Laser projection alignment mechanism

Abstract

The application relates to the technical field of laser adjustment, and particularly discloses a laser projection alignment mechanism, in which a mounting frame is arranged on a base to rotate around a first axis; a first knob is arranged on the base to rotate around an axis direction of the first knob, and the first knob is in transmission connection with the mounting frame; a laser mounting base is arranged on the mounting frame to rotate around a second axis of the mounting frame, and the second axis of the mounting frame is perpendicular to the first axis; a second knob is arranged on the base to rotate around an axis direction of the second knob, and the second knob is in transmission connection with the laser mounting base. One end of a universal joint is hinged to the second knob, and the other end of the universal joint is hinged to the laser mounting base. The above arrangement avoids interference between two robots, and ensures the operation precision and safety.

Description

Technical Field

[0001] This invention relates to the field of laser adjustment technology, and more particularly to a laser projection alignment mechanism. Background Technology

[0002] With the development of medical technology, intelligent surgical robots are rapidly becoming more widespread. Among them, single-arm robots are also under development. During surgery, a system is formed by the cooperation of a single-arm robot and a multi-arm robot. The cross-shaped laser beams emitted from the output laser heads of the single-arm robot and the multi-arm robot work together to ensure the smooth execution of the surgery. During the alignment of the two cross-shaped laser beams, the single-arm and multi-arm robots are typically adjusted to allow the lasers to tilt or rotate, ultimately causing the two cross-shaped laser beams to coincide.

[0003] However, the above adjustment method requires high precision in the coordination between the single-arm robot and the multi-arm robot. During the laser alignment process, interference problems may occur between the single-arm robot and the multi-arm robot, which may affect the accuracy and safety of the surgery. Summary of the Invention

[0004] The purpose of this invention is to provide a laser projection alignment mechanism to solve the problem of interference between single-arm and multi-arm robots in the prior art, which affects the accuracy and safety of surgery.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A laser projection alignment mechanism, comprising:

[0007] Base;

[0008] The mounting bracket is rotatably mounted on the base about the first axis;

[0009] A first knob is mounted on the base and rotates around its own axis; the first knob is connected to the mounting bracket in a transmission manner.

[0010] A laser mounting base is rotatably mounted on the mounting frame about a second axis of the mounting frame, the second axis of the mounting frame being perpendicular to the first axis;

[0011] The second knob is located on the base and rotates around its own axis, and is connected to the laser mounting base in a transmission manner;

[0012] A universal joint, one end of which is hinged to the second knob and the other end of which is hinged to the laser mounting base.

[0013] In some embodiments, the mounting bracket includes a bracket body and two connecting shafts. Both connecting shafts are fixed to the bracket body and are symmetrically arranged about the axis of the bracket body. Both connecting shafts are rotatably disposed on the base. The first knob is drively connected to one of the connecting shafts.

[0014] In some embodiments, the laser projection alignment mechanism includes a transmission assembly, which includes a first gear and a second gear rotatably disposed on the base and meshing with each other. The diameter of the first gear is larger than the diameter of the second gear. The first gear is tractively connected to the first knob, and the second gear is tractively connected to the connecting shaft.

[0015] In some embodiments, the laser projection alignment mechanism includes a first encoder disposed on the base for detecting the rotation angle of another connecting shaft.

[0016] In some embodiments, the laser projection alignment mechanism includes a first damping element disposed between the base and the connecting shaft, for stopping the connecting shaft at any angle.

[0017] In some embodiments, the laser projection alignment mechanism includes a second encoder disposed on the base for detecting the angle of rotation of the second knob relative to the base.

[0018] In some embodiments, the laser projection alignment mechanism includes at least one second damping element disposed between the mounting bracket and the laser mounting base, for stopping the laser mounting base at any angle.

[0019] In some embodiments, the mounting frame includes a frame body, the frame body includes a cylinder and a cover disposed on the top of the cylinder, the cover has a transmission channel, the laser mounting base includes a base plate, one end of the base plate is provided with a connecting rod, the outer diameter of the base plate is larger than the outer diameter of the transmission channel, the base plate is rotatably disposed in the cylinder, the connecting rod passes through the transmission channel and is connected to the universal joint, and a second damping element is provided between the base plate and the cover.

[0020] In some embodiments, the laser mounting base includes a connector and a limiting member. The connector is disposed between the base plate and the limiting member. The limiting member is located on the side of the base plate away from the linkage rod. The outer diameter of the limiting member is larger than the inner diameter of the cylinder and is located at the end of the cylinder away from the cover. A second damping member is provided between the cylinder and the limiting member.

[0021] In some embodiments, the axis of the first knob is parallel to the first axis and parallel to the X direction; and / or

[0022] The axis of the second knob is parallel to the Z direction.

[0023] The beneficial effects of this invention are as follows:

[0024] This invention provides a laser projection alignment mechanism, comprising a base, a mounting frame, a laser mounting base, a first knob, a universal joint, and a second knob. The mounting frame is rotatably mounted on the base about a first axis. The first knob is fixed in a position on the base and controls the rotation of the mounting frame. The laser mounting base is rotatably mounted on the mounting frame. The second knob is fixed in a position on the base and controls the laser mounting base via the universal joint. The first knob adjusts the pitch angle of the mounting frame. When the mounting frame rotates, the universal joint adapts to the positional relationship between the second knob and the laser mounting base, allowing the rotational movement of the laser mounting base to be adjusted by the second knob, whose position remains unchanged. Applying this alignment structure to a single-arm robot allows direct adjustment of the laser emitter on the alignment mechanism, ensuring the two crosshairs coincide. This avoids interference between the two robots by adjusting the single-arm or multi-arm robot, thus guaranteeing surgical precision and safety. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the laser projection alignment mechanism in an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the first cross-sectional structure of the laser projection alignment mechanism in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the second cross-sectional structure of the laser projection alignment mechanism in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the third cross-sectional structure of the laser projection alignment mechanism in an embodiment of the present invention.

[0029] In the picture:

[0030] 1000, Laser emitter; 1100, Cross laser;

[0031] 100. Base; 110. Mounting cavity; 120. Sealing cavity; 121. Sealing cover; 130. Pitch bracket; 131. Mounting plate;

[0032] 200. Mounting bracket; 210. Bracket body; 220. Connecting shaft;

[0033] 300, First knob; 310, First gear; 320, Second gear; 330, First encoder; 340, First damping element;

[0034] 400. Laser mounting base; 410. Base plate; 411. Linkage rod; 420. Connecting component; 430. Limiting component;

[0035] 500, Second knob; 510, Second encoder; 520, Second damping element;

[0036] 600. Universal joint. Detailed Implementation

[0037] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0041] like Figures 1 to 4 As shown, this embodiment provides a laser projection alignment mechanism, which includes a base 100, a mounting bracket 200, a first knob 300, a laser mounting base 400, a second knob 500, and a universal joint 600. The mounting bracket 200 is rotatably mounted on the base 100 about a first axis. The first knob 300 is rotatably mounted on the base 100 about its own axis and is connected to the mounting bracket 200 for pitch adjustment. The laser mounting base 400 is rotatably mounted on the mounting bracket 200 about a second axis, which is perpendicular to the first axis. The second knob 500 is rotatably mounted on the base 100 about its own axis and is connected to the laser mounting base 400 for rotation adjustment. One end of the universal joint 600 is hinged to the second knob 500, and the other end is hinged to the laser mounting base 400. In this embodiment, the laser emitter 1000 is mounted on the laser mounting base 400 and can emit cross lasers 1100. Specifically, there are two sets of laser emitters 1000, a total of four laser emitters 1000. Two red lasers emit two red lines, and two green lasers emit two green lines. The red and green lasers together form a cross.

[0042] In use, the laser projection alignment mechanism is installed at the output end of the single-arm robot. The laser emitter 1000 on the alignment mechanism can be directly adjusted so that the cross laser 1100 emitted by the laser emitter 1000 on the alignment mechanism and the cross laser emitted by the laser emitter on the multi-arm robot overlap. This avoids interference between the two robots by adjusting the single-arm robot or the multi-arm robot, thus ensuring surgical accuracy and safety.

[0043] The two knobs mentioned above allow for adjustment of the laser's emission angle and direction. The positions of these two knobs are fixed, allowing the operator to easily locate them from memory, thus improving convenience and efficiency, and consequently enhancing surgical efficiency and outcomes. Furthermore, changes in the angle of the mounting bracket 200 will not affect the position of the second knob 500, avoiding potential interference with other structures and improving safety during use.

[0044] In this embodiment, the mounting bracket 200 includes a bracket body 210 and two connecting shafts 220. Both connecting shafts 220 are fixed to the bracket body 210 and are symmetrically arranged about the axis of the bracket body 210. Both connecting shafts 220 are rotatably mounted on the base 100. The first knob 300 is connected to one of the connecting shafts 220 via a transmission mechanism. The arrangement of the two connecting shafts 220 makes the rotation of the mounting bracket 200 more stable. The laser mounting base 400 is disposed within the bracket body 210.

[0045] During surgery, the faster the alignment is adjusted, the more time is saved for the patient and the higher the success rate of the surgery. In this embodiment, the laser projection alignment mechanism includes a transmission assembly, which includes a first gear 310 and a second gear 320 rotatably mounted on the base 100 and meshing with each other. The diameter of the first gear 310 is larger than the diameter of the second gear 320. The first gear 310 is connected to the first knob 300, and the second gear 320 is connected to the connecting shaft 220. Specifically, the tooth ratio of the first gear 310 and the second gear 320 can be 1.5:1 to 3:1. In other words, the number of teeth of the first gear 310 is 1.5 to 3 times the number of teeth of the second gear 320.

[0046] In some embodiments, the laser projection alignment mechanism includes a first encoder 330, which is disposed on the base 100 and is used to detect the rotation angle of another connecting shaft 220. In this embodiment, the laser projection alignment mechanism also includes a controller and a display screen, which are communicatively connected. The controller is also communicatively connected to the first encoder 330. The display screen shows the rotation angle of the connecting shaft 220 detected by the first encoder 330, thereby allowing the operator to clearly know the rotation angle of the mounting bracket 200. The working principle of the first encoder 330 is well known to those skilled in the art and will not be described in detail here.

[0047] To ensure a constant laser irradiation angle during use, in some embodiments, the laser projection alignment mechanism includes a first damping element 340. The first damping element 340 is disposed between the base 100 and the connecting shaft 220, used to stop the connecting shaft 220 at any angle. This arrangement ensures that the pitch angle of the mounting frame 200 remains constant, thereby improving surgical precision. Specifically, the mounting plate 131 is fixed to the base 100 and has a mounting through hole. The connecting shaft 220 passes through the mounting through hole. The first damping element 340 is a rubber ring with an outer diameter larger than the outer diameter of the mounting through hole. The rubber ring is fitted and fixed to the connecting shaft 220, and its end face is in frictional contact with the mounting plate 131. In some embodiments, there are two first damping elements 340, located on opposite sides of the mounting plate 131, both in frictional contact with the mounting plate 131. The first damping element 340 can be bonded or connected to the connecting shaft 220. In some embodiments, a thread can be provided on the connecting shaft 220, and a nut can be screwed onto the connecting shaft 220 to press the rubber ring against the mounting plate 131. This arrangement allows the friction between the rubber ring and the mounting plate 131 to be adjustable. The pitch bracket 130 is disposed on the base 100 and includes a mounting cylinder and a mounting plate 131 disposed at one end of the mounting cylinder. One rubber ring is located inside the mounting cylinder, and the other rubber ring is located outside the mounting cylinder.

[0048] To monitor the rotation angle of the laser emitter 1000 around the second axis, in some embodiments, the laser projection alignment mechanism includes a second encoder 510, which is disposed on the base 100 and used to detect the rotation angle of the second knob 500 relative to the base 100. The usage of the second encoder 510 can be referred to the usage of the first encoder 330, and will not be repeated here.

[0049] To ensure that the laser irradiation angle remains constant during use, the laser projection alignment mechanism further includes at least one second damping element 520, which is disposed between the mounting bracket 200 and the laser mounting base 400, and is used to stop the laser mounting base 400 at any angle.

[0050] Regarding the specific installation method of the second damping element 520, specifically, the frame body 210 includes a cylinder and a cover at the top of the cylinder. The cover has a transmission channel. The laser mounting base 400 includes a base plate 410, with a connecting rod 411 at one end of the base plate 410. The outer diameter of the base plate 410 is larger than the outer diameter of the transmission channel. The base plate 410 is rotatably mounted in the cylinder. The connecting rod 411 passes through the transmission channel and is connected to the universal joint 600. The second damping element 520 is provided between the base plate 410 and the cover. In this embodiment, the laser emitter 1000 is mounted on the base plate 410. The above arrangement can provide damping for the mounting frame 200 while also limiting the position of the base plate 410 on the second axis.

[0051] To improve the damping effect, in this embodiment, the laser mounting base 400 further includes a connector 420 and a limiting member 430. The connector 420 is located between the base plate 410 and the limiting member 430. The limiting member 430 is located on the side of the base plate 410 away from the connecting rod 411. The outer diameter of the limiting member 430 is larger than the inner diameter of the cylinder and is located at the end of the cylinder away from the cover. A second damping member 520 is provided between the cylinder and the limiting member 430. The above arrangement improves the damping effect and also further limits the laser mounting base 400 on the second axis.

[0052] In some embodiments, the axis of the first knob 300 is parallel to the first axis and parallel to the X direction. The axis of the second knob 500 is parallel to the Z direction. The above configuration enables adjustment of the laser emitter 1000 in two dimensions, allowing the two cross lasers 1100 to be aligned when used in conjunction with a single-arm robot.

[0053] The base 100 has a mounting cavity 110 and a first mounting hole, a second mounting hole, and a light-transmitting channel communicating with the mounting cavity 110. The mounting bracket 200 is located inside the mounting cavity 110. A first knob 300 is connected to the mounting bracket 200 through the first mounting hole, and a second knob 500 is connected to the laser mounting base 400 through the second mounting hole. The laser can then be emitted through the light-transmitting channel. This arrangement protects the mounting bracket 200 from damage caused by impact.

[0054] The base 100 also includes a sealing cavity 120, which is connected to the mounting cavity 110 via a shaft hole. Both the first gear 310 and the second gear 320 are mounted in the sealing cavity 120. The first gear 310 is rotatably mounted in the sealing cavity 120 along with a first shaft, while the second gear 320 is rotatably mounted in the sealing cavity 120 via a second shaft. The second shaft passes through a shaft hole into the mounting cavity 110 and connects to the connecting shaft 220. This arrangement protects the two gears, preventing other objects from falling into the meshing area and causing jamming, and improves the smoothness of the gear rotation. A sealing cover 121 is placed on the base 100 and forms the sealing cavity 120 together with the base 100.

[0055] Preferably, the linkage 411 is telescopic along its own axis. This arrangement allows the linkage 411 to adapt to the positional relationship between the mounting bracket 200 and the universal joint 600 even when the mounting bracket 200 experiences a large pitch angle.

[0056] The linkage 411 includes a fixed cylinder, a spring, and a sliding rod. The sliding rod passes through the fixed cylinder, and the spring is located between the fixed cylinder and the sliding rod. It can apply elastic force to make the sliding rod move towards the bottom of the fixed cylinder. The bottom of the fixed cylinder is connected to the base plate 410. The universal joint 600 and the end of the sliding rod away from the fixed cylinder are hinged.

[0057] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A laser projection alignment mechanism, characterized in that, include: Base (100); The mounting bracket (200) is rotatably disposed on the base (100) about the first axis. A first knob (300) is rotatably mounted on the base (100) about its own axis, and the first knob (300) is connected to the mounting bracket (200) in a transmission manner; A laser mounting base (400) is rotatably mounted on the mounting frame (200) about a second axis, the second axis of the mounting frame (200) being perpendicular to the first axis; The second knob (500) is rotatable around its own axis and is located on the base (100), and is connected to the laser mounting base (400) in a transmission manner; Universal joint (600), one end of which is hinged to the second knob (500) and the other end of which is hinged to the laser mounting base (400).

2. The laser projection alignment mechanism according to claim 1, characterized in that, The mounting bracket (200) includes a bracket body (210) and two connecting shafts (220). Both connecting shafts (220) are fixed to the bracket body (210) and are symmetrically arranged about the axis of the bracket body (210). Both connecting shafts (220) are rotatably mounted on the base (100). The first knob (300) is connected to one of the connecting shafts (220) in a transmission manner.

3. The laser projection alignment mechanism according to claim 2, characterized in that, The laser projection alignment mechanism includes a transmission assembly, which includes a first gear (310) and a second gear (320) rotatably mounted on the base (100) and meshing with each other. The diameter of the first gear (310) is larger than the diameter of the second gear (320). The first gear (310) is connected to the first knob (300) and the second gear (320) is connected to the connecting shaft (220).

4. The laser projection alignment mechanism according to claim 2, characterized in that, The laser projection alignment mechanism includes a first encoder (330), which is disposed on the base (100) and is used to detect the rotation angle of the other connecting shaft (220).

5. The laser projection alignment mechanism according to claim 2, characterized in that, The laser projection alignment mechanism includes a first damping element (340), which is disposed between the base (100) and the connecting shaft (220) to stop the connecting shaft (220) at any angle.

6. The laser projection alignment mechanism according to claim 1, characterized in that, The laser projection alignment mechanism includes a second encoder (510), which is disposed on the base (100) and is used to detect the angle of rotation of the second knob (500) relative to the base (100).

7. The laser projection alignment mechanism according to claim 1, characterized in that, The laser projection alignment mechanism includes at least one second damping element (520), which is disposed between the mounting bracket (200) and the laser mounting base (400) to stop the laser mounting base (400) at any angle.

8. The laser projection alignment mechanism according to claim 7, characterized in that, The mounting bracket (200) includes a bracket body (210), the bracket body (210) includes a cylinder and a cover on the top of the cylinder, the cover has a transmission channel, the laser mounting base (400) includes a base plate (410), one end of the base plate (410) is provided with a connecting rod (411), the outer diameter of the base plate (410) is larger than the outer diameter of the transmission channel, the base plate (410) is rotatably disposed in the cylinder, the connecting rod (411) passes through the transmission channel and is connected to the universal joint (600), and a second damping element (520) is provided between the base plate (410) and the cover.

9. The laser projection alignment mechanism according to claim 8, characterized in that, The laser mounting base (400) includes a connector (420) and a limiting member (430). The connector (420) is located between the base plate (410) and the limiting member (430). The limiting member (430) is located on the side of the base plate (410) away from the linkage rod (411). The outer diameter of the limiting member (430) is larger than the inner diameter of the cylinder and is located at the end of the cylinder away from the cover. A second damping member (520) is provided between the cylinder and the limiting member (430).

10. The laser projection alignment mechanism according to any one of claims 1-9, characterized in that, The axis of the first knob (300) is parallel to the first axis; and / or The axis of the second knob (500) is perpendicular to the axis of the first knob (300).

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