A motion balance test platform for multi-axis medical robotic arms

Abstract

The present invention belongs to the field of medical robot arm testing, and provides a motion balance testing platform for a multi-axis medical robot arm, including a bottom plate, a fixed seat fixedly connected to the bottom plate, a first turntable rotatably connected to the fixed seat, a lifting column vertically slidably connected to the first turntable, a spherical shell fixedly connected to the top of the lifting column, a spherical head fitted to the inner ball of the spherical shell, and a mounting plate fixedly connected to one end of the spherical head. The present invention can test the balance ability in horizontal shaking, rotation and vertical motion states. The multiple test modules of the device can act separately or simultaneously, making the device more flexible to use, and different test contents can be customized according to different test requirements, so that the positioning accuracy of the multi-axis medical robot arm in various emergencies in actual applications can be tested.

Description

Technical Field

[0001] The invention belongs to the field of medical robot arm testing, and in particular relates to a motion balance testing platform for a multi-axis medical robot arm. Background Art

[0002] The multi-axis medical robot is an important innovation in modern medical technology. It combines the complex system characteristics of high precision, multi-input and multi-output, high nonlinearity and strong coupling, bringing great changes to the medical industry. Multi-axis medical robot arms are usually composed of multiple joints, which are driven by motors and transmission devices to achieve flexible movement. The joints are connected and coordinated by precise mechanical structures and control systems to ensure that the robot arm can move according to the predetermined trajectory and speed. Through advanced control systems and sensor technology, the multi-axis medical robot arm has extremely high positioning accuracy and repeatability. Its execution end can reach any position in the surgical area, which can meet the requirements of multiple schemes and high precision of medical surgery.

[0003] Balance ability refers to the ability to resist external forces that disrupt balance and keep the whole body in a stable state.

[0004] During the operation, the end-effector of the multi-axis medical robot arm needs to be accurately positioned at the patient's affected area. In order to ensure the patient's safety, the end-effector of the medical robot arm cannot move at will during the operation. It can only operate on the patient's affected area according to a specific path. Therefore, when the base of the multi-axis medical robot arm is offset, it needs to be able to quickly give feedback and keep the position of its end-effector unchanged. Therefore, when the multi-axis medical robot arm leaves the factory, it needs to be tested for its motion level ability.

[0005] Most of the existing tests on multi-axis medical robotic arms are conducted in a static state, measuring the difference between the actual position and the target position of the robotic arm end effector after multiple movements to evaluate its positioning accuracy, or testing the positioning accuracy of the robotic arm after multiple repetitions of the same action to ensure its stability and reliability when performing repetitive tasks. However, the existing tests do not test its positioning accuracy in a non-static state, making the existing test results inaccurate and unable to know whether it can adapt to various emergencies in actual applications. Summary of the invention

[0006] The purpose of the present invention is to provide a motion balance test platform for a multi-axis medical robotic arm, aiming to solve the technical problem that there is no project for testing the positioning accuracy of the multi-axis medical robotic arm in a non-static state in the prior art.

[0007] The present invention is implemented as follows: a motion balance test platform for a multi-axis medical robotic arm comprises a bottom plate, a fixed seat is fixedly connected to the bottom plate, a first turntable is rotatably connected to the fixed seat, a lifting column is vertically slidably connected to the first turntable, a spherical shell is fixedly connected to the top of the lifting column, a spherical head is matched with the internal ball of the spherical shell, a mounting plate is fixedly connected to one end of the spherical head, a bolt hole is provided on the mounting plate, the mounting plate is used to install the multi-axis medical robotic arm, a cross groove is provided inside the spherical shell, a plurality of positioning columns are fixedly connected to the side of the spherical head, the plurality of positioning columns are respectively slidably connected in a plurality of slideways of the cross groove, and the axis extension line of the positioning column passes through the center of the spherical head, and also comprises:

[0008] A second telescopic rod, the second telescopic rod is mounted on the bottom plate, the movable end of the second telescopic rod is connected to the bottom of the lifting column through a rotating connector, the second telescopic rod is used to drive the lifting column and the mounting plate to move up and down, and the mounting plate drives the multi-axis medical robotic arm to move up and down, so as to test the lifting and balancing ability of the multi-axis medical robotic arm;

[0009] A power mechanism, wherein the power mechanism is mounted on the bottom plate, and an output end of the power mechanism is connected to a first turntable, wherein the power mechanism is used to drive the first turntable to rotate, and the first turntable drives the spherical shell, the spherical head and the mounting plate to rotate through a lifting column, and the mounting plate drives the multi-axis medical robotic arm to rotate, so that the rotational balance ability of the multi-axis medical robotic arm can be tested;

[0010] A horizontal shaking mechanism is installed on a base plate, and multiple output ends of the horizontal shaking mechanism are all abutted against the bottom of the mounting plate. The horizontal shaking mechanism is used to drive the mounting plate to rotate around the center of the spherical head, and then the mounting plate drives the multi-axis medical robotic arm to swing, thereby testing the horizontal swing balance ability of the multi-axis medical robotic arm.

[0011] Further technical solution: The power mechanism includes a frequency-modulated motor fixedly mounted on a base plate, the output shaft of the frequency-modulated motor is transmission-connected to a first driving gear, the side of the first turntable is fixedly connected to a first driven gear ring, and the first driving gear is meshingly connected to the first driven gear ring.

[0012] Further technical solution: the horizontal shaking mechanism includes a fixed ring fixedly connected to the base plate by a plurality of fixed rods, a second turntable is rotatably connected to the fixed ring, a plurality of first telescopic rods are fixedly connected to the side of the second turntable close to the mounting plate, the plurality of first telescopic rods are evenly distributed around the axis of the second turntable, and elastic abutment rods are fixedly installed on the movable ends of all the first telescopic rods, one end of the elastic abutment rod abuts against the bottom of the mounting plate.

[0013] Further technical solution: The elastic abutment rod includes a fixed cylinder fixedly connected to the movable end of the first telescopic rod, one end of the fixed cylinder is slidably connected to an abutment joint, a compression spring is connected between the abutment joint and the fixed cylinder, and one end of the abutment joint abuts against the bottom of the mounting plate.

[0014] A further technical solution also includes a transmission mechanism, which is installed on a fixed seat, one end of the transmission mechanism is connected to the frequency-modulated motor, and the other end of the transmission mechanism is connected to the second turntable. When the frequency-modulated motor is started, the transmission mechanism can drive the second turntable to rotate.

[0015] The transmission mechanism comprises a fixing part fixedly connected to a fixing seat, a rotating rod being rotatably connected to the fixing part, an end of the rotating rod close to the second rotating disk being rotatably connected to a rotating tube, a third driving gear being fixedly connected to the rotating tube, a second rotating disk being fixedly connected to a second driven gear ring, the third driving gear and the second driven gear ring being meshingly connected, the rotating rod being slidably connected to the driving tube via a sliding key, a key groove matching the sliding key being provided on the rotating rod, a plurality of plug rods being fixedly connected to one end of the driving tube close to the third driving gear, a slot matching the plurality of plug rods being provided at one end of the rotating tube, each of the plug rods being able to be inserted into a slot, a limiting flange being fixedly connected to the side surface of the driving tube, a second driven gear being fixedly connected to the rotating rod, a second driving gear being fixedly connected to the output shaft of the frequency modulation motor, the second driving gear and the second driven gear being meshingly connected, and the transmission mechanism also comprises:

[0016] An adjusting mechanism is installed on a fixed rod, one end of which is connected to a limiting flange, and the adjusting mechanism is used to drive the limiting flange and the driving tube to move, so that the insertion rod can be inserted into the slot, or the insertion rod can be pulled out of the slot, thereby flexibly controlling the rotation time and rotation position of the second turntable, so that the device can be tested according to the motion balance test requirements of different multi-axis medical robotic arms.

[0017] Further technical solution: the adjustment mechanism includes a fixed plate fixedly connected to the fixed rod, a third telescopic rod is fixedly installed on the fixed plate, the movable end of the third telescopic rod is fixedly connected to an adjustment frame, and the adjustment frame is clamped on both sides of the limiting flange.

[0018] Further technical solution: The transmission mechanism also includes an electromagnetic clutch, which is arranged between the output shaft of the frequency modulation motor and the first driving gear, and the electromagnetic clutch is fixedly connected to the fixed seat through a connecting rod.

[0019] Further technical solution: A vibration detection component is also provided, which includes a mounting groove opened on the spherical head, a large diameter cylinder is fixedly connected inside the mounting groove, a large piston is slidably connected to the top of the large diameter cylinder, one end of the large piston extends out of the top of the mounting plate, the bottom of the large diameter cylinder is connected to a small diameter cylinder, one end of the small diameter cylinder is slidably connected to a small piston, the diameter of the large diameter cylinder is larger than twice the diameter of the small diameter cylinder, the interiors of the large diameter cylinder and the small diameter cylinder are filled with hydraulic oil, a vibration sensor is also installed inside the mounting groove, one end of the small piston is in contact with the input end of the vibration sensor, and initially, the distance between the side of one end of the large piston extending out of the mounting plate and the input end of the vibration sensor is slightly larger than the distance between the surface of the mounting plate and the input end of the vibration sensor.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. In the present invention, by setting a horizontal shaking mechanism, a first turntable and a second telescopic rod, the device can test the balance ability in horizontal shaking, rotation and vertical movement. The multiple test modules of the device can act separately or simultaneously, making the device more flexible to use and customizing different test contents according to different test requirements, so as to test the positioning accuracy of the multi-axis medical robot arm in various emergency situations in practical applications;

[0022] 2. The power mechanism drives the first turntable, the lifting column, the spherical shell, the spherical head and the mounting plate to rotate, and the mounting plate drives the multi-axis medical robotic arm to rotate, so as to test the rotational balance ability of the multi-axis medical robotic arm;

[0023] 3. The horizontal shaking mechanism drives the mounting plate to rotate around the center of the spherical head, and then the mounting plate drives the multi-axis medical robotic arm to swing, so as to test the horizontal swing balance ability of the multi-axis medical robotic arm;

[0024] 4. In the present invention, when the mounting plate drives the multi-axis medical robot arm to swing, the compression spring buffers the mounting plate, thereby preventing the multi-axis medical robot arm from being hit by the rigidity of the first telescopic rod, reducing the influence of external factors on the balance test results, and making the test results more accurate;

[0025] 5. In the present invention, by setting a transmission mechanism, the transmission mechanism can drive the second turntable to rotate, and the second turntable drives the first telescopic rod and the elastic abutment rod to rotate, so that the position of the elastic abutment rod lifting the mounting plate can be continuously changed, so that the test mode of the device is richer and the test accuracy is improved;

[0026] 6. In the present invention, by setting an electromagnetic clutch, the frequency modulation motor can only drive the second turntable to rotate, and by setting an adjustment mechanism, it can also only drive the first turntable to rotate, so that the device can drive the multi-axis medical robot arm to perform more diverse movements, and the device is more flexible in testing the multi-axis medical robot arm;

[0027] 7. In the present invention, by setting a vibration sensor, it can detect the vibration of the multi-axis medical robot arm during movement, and by setting a vibration amplifier composed of a large piston, a large diameter cylinder, a small diameter cylinder and a small piston, the vibration sensor can detect the tiny vibration of the multi-axis medical robot arm, making the vibration detection result more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0029] Figure 2 For the present invention Figure 1 Enlarged schematic diagram at point A in the middle.

[0030] Figure 3 It is a schematic diagram of the installation structure of the rotating rod in the present invention.

[0031] Figure 4 It is a schematic diagram of the cross-sectional structure of the fixing seat and the spherical shell in the present invention.

[0032] Figure 5 It is a bottom view structural schematic diagram of the horizontal shaking mechanism in the present invention.

[0033] Figure 6 It is a schematic diagram of the cross-sectional structure of the elastic abutment rod in the present invention.

[0034] Figure 7 It is a schematic diagram of the installation cross-sectional structure of the vibration detection component in the present invention.

[0035] In the accompanying drawings: 1, bottom plate; 2, fixed seat; 3, first turntable; 4, fixed ring; 5, fixed rod; 6, second turntable; 7, first telescopic rod; 8, elastic abutment rod; 81, abutment head; 82, fixed cylinder; 83, compression spring; 9, spherical shell; 10, spherical head; 11, mounting plate; 12, power mechanism; 121, first driven gear ring; 122, first driving gear; 123, frequency modulation motor; 13, transmission mechanism; 131, second driving gear; 132, electromagnetic clutch; 133, connecting rod; 134, second driven gear; 135, rotating rod; 136, fixing member; 138. third driving gear; 139. rotating tube; 1310. driving tube; 1311. limiting flange; 1312. second driven gear ring; 1313. adjusting frame; 1314. third telescopic rod; 1315. fixing plate; 1316. keyway; 1317. plug-in rod; 1318. slot; 14. second telescopic rod; 15. rotating connector; 16. lifting column; 17. cross slide; 18. positioning column; 19. vibration detection assembly; 191. large piston; 192. large diameter cylinder; 193. small diameter cylinder; 194. small piston; 195. mounting groove; 196. vibration sensor. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0038] like Figure 1-Figure 7 As shown, a motion balance test platform for a multi-axis medical robot arm provided by the present invention comprises a base plate 1, a fixing seat 2 is fixedly connected to the base plate 1, a first turntable 3 is rotatably connected to the fixing seat 2, a lifting column 16 is vertically slidably connected to the first turntable 3, a spherical shell 9 is fixedly connected to the top of the lifting column 16, a spherical head 10 is matched with the inner ball of the spherical shell 9, a mounting plate 11 is fixedly connected to one end of the spherical head 10, a bolt hole is provided on the mounting plate 11, and the mounting plate 11 is used to install the multi-axis medical robot arm, a cross groove 17 is provided inside the spherical shell 9, a plurality of positioning columns 18 are fixedly connected to the side of the spherical head 10, and the plurality of positioning columns 18 are respectively slidably connected in a plurality of slideways of the cross groove 17, and the axis extension line of the positioning column 18 passes through the center of the spherical head 10, and also comprises:

[0039] A second telescopic rod 14, the second telescopic rod 14 is mounted on the bottom plate 1, the movable end of the second telescopic rod 14 is connected to the bottom of the lifting column 16 through a rotating connector 15, the second telescopic rod 14 is used to drive the lifting column 16 and the mounting plate 11 to move up and down, and the mounting plate 11 drives the multi-axis medical robot arm to move up and down, so as to test the lifting and balancing ability of the multi-axis medical robot arm;

[0040] A power mechanism 12, wherein the power mechanism 12 is mounted on the base plate 1, and an output end of the power mechanism 12 is connected to the first turntable 3, wherein the power mechanism 12 is used to drive the first turntable 3 to rotate, and the first turntable 3 drives the spherical shell 9, the spherical head 10 and the mounting plate 11 to rotate through the lifting column 16, and the mounting plate 11 drives the multi-axis medical robotic arm to rotate, so that the rotational balance ability of the multi-axis medical robotic arm can be tested;

[0041] A horizontal shaking mechanism is installed on the base plate 1, and multiple output ends of the horizontal shaking mechanism are abutted against the bottom of the mounting plate 11. The horizontal shaking mechanism is used to drive the mounting plate 11 to rotate around the center of the spherical head 10, and then the mounting plate 11 drives the multi-axis medical robotic arm to swing, thereby testing the horizontal swing balance ability of the multi-axis medical robotic arm.

[0042] like Figure 1-Figure 2 As shown, a motion balance test platform for a multi-axis medical robotic arm provided by the present invention. In this embodiment, the power mechanism 12 includes a frequency-modulated motor 123 fixedly mounted on a base plate 1, and the output shaft of the frequency-modulated motor 123 is transmission-connected to a first driving gear 122. A first driven gear ring 121 is fixedly connected to the side of the first turntable 3, and the first driving gear 122 is meshingly connected to the first driven gear ring 121.

[0043] like Figure 1-Figure 2 and Figure 5-Figure 6 As shown, a motion balance test platform for a multi-axis medical robotic arm provided by the present invention, in this embodiment, the horizontal shaking mechanism includes a fixed ring 4 fixedly connected to the base plate 1 by a plurality of fixed rods 5, and a second turntable 6 is rotatably connected to the fixed ring 4, and a plurality of first telescopic rods 7 are fixedly connected to the side of the second turntable 6 close to the mounting plate 11, and the plurality of first telescopic rods 7 are evenly distributed around the axis of the second turntable 6, and the movable ends of all the first telescopic rods 7 are fixedly installed with elastic abutment rods 8, and one end of the elastic abutment rod 8 abuts against the bottom of the mounting plate 11.

[0044] During the test, the movable end of one first telescopic rod 7 is extended and the movable end of the other corresponding first telescopic rod 7 is shortened. Then, the first telescopic rod 7 drives the elastic abutment rod 8 to lift one side of the mounting plate 11, so that the mounting plate 11 drives the multi-axis medical robot arm to rotate around the center of the spherical head 10. By making the first telescopic rods 7 in different directions drive one side of the mounting plate 11 in different directions to rise, the horizontal swing balance ability of the multi-axis medical robot arm can be tested.

[0045] like Figure 5-Figure 6 As shown, a motion balance test platform for a multi-axis medical robotic arm provided by the present invention, in this embodiment, the elastic abutment rod 8 includes a fixed cylinder 82 fixedly connected to the movable end of the first telescopic rod 7, one end of the fixed cylinder 82 is slidably connected to an abutment joint 81, a compression spring 83 is connected between the abutment joint 81 and the fixed cylinder 82, and one end of the abutment joint 81 abuts against the bottom of the mounting plate 11.

[0046] The abutment head 81 and the mounting plate 11 are elastically abutted against each other. When the mounting plate 11 drives the multi-axis medical robot arm to swing, the compression spring 83 buffers the mounting plate 11, thereby preventing the multi-axis medical robot arm from being hit by the rigidity of the first telescopic rod 7, reducing the influence of external factors on the balance test results, and making the test results more accurate.

[0047] like Figure 1-Figure 3 As shown, a motion balance test platform for a multi-axis medical robotic arm provided by the present invention is provided. In order to enable the horizontal shaking mechanism to drive the mounting plate 11 to perform more complex movements, thereby improving the test accuracy, in this embodiment, it also includes a transmission mechanism 13, and the transmission mechanism 13 is installed on the fixed seat 2. One end of the transmission mechanism 13 is connected to the frequency modulation motor 123, and the other end of the transmission mechanism 13 is connected to the second turntable 6. When the frequency modulation motor 123 is started, the transmission mechanism 13 can drive the second turntable 6 to rotate.

[0048] like Figure 1-Figure 3As shown, a motion balance test platform for a multi-axis medical robot arm provided by the present invention, in this embodiment, the transmission mechanism 13 includes a fixing member 136 fixedly connected to the fixing seat 2, the fixing member 136 is rotatably connected to a rotating rod 135, the end of the rotating rod 135 close to the second rotating disk 6 is rotatably connected to a rotating tube 139, the rotating tube 139 is fixedly connected to a third driving gear 138, the second rotating disk 6 is fixedly connected to a second driven gear ring 1312, the third driving gear 138 and the second driven gear ring 1312 are meshedly connected, the rotating rod 135 is slidably connected to a driving tube 1310 via a sliding key, and the rotating rod 135 is provided with a A keyway 1316 adapted to the sliding key, a plurality of plug rods 1317 are fixedly connected to one end of the driving tube 1310 close to the third driving gear 138, a slot 1318 matching with the plurality of plug rods 1317 is opened at one end of the rotating tube 139, and each of the plug rods 1317 can be inserted into a slot 1318, a limited flange 1311 is fixedly connected to the side of the driving tube 1310, a second driven gear 134 is fixedly connected to the rotating rod 135, a second driving gear 131 is fixedly connected to the output shaft of the frequency modulation motor 123, and the second driving gear 131 is meshedly connected with the second driven gear 134, and the transmission mechanism 13 also includes:

[0049] An adjusting mechanism is installed on the fixing rod 5, one end of which is connected to the limiting flange 1311. The adjusting mechanism is used to drive the limiting flange 1311 and the driving tube 1310 to move, so that the insertion rod 1317 is inserted into the slot 1318, or the insertion rod 1317 is pulled out from the slot 1318, so that the rotation time and rotation position of the second turntable 6 can be flexibly controlled, so that the device can be tested according to the motion balance test requirements of different multi-axis medical robotic arms.

[0050] like Figure 2-Figure 3 As shown, a motion balance test platform for a multi-axis medical robotic arm provided by the present invention, in this embodiment, the adjustment mechanism includes a fixed plate 1315 fixedly connected to the fixed rod 5, a third telescopic rod 1314 is fixedly installed on the fixed plate 1315, the movable end of the third telescopic rod 1314 is fixedly connected to an adjustment frame 1313, and the adjustment frame 1313 is clamped on both sides of the limiting flange 1311.

[0051] like Figure 1-Figure 3As shown, a motion balance test platform for a multi-axis medical robotic arm provided by the present invention is provided. In order to make the test of the device more flexible, in this embodiment, the transmission mechanism 13 also includes an electromagnetic clutch 132, and the electromagnetic clutch 132 is arranged between the output shaft of the frequency modulation motor 123 and the first driving gear 122, and the electromagnetic clutch 132 is fixedly connected to the fixed seat 2 through a connecting rod 133.

[0052] When the electromagnetic clutch 132 is started, the frequency-modulated motor 123 and the first driving gear 122 are disconnected, and the frequency-modulated motor 123 drives the second driven gear 134 to rotate through the second driving gear 131, but does not drive the first driving gear 122 to rotate. The second driven gear 134 drives the rotating rod 135, the driving tube 1310, the rotating tube 139 and the third driving gear 138 to rotate, and the third driving gear 138 drives the second driven gear ring 1312 and the second turntable 6 to rotate, so that the frequency-modulated motor 123 can only drive the second turntable 6 to rotate, so that the device can drive the multi-axis medical robot arm to make more abundant movements, and the device is more flexible in testing the multi-axis medical robot arm.

[0053] like Figure 1 and Figure 7 As shown, a motion balance test platform for a multi-axis medical robot arm provided by the present invention is provided. During the test, in order to facilitate the measurement of the vibration of the multi-axis medical robot arm during movement, in this embodiment, a vibration detection component 19 is further provided. The vibration detection component 19 includes a mounting groove 195 provided on the spherical head 10, and a large diameter cylinder 192 is fixedly connected to the inside of the mounting groove 195. A large piston 191 is slidably connected to the top of the large diameter cylinder 192. One end of the large piston 191 extends out of the top of the mounting plate 11. The bottom of the large diameter cylinder 192 is connected to the small diameter cylinder 192. 93, one end of the small diameter cylinder 193 is slidably connected with a small piston 194, the diameter of the large diameter cylinder 192 is larger than twice the diameter of the small diameter cylinder 193, the interiors of the large diameter cylinder 192 and the small diameter cylinder 193 are filled with hydraulic oil, a vibration sensor 196 is also installed inside the mounting groove 195, one end of the small piston 194 is in contact with the input end of the vibration sensor 196, initially, the distance between the side of one end of the large piston 191 extending out of the mounting plate 11 and the input end of the vibration sensor 196 is slightly larger than the distance between the surface of the mounting plate 11 and the input end of the vibration sensor 196.

[0054] After the multi-axis medical robot arm is mounted on the mounting plate 11, the bottom of the multi-axis medical robot arm squeezes the large piston 191, and the large piston 191 squeezes the small piston 194 through the hydraulic oil, and the small piston 194 gives an initial pressure to the vibration sensor 196;

[0055] When driving the large piston 191 to move, the large piston 191 will squeeze the hydraulic oil in the large diameter cylinder 192 into the small diameter cylinder 193. Since the diameter of the large diameter cylinder 192 is larger than the diameter of the small diameter cylinder 193, the same volume of hydraulic oil will push the small piston 194 to move a longer distance. Therefore, the large piston 191, the large diameter cylinder 192, the small diameter cylinder 193 and the small piston 194 are equivalent to a vibration amplifier, so that the vibration sensor 196 can detect the tiny vibrations of the multi-axis medical robot arm, making the vibration detection results more accurate.

[0056] Working principle:

[0057] Mount the multi-axis medical robot arm on the mounting plate 11, set the position of the execution end of the multi-axis medical robot arm, and then start the device;

[0058] By extending the movable ends of the first telescopic rods 7 in different directions and shortening the movable ends of the first telescopic rods 7 on the opposite sides, one side of the mounting plate 11 can be lifted up to test the motion balance ability of the multi-axis medical robot arm under the swinging condition of the base. The balance ability of the multi-axis medical robot arm can be judged by observing the position of the execution end of the multi-axis medical robot arm.

[0059] At the same time, the electromagnetic clutch 132 and the frequency modulation motor 123 are started, and the third telescopic rod 1314 drives the driving tube 1310 to move, the driving tube 1310 drives the insertion rod 1317 to be inserted into the slot 1318, the frequency modulation motor 123 drives the second driven gear 134 to rotate through the second driving gear 131, the second driven gear 134 drives the rotating rod 135, the driving tube 1310, the rotating tube 139 and the third driving gear 138 to rotate, the third driving gear 138 drives the second driven gear ring 1312 and the second turntable 6 to rotate, the second turntable 6 drives the first telescopic rod 7 and the elastic abutment rod 8 to rotate, so that the position of the elastic abutment rod 8 lifting the mounting plate 11 can be continuously changed, so that the test mode of the device is richer and the test accuracy is improved;

[0060] At the same time, the electromagnetic clutch 132 can also be closed to connect the first driving gear 122 and the frequency modulation motor 123, and the frequency modulation motor 123 drives the first driving gear 122 and the first driven gear ring 121 to rotate, and the first driven gear ring 121 drives the first turntable 3 and the lifting column 16 to rotate, and the lifting column 16 drives the spherical head 10 and the mounting plate 11 to rotate through the spherical shell 9 and the positioning column 18, and the mounting plate 11 drives the multi-axis medical robot arm to rotate, and the rotary motion balance ability of the multi-axis medical robot arm can be tested at the same time, and the power supply of the first telescopic rod 7 can also be cut off, and the plug 1317 is pulled out of the slot 1318, and only the rotary motion balance ability of the multi-axis medical robot arm is tested;

[0061] The second telescopic rod 14 is started, and the second telescopic rod 14 drives the lifting column 16 to move up and down through the rotating connector 15. The lifting column 16 drives the spherical head 10 and the mounting plate 11 to move up and down through the spherical shell 9. The mounting plate 11 drives the multi-axis medical robot arm to move up and down, so as to test the motion balance ability of the multi-axis medical robot arm under vertical motion conditions;

[0062] The multiple test modules of the device can act individually or simultaneously, making the device more flexible to use and customizing different test contents according to different test requirements, thereby testing the positioning accuracy of the multi-axis medical robot arm in various emergency situations in actual applications.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0064] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A motion balance test platform for a multi-axis medical robot arm, comprising a base plate (1), characterized in that: The bottom plate (1) is fixedly connected to a fixing seat (2), the fixing seat (2) is rotatably connected to a first turntable (3), the first turntable (3) is vertically slidably connected to a lifting column (16), the top of the lifting column (16) is fixedly connected to a spherical shell (9), the internal ball of the spherical shell (9) is matched with a spherical head (10), one end of the spherical head (10) is fixedly connected to a mounting plate (11), the interior of the spherical shell (9) is provided with a cross groove (17), a side of the spherical head (10) is fixedly connected to a plurality of positioning columns (18), the plurality of positioning columns (18) are respectively slidably connected in a plurality of slideways of the cross groove (17), the axis extension line of the positioning column (18) passes through the ball center of the spherical head (10), and further comprises: A second telescopic rod (14), the second telescopic rod (14) being mounted on the base plate (1), the movable end of the second telescopic rod (14) being connected to the bottom of the lifting column (16) via a rotating connecting piece (15); A power mechanism (12), the power mechanism (12) being mounted on the bottom plate (1), the output end of the power mechanism (12) being connected to the first rotating disk (3), and the power mechanism (12) being used to drive the first rotating disk (3) to rotate; A horizontal shaking mechanism, the horizontal shaking mechanism being mounted on the bottom plate (1), the multiple output ends of the horizontal shaking mechanism being in contact with the bottom of the mounting plate (11), and the horizontal shaking mechanism being used to drive the mounting plate (11) to rotate around the center of the spherical head (10); A vibration detection component (19), the vibration detection component (19) comprising a mounting groove (195) formed on a spherical head (10), a large diameter cylinder (192) being fixedly connected inside the mounting groove (195), a large piston (191) being slidably connected to the top of the large diameter cylinder (192), one end of the large piston (191) extending out of the top of the mounting plate (11), a small diameter cylinder (193) being connected to the bottom of the large diameter cylinder (192), one end of the small diameter cylinder (193) being slidably connected to the small piston (194), the large diameter cylinder (192) ) has a diameter greater than twice the diameter of the small diameter cylinder (193), the interiors of the large diameter cylinder (192) and the small diameter cylinder (193) are filled with hydraulic oil, a vibration sensor (196) is also installed inside the mounting groove (195), one end of the small piston (194) is in contact with the input end of the vibration sensor (196), and initially, the distance between the side surface of one end of the large piston (191) extending out of the mounting plate (11) and the input end of the vibration sensor (196) is slightly greater than the distance between the surface of the mounting plate (11) and the input end of the vibration sensor (196); The power mechanism (12) comprises a frequency-modulated motor (123) fixedly mounted on the bottom plate (1); the output shaft of the frequency-modulated motor (123) is drivingly connected to a first driving gear (122); a first driven gear ring (121) is fixedly connected to a side surface of the first rotating disk (3); and the first driving gear (122) is meshingly connected to the first driven gear ring (121); The horizontal shaking mechanism comprises a fixing ring (4) fixedly connected to the bottom plate (1) via a plurality of fixing rods (5); a second rotating disk (6) is rotatably connected to the fixing ring (4); a plurality of first telescopic rods (7) are fixedly connected to the side of the second rotating disk (6) close to the mounting plate (11); the plurality of first telescopic rods (7) are evenly distributed around the axis of the second rotating disk (6); elastic abutting rods (8) are fixedly mounted on the movable ends of all the first telescopic rods (7); one end of the elastic abutting rod (8) abuts against the bottom of the mounting plate (11).

2. The motion balance test platform for a multi-axis medical robot arm according to claim 1, characterized in that: The elastic abutment rod (8) comprises a fixed cylinder (82) fixedly connected to the movable end of the first telescopic rod (7); one end of the fixed cylinder (82) is slidably connected to an abutment joint (81); a compression spring (83) is connected between the abutment joint (81) and the fixed cylinder (82); and one end of the abutment joint (81) abuts against the bottom of the mounting plate (11).

3. The motion balance test platform for a multi-axis medical robot arm according to claim 1, characterized in that: It also includes a transmission mechanism (13), the transmission mechanism (13) being mounted on the fixed seat (2), one end of the transmission mechanism (13) being connected to the frequency modulation motor (123), and the other end of the transmission mechanism (13) being connected to the second rotating disk (6), and when the frequency modulation motor (123) is started, the transmission mechanism (13) can drive the second rotating disk (6) to rotate.

4. The motion balance test platform for a multi-axis medical robot arm according to claim 3, characterized in that: The transmission mechanism (13) comprises a fixing member (136) fixedly connected to a fixing seat (2); a rotating rod (135) is rotatably connected to the fixing member (136); an end of the rotating rod (135) close to the second rotating disk (6) is rotatably connected to a rotating tube (139); a third driving gear (138) is fixedly connected to the rotating tube (139); a second driven gear ring (1312) is fixedly connected to the second rotating disk (6); the third driving gear (138) and the second driven gear ring (1312) are meshingly connected; the rotating rod (135) is slidably connected to the driving tube (1310) via a sliding key; a keyway (1316) adapted to the sliding key is provided on the rotating rod (135); A plurality of insertion rods (1317) are fixedly connected to one end of the tube (1310) close to the third driving gear (138); a slot (1318) matching with the plurality of insertion rods (1317) is provided at one end of the rotating tube (139); each of the insertion rods (1317) can be inserted into a slot (1318); a limiting flange (1311) is fixedly connected to the side of the driving tube (1310); a second driven gear (134) is fixedly connected to the rotating rod (135); a second driving gear (131) is fixedly connected to the output shaft of the frequency modulation motor (123); the second driving gear (131) and the second driven gear (134) are meshingly connected; and the transmission mechanism (13) further comprises: An adjustment mechanism, wherein the adjustment mechanism is mounted on the fixing rod (5), one end of the adjustment mechanism is connected to the limiting flange (1311), and the adjustment mechanism is used to drive the limiting flange (1311) and the driving tube (1310) to move.

5. The motion balance test platform for a multi-axis medical robot arm according to claim 4, characterized in that: The adjustment mechanism comprises a fixing plate (1315) fixedly connected to the fixing rod (5), a third telescopic rod (1314) being fixedly mounted on the fixing plate (1315), an adjustment frame (1313) being fixedly connected to a movable end of the third telescopic rod (1314), and the adjustment frame (1313) being clamped on both sides of the limiting flange (1311).

6. The motion balance test platform for a multi-axis medical robot arm according to claim 4, characterized in that: The transmission mechanism (13) further comprises an electromagnetic clutch (132), wherein the electromagnetic clutch (132) is arranged between the output shaft of the frequency modulation motor (123) and the first driving gear (122), and the electromagnetic clutch (132) is fixedly connected to the fixing seat (2) via a connecting rod (133).

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