Three-degree-of-freedom wrist-type manipulator drive device and three-degree-of-freedom wrist-type manipulator

Abstract

The present invention provides a three-degree-of-freedom wrist-type manipulator driving device, which includes an upper support base, a lower support base and a power driving mechanism. The lower support base is arranged face to face with the upper support base. A support assembly connects the upper support base and the lower support base. The support assembly includes a plurality of support members, and the plurality of support members are arranged along the circumferences of the upper support base and the lower support base. The power driving mechanism includes a plurality of driving components, a plurality of transmission components, a plurality of guiding components and a plurality of driving wires. The plurality of driving components and the plurality of transmission components are both arranged along the circumferences of the upper support base. The plurality of guiding components are arranged along the circumferences of the lower support base. Each driving component is connected to each transmission component, and each transmission component drives the connection of each driving wire. The driving wire is connected to the target object through the guiding component. The driving wire can drive the target object to move a preset distance at a preset angle, and can more precisely control the angle and direction of the target object, improving the dexterity and operation accuracy of surgical operations.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular, to a three-degree-of-freedom wrist-type manipulator driving device and a three-degree-of-freedom wrist-type manipulator. Background Art

[0002] With the development of science and technology, in order to meet the application scenarios of surgical operations, the surgical robot industry is constantly evolving. In the field of microsurgery, a common surgical scenario is that a doctor performs anastomosis operations on a free flap with blood vessels under a magnifying glass or microscope. However, the operating precision of the human hand is 0.1 mm, and the amplitude of physiological tremors exceeds 100 mm, making it impossible to perform anastomosis operations on smaller blood vessels relying solely on the human hand.

[0003] Therefore, there is an urgent need to provide a three-degree-of-freedom wrist-type manipulator driving device with higher operating precision and greater dexterity. Summary of the Invention

[0004] The present invention provides a three-degree-of-freedom wrist-type manipulator driving device, which can improve the operating precision of microsurgery.

[0005] In view of this, the present invention proposes a three-degree-of-freedom wrist-type manipulator driving device, including: an upper support base; a lower support base, arranged face to face with the upper support base; a support assembly, connecting the upper support base and the lower support base, the support assembly including a plurality of support members, and the plurality of support members are arranged along the circumferences of the upper support base and the lower support base; a power driving mechanism, including a plurality of driving components, a plurality of transmission components, a plurality of guiding components and a plurality of driving wires, the plurality of driving components and the plurality of transmission components are both arranged along the circumferences of the upper support base, the plurality of guiding components are arranged along the circumferences of the lower support base, each of the driving components is connected to each of the transmission components, each of the transmission components drives each of the driving wires to be connected, and the driving wire passes through the guiding component and is connected to the target object.

[0006] In some alternative embodiments, the upper support base includes a first support base, a second support base, a third support base and a support column, and the support column sequentially connects the first support base, the second support base and the third support base; the central axes of the first support base, the second support base, the third support base and the support column coincide.

[0007] In some alternative embodiments, the driving assembly includes a driving component, a coupling, a first bearing block, a second bearing block, a lead screw, and a lead screw nut. The driving component is disposed on the upper support base, the first bearing block is disposed on the second support base, the driving component is connected to the first bearing block through the coupling, the second bearing block is disposed on the third support base, the first bearing block and the second bearing block are connected through the lead screw, and the lead screw nut is connected to the lead screw.

[0008] In some alternative embodiments, it further includes a plurality of photoelectric sensors. The plurality of photoelectric sensors are disposed on the support column between the first support base and the second support base, and the plurality of photoelectric sensors are disposed circumferentially around the support column.

[0009] In some alternative embodiments, it further includes a plurality of light-shielding components. The plurality of light-shielding components are disposed between the second support base and the third support base, and both ends of each light-shielding component are respectively connected to the first support base and the lead screw nut.

[0010] In some alternative embodiments, each transmission assembly includes a plurality of sliding assemblies and a plurality of traction assemblies. The plurality of sliding assemblies are disposed on the support column between the second support base and the third support base, the plurality of sliding assemblies are disposed circumferentially around the support column, the plurality of traction assemblies are disposed circumferentially around the support column, and one traction assembly is respectively connected to at least one sliding assembly and one driving wire.

[0011] In some alternative embodiments, the sliding assembly includes a slide rail and a slider. The slide rail is disposed on the support column, and the length directions of the slide rail and the support column are the same.

[0012] In some alternative embodiments, each traction assembly includes a universal ball buckle, a tension sensor, a hanging rod, a hook, and a fixing component. One end of the universal ball buckle is connected to the tension sensor, the other end of the tension sensor is connected to the hanging rod, the slider, the universal ball buckle, and the lead screw nut are connected through the fixing component, and a hook is disposed at the end of the hanging rod away from the universal ball buckle 427, and the hook is connected to the driving wire.

[0013] In some alternative embodiments, the guiding assembly includes a first guiding component and a second guiding component. The height of the first guiding component is greater than the height of the second guiding component, and one end of the driving wire is connected to the hook, sequentially passes through the first guiding component and the second guiding component, and is connected to the target object.

[0014] On the other hand, the present invention further provides a three-degree-of-freedom wrist-type manipulator, including the three-degree-of-freedom manipulator driving device described in any one of the above.

[0015] The present invention has the following technical effects compared with the prior art:

[0016] The present invention provides a three-degree-of-freedom wrist-type manipulator driving device, which includes an upper support seat, a lower support seat and a power driving mechanism. The lower support seat is arranged face to face with the upper support seat. A support assembly connects the upper support seat and the lower support seat. The support assembly includes a plurality of support members, and the plurality of support members are arranged along the circumferences of the upper support seat and the lower support seat. The power driving mechanism includes a plurality of driving components, a plurality of transmission components, a plurality of guiding components and a plurality of driving wires. The plurality of driving components and the plurality of transmission components are both arranged along the circumferences of the upper support seat. The plurality of guiding components are arranged along the circumferences of the lower support seat. Each driving component is connected to each transmission component, and each transmission component drives each driving wire to be connected. The driving wire passes through the guiding component and is connected to the target object. The driving wire can drive the target object to move a preset distance at a preset angle. The plurality of driving wires work in coordination, so that the angle and direction of the target object can be controlled more precisely, and the dexterity and operation precision of the surgical operation are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of the embodiments in conjunction with the accompanying drawings, wherein:

[0018] Figure 1 shows a schematic structural diagram of a three-degree-of-freedom wrist-type manipulator according to an embodiment of the present invention;

[0019] Figure 2 shows Figure 1 a schematic structural diagram of the three-degree-of-freedom wrist-type manipulator driving device of the provided embodiment;

[0020] Figure 3 shows Figure 1 a schematic cross-sectional structural diagram of the three-degree-of-freedom wrist-type manipulator driving device of the provided embodiment.

[0021] Wherein, Figures 1 to 3 the corresponding relationship between the reference numerals in the drawings and the component names is:

[0022] 1 - Upper support base; 11 - First support base; 12 - Second support base; 13 - Third support base; 131 - Third support plate; 132 - Positioning plate; 14 - Support column; 15 - Motor compartment; 2 - Lower support base; 21 - Wire passing plate; 22 - Base plate; 23 - Reinforcement plate; 3 - Support assembly; 31 - Support member; 411 - Driving member; 412 - Coupling; 413 - First bearing block; 414 - Second bearing block; 415 - Lead screw; 416 - Lead screw nut; 42 - Transmission assembly; 421 - Slide rail; 422 - Slide block; 423 - Tensile sensor; 424 - Hanging rod; 425 - Hook; 426 - Fixing member; 427 - Universal ball buckle; 428 - Limit ring; 43 - Guide assembly; 431 - First guiding member; 432 - Second guiding member; 44 - Driving wire; 5 - Photoelectric sensor; 6 - Light shielding member; 7 - Support column. Detailed implementation manner

[0023] In order to more clearly understand the above - mentioned objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0024] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0025] The present invention relates to the technical field of medical devices, and specifically, to a three - degree - of - freedom wrist - type manipulator driving device.

[0026] With the development of science and technology, in order to meet the application scenarios of surgical operations, the surgical robot industry is constantly developing. In the field of microsurgery, a common surgical scenario is that a doctor performs anastomosis operations on a free flap with blood vessels under a magnifying glass or microscope. The operating precision of the human hand is 0.1 mm, and the amplitude of physiological tremors exceeds 100 mm, making it impossible to perform anastomosis operations on smaller blood vessels relying on the human hand.

[0027] Therefore, there is an urgent need to provide a three - degree - of - freedom wrist - type manipulator driving device with higher operating precision and greater dexterity.

[0028] The present invention provides a three - degree - of - freedom wrist - type manipulator driving device, which can improve the operating precision of microsurgery.

[0029] The present invention provides a driving device for a three-degree-of-freedom wrist-type manipulator. The three-degree-of-freedom wrist-type manipulator driving device includes: an upper support base 1, a lower support base 2, a support assembly 3, and a power driving mechanism. The lower support base 2 is arranged face to face with the upper support base 1. The support assembly 3 connects the upper support base 1 and the lower support base 2. The support assembly 3 includes a plurality of support members 31, and the plurality of support members 31 are arranged along the circumferences of the upper support base 1 and the lower support base 2. The power driving mechanism includes a plurality of driving components, a plurality of transmission components 42, a plurality of guiding components 43, and a plurality of driving wires 44. The plurality of driving members 411 and the plurality of transmission components 42 are both arranged along the circumference of the upper support base 1. The plurality of guiding components 43 are arranged along the circumference of the lower support base 2. Each driving member 411 is connected to each transmission component, and each transmission component drives the connection of each driving wire 44. The driving wire 44 passes through the guiding component 43 and is connected to the target object a.

[0030] Specifically, the plurality of transmission components are arranged along the circumference of the upper support base 1. One driving member 411 drives one transmission component, one transmission component drives at least one driving wire 44, and at least one driving wire 44 is connected to the target object a. Optionally, six driving members 411 are provided, six transmission components are provided, and six driving wires 44 are provided. Each degree of freedom is realized by two driving wires 44 for clockwise and counterclockwise rotation. Therefore, six driving wires 44 are required for a complete three-degree-of-freedom manipulator, and each driving wire 44 has elasticity and will produce an elongation under the action of tension. Each driving wire 44 can be independently driven. The six driving wires 44 respectively correspond to an independent set of driving members 411 and transmission components. The six sets of driving members 411 and transmission components are arranged in a regular hexagon around the extension arm, that is, the angle between the planes where the driving wires 44 are located in adjacent driving members 411 and transmission components is 60°. A set of driving members 411 and a set of transmission components form a set of driving structures. The driving wires 44 driven by the two sets of driving structures corresponding to the angle of 180° between the planes where the driving wires 44 are located control the clockwise and counterclockwise rotation of one degree of freedom of the three-degree-of-freedom gripper.

[0031] Furthermore, the upper support base 1 includes a plurality of motor compartments 15. The upper support base 1 is provided with a plurality of motor compartments 15 in its own axial direction, and each driving member 411 is arranged in each motor compartment 15. The central axis of the upper support base 1 coincides with the central axis of the lower support base 2.

[0032] In some alternative embodiments, the upper support base 1 includes a first support base 11, a second support base 12, a third support base 13, and a support column 14. The support column 14 successively connects the first support base 11, the second support base 12, and the third support base 13. The central axes of the first support base 11, the second support base 12, the third support base 13, and the support column 14 coincide.

[0033] Specifically, the central axes of the first support base 11, the second support base 12, the third support base 13, and the support column 14 coincide. The first support base 11 includes a main body and a cover body. A groove recessed from the upper surface to the lower surface is provided on the upper surface of the main body. The groove is connected to the cover body, and the cover body is disposed in the groove. The cover body and the main body are fixedly connected by bolts. The main body is provided with a central through hole, and one end of the support column 14 penetrates through the central through hole of the main body to realize the connection between the main body and the support column 14.

[0034] Further, the third support base 12 includes a third support plate 131 and a positioning plate 132. The third support plate 131 is attached to the positioning plate 132. Optionally, the third support plate 131 is provided with a plurality of second bearing seat mounting holes. The third support plate 131 and the positioning plate 132 are provided with a third through hole communicating with each other. The transmission component penetrates through the third through hole 133, and the transmission component can move inside the third through hole 133.

[0035] The lower support base 2 includes a wire passing plate 21, a bottom plate 22, and a reinforcing plate 23. The wire passing plate 21 and the bottom plate 22 are fixed by a plurality of reinforcing plates 23. The plurality of reinforcing plates 23 are evenly arranged in the circumferential direction of the wire passing plate 21 and the bottom plate 22 to connect the wire passing plate 21 and the reinforcing plate 23. One end of the support member 31 is connected to the positioning plate 132, and the other end of the support member 31 is connected to the wire passing plate 21. Optionally, one end of the support member 31 is threadedly connected to the positioning plate 132, and the other end of the support member 31 is threadedly connected to the wire passing plate 21.

[0036] In some alternative embodiments, the drive assembly includes a drive member 411, a coupling 412, a first bearing seat 413, a second bearing seat 414, a lead screw 415, and a lead screw nut 416. The drive member 411 is disposed on the upper support base 1. The first bearing seat 413 is disposed on the second support base 12. The drive member 411 is connected to the first bearing seat 413 through the coupling 412. The second bearing seat 414 is disposed on the third support base 13. The first bearing seat 413 and the second bearing seat 414 are connected by the lead screw 415. The lead screw nut 416 is connected to the lead screw 415.

[0037] Specifically, a plurality of first bearing seat mounting holes are uniformly arranged in the circumferential direction of the second support seat 12. Each first bearing seat 413 is correspondingly connected to each first bearing seat mounting hole. The driving component 411 is arranged in the motor accommodation bin, and the output shaft of the driving component 411 is connected to the first bearing seat 413 through a coupling 412. A plurality of second bearing seat mounting holes are uniformly arranged in the circumferential direction of the second support seat 12. Each second bearing seat 414 is correspondingly connected to each second bearing seat mounting hole. Optionally, each first bearing seat mounting hole and each second bearing seat mounting hole are correspondingly arranged. In the height direction of the support column 14, the projections of the first bearing seat mounting hole and the second bearing seat mounting hole coincide. The first bearing seat 413 and the second bearing seat 414 are connected by a lead screw 415.

[0038] In some alternative embodiments, it further includes a plurality of photoelectric sensors 5. The plurality of photoelectric sensors 5 are arranged on the support column 14 between the first support seat 11 and the second support seat 12, and the plurality of photoelectric sensors 5 are arranged around the circumferential direction of the support column 14.

[0039] Specifically, the photoelectric sensor 5 uses a photoelectric element, which is a sensor with a photoelectric element as the detection element. The working principle of the photoelectric sensor 5 is that after the change in the measured quantity is converted into a change in the optical signal, the optical signal is further converted into an electrical signal. Optionally, each photoelectric sensor 5 is connected to the support column 14 through a bolt. One photoelectric sensor 5 corresponds to a set of driving components 411 and transmission components.

[0040] In some alternative embodiments, it further includes a plurality of light-shielding components 6. The plurality of light-shielding components 6 are arranged between the second support seat 12 and the third support seat 13, and both ends of each light-shielding component 6 are respectively connected to the second support seat 12 and the lead screw nut 416.

[0041] Specifically, the second support seat 12 is provided with a plurality of mounting holes for the light-shielding components 6. The mounting holes for the plurality of light-shielding components 6 are arranged in the circumferential direction of the second support seat 12. One end of the light-shielding component 6 is correspondingly connected to each mounting hole for the light-shielding components 6, thereby realizing the connection between the second support seat 12 and the light-shielding component 6. The light-shielding component 6 includes a first light-shielding element 61, a second light-shielding element 62, and a third light-shielding element 63. The extending directions of the lengths of the first light-shielding element 61 and the third light-shielding element 63 are the same as the extending direction of the length of the support column 14, and the second light-shielding element 62 is respectively connected to the first light-shielding element 61 and the third light-shielding element 63.

[0042] In some alternative embodiments, each transmission assembly includes a plurality of sliding assemblies and a plurality of traction assemblies. The plurality of sliding assemblies are disposed on the support column 14 between the second support base 12 and the third support base 13. The plurality of sliding assemblies are arranged along the circumferential direction of the support column 14. The plurality of traction assemblies are arranged along the circumferential direction of the support column 14. One traction assembly is respectively connected to at least one sliding assembly and one driving wire 44.

[0043] Specifically, the sliding assembly extends in the length direction of the support column 14. Optionally, the sliding assembly and the support column 14 are connected by bolts. One end of the traction assembly is connected to the sliding assembly, and the other end of the traction assembly is connected to the lead screw nut 416. The driving member 411 drives the lead screw 415 to rotate. The lead screw nut 416 moves along the lead screw 415. The lead screw nut 416 drives the traction assembly to move along the length direction of the support column 14. The traction assembly slides along the sliding assembly during the movement, so that the traction assembly can move along the length direction of the support column 14.

[0044] In some alternative embodiments, the sliding assembly includes a slide rail 421 and a slider 422. The slide rail 421 is disposed on the support column 14, and the slide rail 421 is aligned with the length direction of the support column 14.

[0045] Specifically, the slide rail 421 extends in the length direction of the support column 14. One end of the traction assembly is connected to the slider 422, and the other end of the traction assembly is connected to the lead screw nut 416. During the process that the driving member 411 drives the lead screw 415 to rotate, the lead screw nut 416 will move along the lead screw 415. The lead screw nut 416 will drive the traction assembly to move during the movement. The traction assembly will drive the driving wire 44 to move. The driving wire 44 will drive the target object a to move in a certain direction by a preset distance during the movement. Each driving wire 44 has elasticity. Under the action of the pulling force of the traction assembly, each driving wire 44 will generate an elongation. Each driving wire 44 can be independently driven. The six driving wires 44 respectively correspond to an independent set of driving members 411 and transmission assemblies. The six sets of driving members 411 and transmission assemblies are arranged in a regular hexagon around the extension arm, that is, the included angle between the planes where the driving wires 44 driven by adjacent sets of driving members 411 and transmission assemblies are located is 60°. The two sets of driving members 411 and transmission assemblies corresponding to the included angle of 180° of the plane where the driving wires 44 are located drive the driving wires 44 to control the forward and reverse rotation of the target object a in one degree of freedom. Optionally, the target object a is a three-degree-of-freedom gripper.

[0046] In some alternative embodiments, each traction assembly includes a universal ball buckle 427, a tension sensor 423, a hanging rod 424, a hook 425, and a fixing member 426. One end of the universal ball buckle 427 is connected to the tension sensor 423, and the other end of the tension sensor 423 is connected to the hanging rod 424. The slider 422, the universal ball buckle 427, and the lead screw nut 416 are connected by the fixing member 426. A hook 425 is provided at one end of the hanging rod 424 away from the universal ball buckle 427, and the hook 425 is connected to the driving wire 44.

[0047] Specifically, the fixing member 426 is a connecting plate. The fixing member 426 is connected to the hanging rod 424. One end of the fixing member 426 is connected to the slider 422, and the other end of the fixing member 426 is connected to the lead screw nut 416.

[0048] In some alternative embodiments, the hook 425 is provided with a limiting ring 428, and the guiding member 43 is inserted into the limiting ring 428. The hook 425 is slidably connected to the guiding member 43. During the movement of the transmission assembly, it slides along the guiding member 43, and the guiding member 43 can limit the transmission assembly to prevent the transmission assembly from shifting during movement.

[0049] In some alternative embodiments, the guiding assembly 43 includes a first guiding member 431 and a second guiding member 432. The height of the first guiding member 431 is greater than the height of the second guiding member 432. One end of the driving wire 44 is connected to the hook 425, and successively passes through the first guiding member 431 and the second guiding member 432 and is connected to the target object a.

[0050] Specifically, the first guiding member 431 includes a first guiding wheel and a first supporting element. One end of the first supporting element is connected to the first guiding wheel, and the other end of the first supporting element is connected to the lower supporting seat 2. The second guiding member 432 includes a second guiding wheel and a second supporting element. One end of the second supporting element is connected to the second guiding wheel, and the other end of the second supporting element is connected to the second supporting element.

[0051] On the other hand, the present invention provides a three-degree-of-freedom wrist-type manipulator, including the three-degree-of-freedom wrist-type manipulator driving device according to any one of the above.

[0052] Specifically, the three-degree-of-freedom wrist-type manipulator includes a three-degree-of-freedom wrist-type manipulator driving device, a support rod, and a target object. One end of the support rod is connected to the three-degree-of-freedom wrist-type manipulator driving device, and the other end of the support rod is connected to the target object a. The support rod is hollow, and the target object a is a three-degree-of-freedom gripper. One ends of multiple driving wires 44 are connected to the hooks 425 of each transmission assembly, and the other ends pass through the inside of the support rod and are connected to the target object a. Two driving wires 44 drive the target object a to achieve a one-degree-of-freedom rotation, and six driving wires 44 drive the target object to achieve a three-degree-of-freedom rotation.

[0053] In the present invention, the term "a plurality of" means at least two or more than two, unless otherwise clearly defined. Terms such as "installed", "connected", "joined", "fixed", etc. shall be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "joined" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] In the description of this specification, the description of terms such as "an embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0055] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A three-degree-of-freedom wrist-type manipulator driving device, characterized in that, Comprising: Upper support base (1); Lower support base (2), arranged face to face with the upper support base (1); Support assembly (3), connecting the upper support base (1) and the lower support base (2), the support assembly (3) includes a plurality of support members (31), and the plurality of support members (31) are arranged along the circumferences of the upper support base (1) and the lower support base (2); Power driving mechanism, including a plurality of driving components, a plurality of transmission components, a plurality of guiding components (43) and a plurality of driving wires (44), the plurality of driving components and the plurality of transmission components are both arranged along the circumference of the upper support base (1), the plurality of guiding components (43) are arranged along the circumference of the lower support base (2), each driving component includes a driving part (411) and a lead screw nut (416), each driving part (411) is connected to each transmission component, each transmission component drives each driving wire (44) to be connected, the driving wire (44) passes through the guiding component (43) and is connected to the target object (a), each transmission component includes a sliding component and a traction component, the sliding component includes a slider (422), the traction component includes a universal ball buckle (427), a tensile force sensor (423), a hanging rod (424), a hook (425) and a fixing component (426), the universal ball buckle (427) is connected to one end of the tensile force sensor (423), the other end of the tensile force sensor (423) is connected to the hanging rod (424), the slider (422), the universal ball buckle (427) and the lead screw nut (416) are connected through the fixing component (426), the hook (425) is arranged at one end of the hanging rod (424) away from the universal ball buckle (427), and the hook (425) is connected to the driving wire (44).

2. The three-degree-of-freedom wrist-type manipulator driving device according to claim 1, characterized in that, The upper support base (1) includes a first support base (11), a second support base (12), a third support base (13) and a support column (14), the support column (14) sequentially connects the first support base (11), the second support base (12) and the third support base (13); the central axes of the first support base (11), the second support base (12), the third support base (13) and the support column (14) coincide.

3. The three-degree-of-freedom wrist-type manipulator driving device according to claim 2, characterized in that, The driving component further includes a coupling (412), a first bearing seat (413), a second bearing seat (414) and a lead screw (415), the driving part (411) is arranged on the upper support base (1), the first bearing seat (413) is arranged on the second support base (12), the driving part (411) is connected to the first bearing seat (413) through the coupling (412), the second bearing seat (414) is arranged on the third support base (13), the first bearing seat (413) and the second bearing seat (414) are connected through the lead screw (415), and the lead screw nut (416) is connected to the lead screw (415).

4. The three-degree-of-freedom wrist-type manipulator driving device according to claim 3, characterized in that, It further includes a plurality of photoelectric sensors (5), and the plurality of photoelectric sensors (5) are arranged on the support column (14) between the first support base (11) and the second support base (12), and the plurality of photoelectric sensors (5) are arranged circumferentially around the support column (14).

5. The three-degree-of-freedom wrist-type manipulator driving device according to claim 4, characterized in that, It further includes a plurality of light-shielding components (6), and the plurality of light-shielding components (6) are arranged between the second support base (12) and the third support base (13), and both ends of each light-shielding component (6) are respectively connected to the second support base (12) and the lead screw nut (416).

6. The three-degree-of-freedom wrist-type manipulator driving device according to claim 5, characterized in that, The plurality of sliding assemblies are arranged on the support column (14) between the second support base (12) and the third support base (13), the plurality of sliding assemblies are arranged circumferentially around the support column (14), the plurality of traction assemblies are arranged circumferentially around the support column (14), and one traction assembly is respectively connected to at least one sliding assembly and one drive wire (44).

7. The three-degree-of-freedom wrist-type manipulator driving device according to claim 6, characterized in that, The sliding assembly further includes a slide rail (421), the slide rail (421) is arranged on the support column (14), and the length direction of the slide rail (421) is consistent with that of the support column (14).

8. The three-degree-of-freedom wrist-type manipulator driving device according to claim 7, characterized in that, The guiding assembly (43) includes a first guiding component (431) and a second guiding component (432), the height of the first guiding component (431) is greater than that of the second guiding component (432), and one end of the drive wire (44) is connected to the hook (425), passes through the first guiding component (431) and the second guiding component (432) in sequence and is connected to the target object (a).

9. A three-degree-of-freedom wrist-type manipulator, characterized in that, It includes the three-degree-of-freedom wrist-type manipulator driving device according to any one of claims 1-8.

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