2110 may be disposed on the moving platform. As an example, the load rotation driving assembly 2110 may be disposed on a side of the moving platform 1100 away from the stationary platform 1200 . Optionally, the load rotation driving assembly 2110 may be disposed between the execution assembly and the moving platform 1100, but is not limited to this.

37 and 38 illustrate an exemplary structure of a robot arm 2000 according to another embodiment of the present disclosure. The mechanical arm 2000 of this embodiment has basically the same structural principles as the aforementioned mechanical arm 1000. The differences from the mechanical arm 1000 will be described in detail below. As shown in FIGS. 37 and 38 , the first connection component 1500 includes a U-shaped bracket 1510 , which has the same structure as the U-shaped bracket in the robot arm 1000 . In this embodiment, a connecting seat 2520 is provided on the branch chain 1300, and the U-shaped bracket 1510 is connected to the branch chain 1300 through the connecting seat 2520. The connecting seat 2520 includes a bracket plate and side plates connected to both sides of the bracket plate. It is U-shaped as a whole and has an opening facing the connecting rod 1310. The connecting bracket 2520 is fixedly connected to the outside of the connecting rod 1310 of the branch chain 1300. By wrapping the connecting seat 2520 around the outer periphery of the branch chain 1300 and connecting to the U-shaped bracket 1510, the supporting area for the branch chain 1300 is increased, and the connection strength and stability between the branch chain 1300 and the first connection component 1500 are improved. The connecting base 2520 can be detachably connected to the branch chain 1300 to facilitate replacement.

When the connection base 2520 is fixedly provided on the branch chain 1300, the connection fulcrum is provided on the side plate of the connection base 2520 and is located between the two ends of the side plate along the axial direction of the connecting rod 1310. , the first connection component 1500 is connected to the branch chain 1300 through the connection fulcrum. By arranging the connection base 2520 and arranging the connection fulcrum on the connection base 2520, the strength of the force application point is improved, and when the first connection component outputs the force to drive the rotation of the branch chain 1300, the distribution of the force is more balanced. . In addition, if the connection fulcrum is set directly on the branch chain 1300 and the connection structure is damaged, the entire vertical branch chain may need to be replaced. However, in this embodiment, by detachably disposing the connection base on the branch chain 1300, when the connection structure is damaged, the connection base 2520 can be directly replaced, thereby reducing maintenance costs and difficulty.

As an example, the U-shaped bracket 1510, the connecting seat 2520 and the branch chain 1300 are provided with mounting holes at corresponding positions. The stop pin passes through the mounting hole and is fixedly connected to the branch chain 1300. The two legs of the U-shaped bracket 1510 pass through the stop pin ( (not shown) is rotationally connected to the two side plates of the connecting seat 2520, so that the stop pin serves as a rotation axis of the U-shaped bracket 1510, that is, it can serve as the second rotation axis of the U-shaped bracket 1510. Like the robotic arm 1000 , the angle measurement device 1700 is installed on the U-shaped bracket 1510 and is used to measure the rotation angle of the branch chain 1300 around the second rotation axis relative to the static platform 1200 .

Optionally, the bracket plate is provided with a hollow portion; thus, the weight of the branch chain 1300 can be reduced. Optionally, the bracket plate is provided on the side of the connecting rod facing away from the static platform. With this arrangement, the position of the connecting fulcrum can be set according to actual needs, thereby further improving the versatility of the branch chain 1300 and making full use of the arrangement. space to avoid interference with the static platform.

In the example shown in Figure 37, the static platform 1200 is formed as a frame structure, including a support plate 2210, a bottom plate 2230, and a connecting plate 2220 connecting the support plate 2210 and the bottom plate 2230. The bottom plate 2230 is located on a side of the support plate 2210 away from the moving platform 1100. side. The rotation drive assembly 1600 is a servo motor, which is installed on the static platform 1200 through the motor base 2240 to be stably connected between the support plate 2210 and the base plate 2230. The output shaft of the servo motor is fixedly connected to the connecting shaft of the U-shaped bracket 1510. As an example, the output shaft of the servo motor is directly or indirectly connected to the first rotation axis of the U-shaped bracket 1510. The static platform 1200 is generally located on the side of the first circle away from the moving platform 1100. Correspondingly, the rotation drive assembly 1600 is also arranged on the side away from the moving platform 1100, so that the diameter of the first circle is as small as possible, so that the robot arm 2000 The overall dimensions should be as small as possible to avoid mutual interference between the multiple robotic arms 2000 installed on the robot.

Continuing to refer to Figure 37, the moving platform 1100 can be provided with an execution component 500. The execution component 500 has a telecentric fixed point 510. Through the cooperation of the rotational driving component 1600 and the mobile driving component, the moving platform 1100 can be controlled to move relative to the static platform 1200. It also drives the actuator component 500 to expand, contract, and swing. The telescopic path of the actuator component 500 can always pass through the telecentric fixed point 510 , which improves the stability of the actuator component 500 during its working process and the accuracy of the operation process. When performing surgical operations, the execution component 500 can swing around the telecentric fixed point. Therefore, only a tiny incision needs to be made on the patient's skin surface for the execution component 500 to pass through. The patient's incision is small. Recovery is quick after surgery.

In order to provide accurate force feedback to the operator, the robot arm 2000 also includes a sensor 2120. The sensor 2120 is installed on the moving platform 1100 or on the execution component 500 for detecting the environmental force and/or environmental torque that the execution component 500 is subjected to. , and the environmental force and/or environmental torque can be fed back to the main hand, so that the operator can receive mechanical feedback when controlling the motion of the main hand, which is beneficial to improving the use effect of the robot. Alternatively, the sensor 2120 may be a force and torque sensor, such as, but not limited to, a six-dimensional force and torque sensor.

In this disclosure, unless otherwise expressly stated and limited, a first feature "on" or "below" a second feature may mean that the first feature and the second feature are in direct contact, or the first feature and the second feature may be in intermediate contact. Indirect media contact.

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 disclosure. 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 disclosure and not to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to depart from the scope of the technical solutions of the embodiments of the present disclosure. .

Claims

A multi-degree-of-freedom main hand, characterized in that it includes a moving platform, a static platform, and three branch chains connected to the moving platform and the static platform respectively; the branch chains are connected to the static platform through a first connecting component. The platform is rotatably connected, and the branch chain has two rotational degrees of freedom relative to the static platform; the branch chain is rotatably connected to the moving platform through a second connecting component, and the branch chain is rotatably connected with the moving platform relative to the moving platform. It has at least two degrees of rotational freedom; the multi-degree-of-freedom main hand also includes a rotational drive assembly and a handle. The rotational drive assembly is used to drive the branch chain to rotate relative to the static platform. The handle is located on the movable platform. on the platform.
The multi-degree-of-freedom main hand according to claim 1, wherein the two rotational degrees of freedom of the branch chain relative to the static platform are respectively obtained by rotating around a first rotation axis and a second rotation axis, The first connection component has a first rotation axis located on the first rotation axis and a second rotation axis located on the second rotation axis. The first connection component is connected to the first rotation axis through the first rotation axis. The rotary driving assembly is connected and connected to the branch chain through the second rotating shaft.
The multi-degree-of-freedom main hand according to claim 2, wherein one of the two rotational degrees of freedom of the branch chain relative to the static platform is driven by the rotational drive assembly. The branch chain rotates around the first rotation axis of the first rotation axis, and another degree of rotational freedom is achieved by the branch chain rotating around the second rotation axis of the second rotation axis.
The multi-degree-of-freedom main hand according to claim 3, wherein the first rotation axis and the second rotation axis are perpendicular to each other and intersect at an intersection point, and each of the first rotation axis corresponding to the three branch chains is Each intersection point of the connecting assembly is located on a first circle and is evenly spaced along the first circle, the first rotation axis extends along the radial direction of the first circle, and the second rotation axis extends along the radial direction of the first circle. The first circle extends in a tangential direction.
The multi-degree-of-freedom main hand according to claim 2, wherein the first connection component further includes a connection bracket, the connection bracket is disposed between the static platform and the branch chain, and the first connection bracket The rotating shaft is provided at the first end of the connecting bracket, and the second end of the connecting bracket is rotationally connected to the branch chain.
The multi-degree-of-freedom main hand according to claim 5, further comprising an angle measuring device provided on the first connection component for measuring the angle of the branch chain around the second rotation axis. The angle of rotation of the second rotation axis.
The multi-degree-of-freedom main hand according to claim 1, wherein the branch chain includes a connecting part and a moving part connected to the connecting part, and the connecting part is connected to the first connecting component through the first connecting component. The static platform is rotatably connected, the moving part is rotatably connected to the moving platform through the second connecting component, and the moving part can move relative to the connecting part.
The multi-degree-of-freedom main hand according to claim 7, wherein the connecting part is a connecting rod, the moving part is a moving rod, and the multi-degree-of-freedom main hand further includes a connecting rod provided on the branch chain. A moving driving assembly is used to drive the moving rod to move relative to the connecting rod.
The multi-degree-of-freedom main hand according to claim 8, wherein the connecting rod is provided with a connecting fulcrum connected to the first connecting component, and the connecting fulcrum is located between two axial ends of the connecting rod. between.
The multi-degree-of-freedom main hand according to claim 9, characterized in that the connection fulcrum is provided between the axial middle part of the connecting rod and an end of the connecting rod away from the moving platform.
The multi-degree-of-freedom main hand according to claim 7, wherein the connecting part is a first linear motor, the moving part is a moving rod, and the first linear motor is sleeved on the The moving rod is used to drive the moving rod to move relative to the first linear motor.
The multi-degree-of-freedom main hand according to any one of claims 7 to 11, characterized in that the rotary drive assembly includes a rotary motor, the rotary motor is provided on the static platform, and the rotary motor passes through The first connecting component is connected to the connecting portion to drive the branch chain to rotate relative to the static platform.
The multi-degree-of-freedom main hand according to claim 12, characterized in that the rotating motor is provided inside the branch chain, and the rotating motor is arranged such that the three branch chains are opposite to the static platform. The central axis is inclined and gathered toward the moving platform.
The multi-degree-of-freedom main hand according to claim 13, wherein the rotating motor is arranged obliquely relative to the horizontal top surface of the static platform.
The multi-degree-of-freedom main hand according to claim 14, wherein the angle at which the central axis of the rotating motor deviates from the central axis of the static platform is an acute angle.
The multi-degree-of-freedom main hand according to claim 15, wherein the angle at which the central axis of the rotating motor deviates from the central axis of the static platform is in the range of 30° to 35°.
The multi-degree-of-freedom main hand according to claim 14, wherein the static platform roughly forms a hexagon, the top surface of the hexagon is a plane, and the three sides of the hexagon are spaced apart from each other. Each side is provided with a fixing bracket inclined relative to the top surface, and the fixing bracket is used to fix a corresponding rotating motor.
The multi-degree-of-freedom main hand according to claim 17, wherein the fixing frame includes a first fixing plate inclined relative to the top surface, and a second fixing plate vertically connected to the first fixing plate, The rotating electrical machine is fixedly connected to the first fixed plate and abuts against the second fixed plate.
The multi-degree-of-freedom main hand according to claim 11, wherein the rotary drive assembly includes a second linear motor, the branch chain further includes a connecting rod slidingly connected to the moving rod, and the second linear motor A motor is connected to the connecting rod to drive the branch chain to rotate relative to the static platform.
The multi-degree-of-freedom master hand according to claim 19, further comprising a base fixedly connected to the static platform, a plurality of sliding rods connected to the base, and each second linear motor is sleeved on A corresponding said slide rod is movable on said slide rod.
The multi-degree-of-freedom master hand according to claim 20, wherein a plurality of grating scales are fixedly connected to the base, and a reading head is fixedly connected to each second linear motor. The head is spaced apart from and opposed to a corresponding said grating scale.
The multi-degree-of-freedom master hand according to claim 20, wherein a plurality of slide rails are fixedly connected to the base, and each of the second linear motors is also fixedly connected to one or more slide blocks. Or multiple slide blocks are slidingly connected to a corresponding slide rail.
The multi-degree-of-freedom master hand according to claim 22, wherein each second linear motor is fixedly connected to another slide rail, and the length direction of the other slide rail is perpendicular to the length direction of the slide rail. In the length direction, one end of each connecting rod is provided with one or more other slide blocks, and the one or more other slide blocks are slidingly connected to a corresponding other slide rail.
The multi-degree-of-freedom main hand according to claim 23, characterized in that each of the other slide blocks is fixedly connected with a bearing seat, and each of the bearing seats is provided with a ball bearing, and each of the ball bearings Connected to one end of a corresponding connecting rod.
The multi-degree-of-freedom master hand according to claim 23, wherein each second linear motor is fixedly connected to a corresponding other slide rail through a connecting piece, and the connecting piece includes a fixedly connected One support plate and another support plate, the second linear motor is fixedly connected to the one support plate, and the other slide rail is fixedly connected to the other support plate.
The multi-degree-of-freedom main hand according to claim 25, characterized in that a pad is provided between the other support plate and a corresponding other slide rail, and the pad blocks corresponding to each other slide rail are Heights vary.
The multi-degree-of-freedom master hand according to claim 20, wherein the static platform is generally hexagonal, the base is generally triangular, and the three first sides of the static platform are spaced apart from each other respectively. The corresponding branch chains are rotationally connected, and the three second sides of the static platform that are spaced apart from each other are fixedly connected to the three corners of the base through a corresponding support frame.
The multi-degree-of-freedom main hand according to claim 11, wherein the branch chain further includes an upper support member and a side support member fixedly connected to the upper support member, and the upper support member passes through the third support member. Two connecting components are rotationally connected to the moving platform, and the upper support member is connected to the moving rod. The side support member is opposite to the moving rod and is slidingly connected to the corresponding first linear motor. The side support parts are hollowed out.
The multi-degree-of-freedom master hand according to claim 1, wherein the moving platform includes a circumferentially extending main body and a receiving cavity enclosed by the main body, and the main body has circumferentially opposite The first end and the second end form a gap communicating with the receiving cavity, and the handle is received in the receiving cavity and faces the gap.
The multi-degree-of-freedom main hand according to claim 29, characterized in that the three branch chains are evenly spaced along the circumferential direction of the moving platform and the static platform, and the main body part is configured to extend 240° in the circumferential direction. of rings.
The multi-degree-of-freedom main hand according to claim 29, characterized in that the moving platform further includes a circumferential middle portion of the main body, and the first end and the second end respectively fixedly connected. There are a plurality of connecting columns, and each connecting column is rotatably connected to the corresponding branch chain through a second connecting component.
The multi-degree-of-freedom main hand according to claim 1, wherein the second connection component includes a spherical hinge, and the branch chain is rotationally connected to the moving platform through the spherical hinge.
The multi-degree-of-freedom main hand according to claim 32, wherein the spherical hinge includes a rotating frame and a bearing assembly connected to the rotating frame, and the rotating frame includes a first link connected to the branch chain. section, and a second section rotatably connected to the moving platform via the bearing assembly.
The multi-degree-of-freedom main hand according to claim 33, wherein the bearing assembly includes a bearing shell, a long support shaft penetrating the bearing shell, a shaft supported on the bearing shell and respectively passing through the long support shaft. Two first bearings at both ends of the shaft, two short support shafts supported on the bearing housing and perpendicular to the long support shaft, and the second section supported on the rotating frame and respectively passing through the two Two second bearings of the short support shaft, wherein the long support shaft is fixedly connected to the moving platform.
The multi-degree-of-freedom main hand according to claim 34, wherein the moving platform includes a lower surface facing the static platform and an upper surface facing away from the static platform, and the long support shaft is fixed to the moving platform. The lower surface of the platform.
The multi-degree-of-freedom main hand according to claim 1, wherein the second connection component includes a first connection part and a second connection part, and the first connection part is rotationally connected to the second connection part. and can rotate relative to each other around the X-axis, wherein the first connecting piece is rotatably connected to the moving platform and can rotate around the Y-axis, and the branch chain is rotatably connected to the second connecting piece and can rotate around the Z-axis with each other. The axis rotates, and the X, Y, and Z axes are vertical in pairs.
The multi-degree-of-freedom main hand according to claim 36, wherein the second connecting member is L-shaped and includes a first section and a second section that are vertically connected, and the first section and the The first connecting piece is rotatably connected, and the second section is rotatably connected with the branch chain.
The multi-degree-of-freedom main hand according to claim 37, wherein 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 The ring portion is rotatably 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 rotates with the first section connect.
The multi-degree-of-freedom main hand according to claim 1, further comprising a position calibrator positioned between the moving platform and the static platform to calibrate the initial position of the moving platform.
The multi-degree-of-freedom master hand according to claim 39, wherein the moving platform includes a circumferentially extending main body, a receiving cavity enclosed by the main body, and a receiving cavity extending from the main body toward the receiving cavity. A second flange protrudes from the cavity, and the position calibrator is connected to the second flange.
The multi-degree-of-freedom master hand according to claim 39, wherein the position calibrator includes a first support member connected to the moving platform and a second support member connected to the static platform. The first support member is detachably connected to the second support member.
A robot comprising a multi-degree-of-freedom main hand according to any one of claims 1 to 41.