Medical robot auxiliary calibration device and method

Abstract

The invention discloses a medical robot auxiliary calibration device and method.The medical robot auxiliary calibration device is characterized in that an auxiliary clamping mechanism comprises a supporting seat fixedly arranged on the side face of a base plate, a workbench is fixedly arranged above the supporting seat, a rotating disc is fixedly arranged in the middle of the upper portion of the workbench, and an annular sliding groove is formed in the upper portion of the rotating disc; a rotating rod is rotationally arranged in the middle of the upper portion of the rotating disc, and a pull rod is fixedly connected to the side face of the rotating rod; by means of the auxiliary clamping mechanism, efficient fixing of the medical robot body, stable connection of the placement plate and the supporting rod and ingenious layout of the auxiliary clamping mechanism are achieved, the stability and safety of the robot in the calibration process are ensured, and especially through the synergistic effect of a rotary disc, a pull rod, an adjusting connecting rod and other components in the auxiliary clamping mechanism, the calibration precision is improved. The fixing clamping plate mechanism can rapidly and accurately slide to the two sides of the robot body, firm clamping is achieved, and the robot is effectively prevented from moving or shaking in the calibration process.

Description

Technical Field

[0001] The present invention relates to the technical field of robot calibration equipment, in particular to a medical robot auxiliary calibration device. Background Art

[0002] According to patent publication number: CN218937264U, an auxiliary calibrator for a mobile robot is disclosed. When using the auxiliary calibrator for a mobile robot, a measuring ruler is placed against the side of a wheel and then lowered until the base contacts the ground, and then a rotating handle is turned to drive the screw to rotate, thereby adjusting the height of the lifting plate, and the lifting plate drives the measuring ruler to move up and down until the height of the measuring ruler is near the middle of the wheel, and two clamping plates are pushed from the outside to the inside until the clamping plates fit the two ends of the wheel, and the readings of the two slider positions are read on the measuring ruler, and the two readings are subtracted to obtain a preliminary wheel diameter;

[0003] However, the calibrator mainly relies on a simple combination of a measuring ruler and a clamp to measure the wheel diameter, which limits its calibration accuracy and scope of application. It may not be applicable to wheels with large differences in shapes, sizes or materials, especially on high-precision or special-purpose mobile robots. It only focuses on the measurement of a single dimension, the wheel diameter, and cannot calibrate the robot's offset or error in other directions, making it difficult to meet more complex calibration requirements. Summary of the invention

[0004] The purpose of the present invention is to provide a medical robot-assisted calibration device in order to solve the problems mentioned in the above background.

[0005] To achieve the above object, the present invention provides the following technical solution: a medical robot auxiliary calibration device, comprising: a base plate, a support rod is fixedly arranged at one end above the base plate, a placement plate is fixedly arranged above the support rod, an auxiliary clamping mechanism is arranged at the other end above the base plate, and a robot body is placed above the placement plate;

[0006] The auxiliary clamping mechanism includes a support seat fixedly arranged on the side of the substrate, a workbench fixedly arranged above the support seat, a turntable fixedly arranged in the middle position above the workbench, an annular slide groove is opened above the turntable, a rotating rod is rotatably arranged in the middle position above the turntable, a pull rod is fixedly connected to the side of the rotating rod, a driving rod is fixedly connected below the turntable, a first bevel gear is clamped on the surface of the driving rod, a motor seat is fixedly arranged at one end above the substrate, a driving motor is fixedly arranged above the motor seat, and a second bevel gear is rotatably connected to the side of the driving motor.

[0007] As a further solution of the present invention: an adjustment slide rail is fixedly provided at one end above the workbench, a sliding seat is slidably provided above the adjustment slide rail, an adjustment connecting rod is clamped in the middle position above the sliding seat, the other side of the adjustment connecting rod is clamped above the pull rod, a splint bracket is fixedly provided at the other end above the sliding seat, and a fixed splint mechanism is fixedly provided on the side of the splint bracket.

[0008] As a further solution of the present invention: the fixed clamping plate mechanism includes a clamping plate fixedly arranged on the side of the clamping plate bracket, a fixing seat is fixedly arranged at one end of the back side of the clamping plate, a bidirectional threaded rod is rotatably connected to the side of the fixing seat, a driving wheel is clamped at one end of the surface of the bidirectional threaded rod, a driving belt is sleeved on the surface of the driving wheel, a clamping plate is slidably arranged on the other end of the surface of the bidirectional threaded rod, a controller is sleeved on the other end of the driving belt, the controller is fixedly arranged on the other end of the back side of the clamping plate, an auxiliary slide rail is fixedly arranged on the front side of the clamping plate, the clamping plate is slidably arranged on the side of the auxiliary slide rail, and a clamping arm is fixedly arranged on the other side of the clamping plate.

[0009] As a further solution of the present invention: a three-coordinate measuring mechanism is fixedly arranged on the side of the support seat, and the three-coordinate measuring mechanism includes an X-axis slide rail fixedly arranged on the side of the support seat, a sliding member is slidably arranged above the X-axis slide rail, a support rod is fixedly arranged above the sliding member, an adjustment device is fixedly arranged above the support rod, a Y-axis slide rail is fixedly connected to the side of the support rod, a slider is slidably arranged on the surface of the Y-axis slide rail, a Z-axis slide rail is fixedly arranged on the side of the slider, and a probe device is slidably arranged on the side of the Z-axis slide rail.

[0010] As a further solution of the present invention: the driving motor drives the second bevel gear to rotate, the second bevel gear drives the first bevel gear and the driving rod to rotate, the driving rod passes through the workbench and the turntable and is fixedly connected to the rotating rod, the driving rod drives the rotating rod to rotate, the rotating rod drives the pull rod to rotate, the bottom end of the pull rod moves in the annular groove, the above-mentioned pull rod drives the adjusting connecting rod to move by rotating, the adjusting connecting rod pulls the sliding seat to slide above the adjusting slide rail, so that the fixed clamping plate mechanism quickly slides to both sides of the robot body to fix it, and the placement plate is located above the rotating rod.

[0011] As a further solution of the present invention: the driving end of the controller drives the driving belt to rotate, the driving belt drives the driving wheel to rotate, the driving wheel is clamped in the middle position of the bidirectional threaded rod, the driving wheel drives the bidirectional threaded rod to rotate, and the bidirectional threaded rod can drive the two groups of card plates sliding on the surface to slide in relative directions, so that the card plates can adapt to different sizes of the robot body, and the other side of the card plate slides through the auxiliary slide rail.

[0012] As a further solution of the present invention: the sliding member and the support rod slide through the X-axis slide rail, the slider drives the Z-axis slide rail to slide on the surface of the Y-axis slide rail, and the probe device calibrates and detects the robot body through the sliding of the X-axis slide rail, the Y-axis slide rail and the Z-axis slide rail.

[0013] As a further solution of the present invention, a medical robot assisted calibration method specifically comprises the following steps:

[0014] Step 1: The medical robot body is placed on the placement plate, which is firmly fixed to one end of the base plate through a support rod. At the other end of the base plate, an auxiliary clamping mechanism is provided, which is fixed to the workbench through a support seat. The turntable above the workbench is designed with an annular slide groove. The center of the turntable is connected to the rotating rod, and the side of the rotating rod is fixedly connected with a pull rod. The bottom of the turntable is connected to the first bevel gear through a driving rod, and the first bevel gear and the driving motor on the motor seat realize power transmission through the second bevel gear.

[0015] Step 2: When the driving motor starts, it drives the second bevel gear to rotate, and then drives the first bevel gear and the driving rod to rotate. The driving rod passes through the workbench and the turntable and is fixedly connected to the rotating rod. Therefore, the rotation of the driving rod will drive the rotating rod and the pull rod to rotate. The bottom end of the pull rod moves in the annular slide groove, and its rotation pulls the sliding seat to slide on the adjusting slide rail through the adjusting connecting rod. A splint bracket is fixed above the sliding seat, and the fixed splint mechanism installed on it quickly slides to both sides of the robot body to fix it.

[0016] Step 3: The clamping force of the clamping plate in the fixed clamping plate mechanism is controlled by the bidirectional threaded rod on the fixed seat. The controller drives the driving belt to rotate, which in turn drives the driving wheel to rotate. The driving wheel is clamped in the middle of the bidirectional threaded rod to rotate and drive the two sets of clamping plates set on the surface sliding to slide in relative directions to adapt to the different sizes of the robot body. The other side of the clamping plate slides through the auxiliary slide rail to ensure the stability and accuracy of the clamping.

[0017] Step 4: A three-coordinate measuring mechanism is also fixed on the side of the support seat. The mechanism realizes the three-dimensional spatial position calibration and detection of the robot body through the precise coordination of the X-axis slide, Y-axis slide and Z-axis slide. The sliding part and the support rod slide through the X-axis slide, and the slider drives the Z-axis slide to slide on the Y-axis slide. Finally, the probe equipment can accurately reach the position to be measured of the robot body for calibration detection.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention realizes efficient fixation of the medical robot body through the auxiliary clamping mechanism, the stable connection between the placement plate and the support rod, and the ingenious layout of the auxiliary clamping mechanism, which ensures the stability and safety of the robot during the calibration process. In particular, the coordinated effect of the turntable, pull rod, adjustment connecting rod and other components in the auxiliary clamping mechanism enables the fixed clamping plate mechanism to slide quickly and accurately to both sides of the robot body to achieve firm clamping, effectively preventing the robot from moving or shaking during the calibration process.

[0020] 2. Through the combination of the bidirectional threaded rod and the driving wheel, the controller can accurately control the sliding distance of the clamping plate, thereby achieving compatible clamping of robot bodies of different sizes. This design not only improves the versatility of the calibration device, but also ensures the uniform distribution of the clamping force, avoiding damage to the robot body caused by improper clamping.

[0021] 3. The three-coordinate measurement mechanism realizes the precise calibration and detection of the three-dimensional spatial position of the robot body. This mechanism can comprehensively and meticulously detect the offset or error of the robot in all directions through the precise coordination of the X-axis, Y-axis, and Z-axis slide rails, as well as the precise positioning of the probe equipment, providing reliable data support for subsequent calibration adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of a medical robot-assisted calibration device according to the present invention;

[0023] Figure 2 It is a structural schematic diagram of the back side of a medical robot auxiliary calibration device according to the present invention;

[0024] Figure 3 It is a structural schematic diagram of an auxiliary clamping mechanism in a medical robot auxiliary calibration device according to the present invention;

[0025] Figure 4 It is a structural schematic diagram of a turntable in a medical robot auxiliary calibration device according to the present invention;

[0026] Figure 5 It is a structural schematic diagram of a fixed splint mechanism in a medical robot-assisted calibration device according to the present invention;

[0027] Figure 6 It is a structural schematic diagram of a clamping arm in a medical robot auxiliary calibration device according to the present invention;

[0028] Figure 7 It is a structural schematic diagram of a three-coordinate measuring mechanism in a medical robot auxiliary calibration device described in the present invention.

[0029] In the figure: 1, base plate; 2, support rod; 3, placement plate; 4, auxiliary clamping mechanism; 5, robot body; 6, fixed clamping plate mechanism; 7, three-coordinate measuring mechanism; 41, support seat; 42, workbench; 43, turntable; 44, annular slide; 45, rotating rod; 46, pull rod; 47, driving rod; 48, first bevel gear; 49, motor seat; 410, driving motor; 411, second bevel gear; 412, adjusting slide rail; 413. Sliding seat; 414. Adjusting connecting rod; 415. Clamp bracket; 61. Clamp; 62. Fixed seat; 63. Bidirectional threaded rod; 64. Driving wheel; 65. Card plate; 66. Driving belt; 67. Controller; 68. Auxiliary slide rail; 69. Clamp arm; 71. X-axis slide rail; 72. Sliding part; 73. Support rod; 74. Adjusting device; 75. Y-axis slide rail; 76. Sliding block; 77. Z-axis slide rail; 78. Probe device. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two elements. 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. The following is an explanation of an embodiment of the present invention based on the overall structure of the present invention.

[0032] Reference Figures 1 to 7In an embodiment of the present invention, a medical robot auxiliary calibration device includes: a base plate 1, a support rod 2, a placement plate 3 and an auxiliary clamping mechanism 4. This design ensures the overall stability of the device and the stable placement of the robot body 5. The combination of the support rod 2 and the placement plate 3 provides a safe and horizontal placement platform for the robot body 5. The auxiliary clamping mechanism 4 provides a basis for subsequent automatic clamping operations through the ingenious design of components such as a turntable 43 and a turnbar 45.

[0033] Through the precise coordination of components such as the support seat 41, the workbench 42, the turntable 43, the annular slide 44, the rotating rod 45, the pull rod 46, the driving rod 47, the motor seat 49, the driving motor 410 and the second bevel gear 411, the flexible clamping of the robot body 5 is achieved. In particular, the introduction of the adjusting slide rail 412, the sliding seat 413, the adjusting connecting rod 414, the clamping plate bracket 415 and the fixed clamping plate mechanism 6 makes the clamping process more precise and controllable, and can be adaptively adjusted according to robot bodies of different sizes to ensure the stability and reliability of the clamping.

[0034] Through the coordinated action of components such as the clamping plate 61, the fixing seat 62, the bidirectional threaded rod 63, the driving wheel 64, the clamping plate 65, the controller 67, the auxiliary slide rail 68 and the clamping arm 69, efficient clamping of the robot body is achieved. In particular, the design of the bidirectional threaded rod 63 and the driving belt 66 allows the clamping plate 65 to slide relatively and can be flexibly adjusted according to different clamping requirements.

[0035] Through the precise combination of X-axis, Y-axis and Z-axis slide rails, the accurate measurement of the 3D spatial position of the robot body 5 is achieved. This measurement method not only improves the accuracy of calibration, but also makes the calibration process more efficient and automated.

[0036] The driving motor 410 drives the rotating rod 45 and the pulling rod 46 to rotate through the bevel gear transmission system, and then realizes the linear motion of the clamping plate bracket by adjusting the connecting rod 414 and the sliding seat 413. This process design is ingenious and efficient, and can quickly slide the fixed clamping mechanism to both sides of the robot body in a short time and clamp it stably. At the same time, the design of the placement plate 3 also ensures that the rotating rod 45 will not interfere with the robot body 5 during rotation. The adjusting connecting rod 414 converts the rotational power of the motor into linear motion of the clamping plate bracket 415 through the linkage between the pulling rod 46 and the rotating rod 45, thereby realizing stable clamping of the robot body 5.

[0037] The design of the bidirectional threaded rod 63 and the clamping plate 65 not only improves the accuracy and stability of clamping, but also enhances the adaptability of the device, and can automatically adjust according to robot bodies 5 of different sizes. The controller 67 drives the bidirectional threaded rod 63 to rotate through the driving belt 66 and the driving wheel 64, and then the clamping plate 65 slides along the auxiliary slide rail 68 and the bidirectional threaded rod 63 to achieve tight clamping of the robot body 5. The design of the clamping arm 69 further enhances the firmness of the clamping, ensuring that the robot body will not shift during the calibration process.

[0038] The cooperation of the sliding member 72, the support rod 73, the adjusting device 74, the slider 75 and the probe device 78 ensures that the probe device can accurately reach each point to be measured on the robot body 5 and perform precise calibration and detection.

[0039] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A medical robot assisted calibration device, characterized in that: include: A base plate (1), a support rod (2) is fixedly arranged at one end above the base plate (1), a placement plate (3) is fixedly arranged above the support rod (2), an auxiliary clamping mechanism (4) is arranged at the other end above the base plate (1), and a robot body (5) is placed above the placement plate (3); The auxiliary clamping mechanism (4) comprises a support seat (41) fixedly arranged on the side of the base plate (1), a workbench (42) fixedly arranged above the support seat (41), a turntable (43) fixedly arranged in the middle position above the worktable (42), an annular slide groove (44) is provided above the turntable (43), a rotating rod (45) is rotatably arranged in the middle position above the turntable (43), a pull rod (46) is fixedly connected to the side of the rotating rod (45), a driving rod (47) is fixedly connected below the turntable (43), a first bevel gear (48) is clamped on the surface of the driving rod (47), a motor seat (49) is fixedly arranged at one end above the base plate (1), a driving motor (410) is fixedly arranged above the motor seat (49), and a second bevel gear (411) is rotatably connected to the side of the driving motor (410).

2. A medical robot-assisted calibration device according to claim 1, characterized in that: An adjusting slide rail (412) is fixedly provided at one end above the workbench (42), a sliding seat (413) is slidably provided above the adjusting slide rail (412), an adjusting connecting rod (414) is clamped at the middle position above the sliding seat (413), the other side of the adjusting connecting rod (414) is clamped above the pull rod (46), a splint bracket (415) is fixedly provided at the other end above the sliding seat (413), and a fixed splint mechanism (6) is fixedly provided on the side of the splint bracket (415).

3. A medical robot-assisted calibration device according to claim 2, characterized in that: The fixed clamping plate mechanism (6) comprises a clamping plate (61) fixedly arranged on the side of the clamping plate bracket (415); a fixed seat (62) is fixedly arranged on one end of the back side of the clamping plate (61); a bidirectional threaded rod (63) is rotatably connected to the side of the fixed seat (62); a driving wheel (64) is clamped on one end of the surface of the bidirectional threaded rod (63); a driving belt (66) is sleeved on the surface of the driving wheel (64); a clamping plate (65) is slidably arranged on the other end of the surface of the bidirectional threaded rod (63); a controller (67) is sleeved on the other end of the driving belt (66); the controller (67) is fixedly arranged on the other end of the back side of the clamping plate (61); an auxiliary slide rail (68) is fixedly arranged on the front side of the clamping plate (61); the clamping plate (65) is slidably arranged on the side of the auxiliary slide rail (68); and a clamping arm (69) is fixedly arranged on the other side of the clamping plate (65).

4. The medical robot-assisted calibration device according to claim 1, characterized in that: A three-coordinate measuring mechanism (7) is fixedly arranged on the side of the support seat (41), and the three-coordinate measuring mechanism (7) includes an X-axis slide rail (71) fixedly arranged on the side of the support seat (41), a sliding member (72) is slidably arranged above the X-axis slide rail (71), a support rod (73) is fixedly arranged above the sliding member (72), an adjustment device (74) is fixedly arranged above the support rod (73), a Y-axis slide rail (75) is fixedly connected to the side of the support rod (73), a slider (76) is slidably arranged on the surface of the Y-axis slide rail (75), a Z-axis slide rail (77) is fixedly arranged on the side of the slider (76), and a probe device (78) is slidably arranged on the side of the Z-axis slide rail (77).

5. The medical robot-assisted calibration device according to claim 2, characterized in that: The driving motor (410) drives the second bevel gear (411) to rotate, and the second bevel gear (411) drives the first bevel gear (48) and the driving rod (47) to rotate. The driving rod (47) passes through the workbench (42) and the turntable (43) and is fixedly connected to the rotating rod (45). The driving rod (47) drives the rotating rod (45) to rotate, and the rotating rod (45) drives the pull rod (46) to rotate. The bottom end of the pull rod (46) moves in the annular groove (44). The pull rod (46) drives the adjusting connecting rod (414) to move by rotating. The adjusting connecting rod (414) pulls the sliding seat (413) to slide above the adjusting slide rail (412), so that the fixed clamping plate mechanism (6) slides quickly to both sides of the robot body (5) to fix it. The placement plate (3) is located above the rotating rod (45).

6. The medical robot-assisted calibration device according to claim 3, characterized in that: The driving end of the controller (67) drives the driving belt (66) to rotate, and the driving belt (66) drives the driving wheel (64) to rotate. The driving wheel (64) is clamped at the middle position of the bidirectional threaded rod (63). The driving wheel (64) drives the bidirectional threaded rod (63) to rotate. The bidirectional threaded rod (63) can drive two groups of the card plates (65) slidingly arranged on the surface to slide in relative directions, so that the card plates (65) can adapt to different sizes of the robot body (5), and the other side of the card plate (65) slides through the auxiliary slide rail (68).

7. The medical robot-assisted calibration device according to claim 4, characterized in that: The sliding member (72) and the support rod (73) slide through the X-axis slide rail (71), the slider (76) drives the Z-axis slide rail (77) to slide on the surface of the Y-axis slide rail (75), and the probe device (78) calibrates and detects the robot body (5) through the sliding of the X-axis slide rail (71), the Y-axis slide rail (75) and the Z-axis slide rail (77).

8. A medical robot-assisted calibration method according to any one of claims 1 to 7, characterized in that: The specific steps include: Step 1: The medical robot body (5) is placed on a placement plate (3), and the placement plate (3) is firmly fixed to one end of the base plate (1) through a support rod (2). At the other end of the base plate (1), an auxiliary clamping mechanism (4) is provided, and the mechanism is fixed to a workbench (42) through a support seat (41). A turntable (43) above the workbench (42) is designed with an annular slide groove (44). The center of the turntable (43) is connected to a rotating rod (45), and a pull rod (46) is fixedly connected to the side of the rotating rod (45). The lower part of the turntable (43) is connected to a first bevel gear (48) through a driving rod (47), and the first bevel gear (48) and a driving motor (410) on a motor seat (49) realize power transmission through a second bevel gear (411). Step 2: When the driving motor (410) is started, it drives the second bevel gear (411) to rotate, and then drives the first bevel gear (48) and the driving rod (47) to rotate. The driving rod (47) passes through the workbench (42) and the turntable (43) and is fixedly connected to the rotating rod (45). Therefore, the rotation of the driving rod (47) will drive the rotating rod (45) and the pull rod (46) to rotate. The bottom end of the pull rod (46) moves in the annular slide groove (44), and its rotation pulls the sliding seat (413) to slide on the adjusting slide rail (412) through the adjusting connecting rod (414). A clamping plate bracket (415) is fixed above the sliding seat (413), and the fixed clamping plate mechanism (6) installed thereon quickly slides to both sides of the robot body (5) to fix it. Step 3: The clamping force of the clamping plate (61) in the fixed clamping plate mechanism (6) is controlled by the bidirectional threaded rod (63) on the fixed seat (62), and the controller (67) drives the driving belt (66) to rotate, thereby driving the driving wheel (64) to rotate. The driving wheel (64) is clamped in the middle of the bidirectional threaded rod (63), so that it rotates and drives the two groups of clamping plates (65) set on the surface sliding to slide in relative directions to adapt to the different sizes of the robot body (5). The other side of the clamping plate (65) slides through the auxiliary slide rail (68) to ensure the stability and accuracy of the clamping. Step 4: A three-coordinate measuring mechanism (7) is also fixed to the side of the support seat (41). The mechanism realizes the three-dimensional spatial position calibration detection of the robot body (5) through the precise matching of the X-axis slide rail (71), the Y-axis slide rail (75) and the Z-axis slide rail (77). The sliding member (72) and the support rod (73) slide through the X-axis slide rail (71), and the slider (76) drives the Z-axis slide rail (77) to slide on the Y-axis slide rail (75). Finally, the probe device (78) can accurately reach the position to be measured of the robot body (5) for calibration detection.

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