Decoupled two-rotation remote motion center mechanism, robot and space telescope system

Abstract

Decoupled two-rotation remote motion center mechanism, robot and space telescope system. The mechanism includes a base; an output part, which can rotate around the remote motion center point; a connecting member, which is rotationally connected to the output part and parallel to the base in a first direction; the first branch chain part includes a first rotating assembly and a first driving member fixed to the base; the first rotating assembly is rotationally connected to the connecting member and the first driving member around the first direction respectively; the second branch chain part includes a second rotating assembly, a steering rod and a second driving member fixed to the base connected in sequence; the second rotating assembly is rotationally connected to the steering rod and the connecting member around the second direction respectively; the third branch chain part is universally connected to the base and forms a parallelogram structure with the output part and the connecting member; wherein the output part, the connecting member, the second branch chain part and the third branch chain part are located in the same plane, the first driving member can drive the first rotating assembly to move in the first direction; the second driving member can drive the steering rod to rotate around the first direction, so as to realize two-dimensional rotation decoupling.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a decoupled two-turn remote motion center mechanism, a robot and a space telescope system. Background Art

[0002] Due to the constraints of the mechanical structure, the motion of the output end of the remote motion center mechanism is limited to rotation around a fixed point and translation through the point. This fixed point is usually far away from the mechanism and exists virtually, and is called the remote motion center (RCM) of the mechanism.

[0003] Remote motion centers are widely used in fields that require precision operations, such as aerospace robots and medical robots. For example, in large-aperture space telescopes in the aerospace field, large-aperture space telescopes are composed of multiple detachable sub-mirror modules. At this time, the position adjustment space of the sub-mirror module is very limited, and the position accuracy requirements are extremely high, which significantly increases the difficulty of the adjustment process. Once the sub-mirror module is accurately positioned, subsequent adjustments must be made around this initial positioning point to reduce the impact on the overall performance of the optical system. Any slight deviation may cause a significant decrease in the performance of the entire optical system. Therefore, extremely high requirements are placed on the position adjustment accuracy and stability of the sub-mirror module. The remote motion center mechanism can well enable the position of the sub-mirror module to move precisely around a fixed point relative to the entire system (i.e., the remote motion center).

[0004] In addition, in the construction and exploration missions on the lunar surface, the kinematic pairs at the end of the currently used robotic arms are all in series, and the rotation center points of these kinematic pairs are all located inside the end mechanical body, not outside the body, so there is no remote rotation center. However, in those occasions with narrow openings but large internal volumes, it is difficult for existing robotic arms to achieve rotation operations around their opening points. Therefore, a remote rotation mechanism is introduced and installed at the end of the robotic arm. The mechanism can rotate around the telecentric point outside the robotic arm body, thereby effectively performing construction and exploration tasks in a can-shaped environment with a small opening and a large volume.

[0005] However, the problem with the existing remote motion center mechanism is that the adjustment accuracy is not high and the bearing capacity is limited. For example, in a two-turn and one-shift remote motion center mechanism disclosed in patent CN113749773B, on the one hand, it relies on the motor set on the Hooke hinge to rotate around the Y axis. At this time, the adjustment accuracy of the entire Y axis depends on the accuracy of the motor itself. If you want a more precise adjustment, you need to change the motor accuracy, which will greatly increase the cost; on the other hand, the two motors used to control its two turns are connected in series, so that the gravity of the entire mechanism needs to be borne by the proximal motor, resulting in more weight restrictions on the entire remote mechanism; on the other hand, because the design position of the motor is close to the distal motion center, it is not easy to use in some specific application scenarios, such as in neurosurgery such as cranial surgery under nuclear magnetic resonance environment, because the motor cannot be set far away from the distal center, it is not easy to use in this scenario. Summary of the invention

[0006] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a decoupled two-turn remote motion center mechanism, a robot and a space telescope system to solve the problems of low adjustment accuracy and low bearing capacity of the existing remote motion center.

[0007] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a decoupled two-rotation remote motion center mechanism, comprising: a base; an output part, which can rotate around the remote motion center point; a connecting member, which is rotationally connected to the output part and parallel to the base in a first direction; a first branch chain part, comprising a first rotating assembly and a first driving member fixed to the base; the two ends of the first rotating assembly are respectively rotationally connected to the connecting member and the first driving member around the first direction; a second branch chain part, comprising a second rotating assembly, a steering rod and a second driving member fixed to the base connected in sequence; the two ends of the second rotating assembly are respectively rotationally connected to the steering rod and the connecting member around the second direction; a third branch chain part, one end of which is universally connected to the base, and the other end forms a parallelogram structure with the output part and the connecting member; wherein the output part, the connecting member, the second branch chain part and the third branch chain part are located in the same plane, the first driving member can drive the first rotating assembly to move in the first direction so that the output part rotates around the second direction; the second driving member can drive the steering rod and the output part to rotate around the first direction to decouple the two-dimensional rotation.

[0008] As an embodiment of the present invention, the steering rod of the second branch chain portion includes a first section, a second section and a third section which are fixedly connected in sequence, the rotation axis of the first section is set in a first direction, the second section is set in a third direction, the rotation axis of the third section is set in a second direction, and the first direction, the second direction and the third direction are perpendicular to each other; wherein the first section is fixedly connected to the output end of the second driving member so that the second driving member drives the output part to rotate around the first direction; and the third section is rotationally connected to the second rotating assembly so that the second rotating assembly can rotate around the second direction.

[0009] As an embodiment of the present invention, the second rotating assembly includes a first connecting rod of the second branch chain and a second connecting rod of the second branch chain that are rotatably connected around the second direction, one end of the first connecting rod of the second branch chain is rotatably connected to the third section of the steering rod around the second direction, and the other end is rotatably connected to the second connecting rod of the second branch chain; one end of the second connecting rod of the second branch chain is rotatably connected to the first connecting rod of the second branch chain, and the other end is rotatably connected to the connecting member around the second direction; and / or, the output end of the second driving member is arranged in the first direction and can rotate around the first direction.

[0010] As an embodiment of the present invention, the steering rod of the second branch chain portion also includes a second section fixedly connected to the first section and the third section, the rotation axis of the second section is arranged in a third direction, and the first branch chain portion, the second branch chain portion and the third branch chain portion are arranged on the same side of the base in the third direction; wherein the first direction is a far-near direction, the base, the connecting member, the first branch chain portion, the second branch chain portion and the third branch chain portion are all arranged on the proximal side of the output portion, the output portion is arranged on the far side of the third branch chain portion, and the first branch chain portion and the second branch chain portion are arranged on the proximal side of the third branch chain portion; and / or, the second direction is an inside-outside direction, and the first branch chain portion is arranged on the outside of the second branch chain portion.

[0011] As an embodiment of the present invention, the third branch chain portion includes a third branch chain first link parallel to the output portion, a third branch chain second link parallel to the connecting member and a driven universal joint; the driven universal joint includes a universally connected fixing member and a driven rod, the fixing member is fixedly connected to the base, and the driven rod is fixedly connected to the third branch chain first link; one end of the third branch chain first link is rotatably connected to the connecting member, and the other end is fixedly connected to the driven rod of the driven universal joint; one end of the third branch chain second link is rotatably connected to the output portion, and the other end is rotatably connected to the third branch chain first link.

[0012] As an embodiment of the present invention, the movement center points of the fixing member and the driven rod, the remote movement center point and the rotation axis of the second driving member are collinear in the first direction.

[0013] As an embodiment of the present invention, the first rotating assembly includes a first branch chain first connecting rod and a first branch chain second connecting rod which are arranged to rotate around a first direction, one end of the first connecting rod of the first branch chain is connected to the first driving member for rotation around the first direction, and the other end is connected to the second connecting rod of the first branch chain for rotation around the first direction, one end of the second connecting rod of the first branch chain is connected to the first connecting rod of the first branch chain for rotation around the first direction, and the other end is connected to the connecting member for rotation around the first direction.

[0014] As an embodiment of the present invention, the first driving member is a ball screw that can drive the first rotating component to move linearly in the first direction to realize the rotation of the output part around the second direction; and / or, the decoupled two-turn remote motion center mechanism also includes a slave connecting member, which is fixedly arranged on the connecting member and is connected to the first rotating component for rotation around the first direction and / or, the first rotating component includes a first branch chain first connecting rod and a first branch chain second connecting rod that are arranged to rotate around the first direction, one end of the first connecting rod of the first branch chain is connected to the first driving member for rotation around the first direction, and the other end is connected to the first branch chain second connecting rod for rotation around the first direction, one end of the first branch chain second connecting rod is connected to the first branch chain first connecting rod for rotation around the first direction, and the other end is connected to the slave connecting member for rotation around the first direction.

[0015] According to a second aspect of the present invention, a robot is provided, comprising an operating member, a controller unit, an information acquisition unit and a robotic arm, wherein the robotic arm comprises the decoupled two-turn remote motion center mechanism described in the first aspect of the present invention, and the controller unit, the information acquisition unit and the robotic arm are communicatively connected; wherein the information acquisition unit is used to acquire information of the area to be operated and transmit it to the controller unit; the output portion of the decoupled two-turn motion center mechanism is fixedly connected to the operating member, and the operating member can contact the tissue / component to be operated; wherein the operating member is a medical component that can be used for medical surgery, or an installation component that can be used for the installation and maintenance of a large-aperture space telescope, or a construction component that can be used for lunar construction and exploration; the controller unit is used to control the first drive member and the second drive member according to the information of the area to be operated, so that the operating member can be adjusted to a set posture around the remote motion center point.

[0016] According to a third aspect of the present invention, a space telescope system is provided, comprising a telescope unit, a robotic arm unit, a sub-mirror module and a storage module; a plurality of the sub-mirror modules are detachably fixed on the telescope unit to form a large-aperture space telescope; the storage module stores a plurality of target components, the target components being sub-mirror modules or replacement mirrors for replacing the mirrors on the sub-mirror modules; the robotic arm unit comprises the decoupled two-turn remote motion center mechanism according to the first aspect of the present invention, and the output unit is used to grasp the target component; wherein the robotic arm unit is used to grasp the sub-mirror module or the replacement mirror to drive the target component to move to a specified position, thereby realizing the installation and replacement of the target component.

[0017] In summary, compared with the prior art, the present invention can provide a remote motion center mechanism with higher adjustment accuracy, better stability, and wider application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a structural schematic diagram of a two-turn remote motion center mechanism provided by a specific embodiment of the present invention;

[0020] Figure 2 is a schematic structural diagram of a second branch portion and a third branch portion provided by a specific embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of a second branch chain portion provided by a specific embodiment of the present invention.

[0022] Figure 4 Schematic diagram of the structure of the second driving member and the steering rod provided in a specific embodiment of the present invention

[0023] Figure 5 It is a schematic structural diagram of a first branch chain portion provided in a specific embodiment of the present invention.

[0024] Description of reference numerals:

[0025] 100, first branch chain portion; 110, first driving member; 120, first rotating assembly; 121, first connecting rod of the first branch chain; 122, second connecting rod of the first branch chain;

[0026] 200, second branch chain; 210, second driving member; 211, fixed bracket; 220, steering rod; 221, first section; 222, second section; 223, third section; 230, second rotating assembly; 231, first connecting rod of second branch chain; 232, second connecting rod of second branch chain;

[0027] 300, third branch chain portion; 310, first link of the third branch chain; 320, driven universal joint; 321, fixing member; 322, driven rod; 330, second link of the third branch chain;

[0028] 400, base;

[0029] 510, connecting piece; 511, secondary connecting piece;

[0030] 600, output unit;

[0031] M, remote motion center point; U, universal joint center point; R1, first steering axis; R2, second steering point. DETAILED DESCRIPTION

[0032] 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0033] It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0034] For the terms "distal / far end" and "proximal / proximal end" in the embodiments provided in this specification, the distal end / distal side refers to the end away from the operator / equipment, or close to the operated equipment / human tissue; the proximal end / proximal side refers to the end close to the operator / operating equipment, or away from the operated target device / human tissue. For example, when the embodiments in this specification are used in human medical services, the distal end refers to the end where the operator is located, and the proximal end refers to the end close to the human tissue. When the embodiments in this specification are used for operations in a space telescope, the distal end refers to the end close to the operating equipment, and the proximal end refers to the end away from the operating equipment.

[0035] In addition, in the present invention, unless otherwise specified, the terms "X direction", "front" and "rear" will be used in relation to the distance direction of the device, with the direction close to the operator / device being the front and the direction away from the operator / device being the rear; the terms "Y direction", "inside" and "outside" will be used in relation to the inside and outside directions of the device, with the direction close to the center of the device being the inside and the direction away from the center of the device being the outside; the terms "Z direction", "up" and "down" will be used in relation to the vertical direction of the device, with the upper part of the device being the top and the lower part of the device being the bottom.

[0036] See also Figure 1-5 For ease of understanding, in the following embodiments, the first direction is the X direction, the second direction is the Y direction, and the third direction is the Z direction, but this does not mean that the first direction can only be this direction, as long as the first direction, the second direction and the third direction are three different directions.

[0037] Please continue reading Figure 1-5 , the figure shows a decoupled two-turn remote motion center mechanism, including a base 400, a first branch part 100, a second branch part 200, a third branch part 300, a connecting piece 510 and an output part 600. The first branch part 100, the second branch part 200 and the third branch part 300 are fixedly arranged on the same side of the base 400 and connected to the output part 600 through the connecting piece 510. Figure 1 In this specific embodiment, the first branch part 100 , the second branch part 200 and the third branch part 300 are arranged on the upper side of the base part 400 . The second branch part 200 , the first branch part 100 and the third branch part 300 are arranged on the proximal side of the output part 600 .

[0038] The output part 600, the connecting member 510, the second branch part 200 and the third branch part 300 are arranged in the same XY plane, and the second branch part 200 and the first branch part 100 are arranged along the Y direction. Figure 1 In this specific embodiment, the first branch part 100 is arranged outside the second branch part 200. The output part 600 has a distal motion center point, so that the output part 600 can perform at least two rotations around the distal motion center point M driven by the first branch part 100, the second branch part 200, the third branch part 300 and the connecting member 510, that is, the output part 600 can rotate around the X axis and the Y axis of the distal motion center point M.

[0039] Each component is described in detail below.

[0040] Please read first Figure 1-Figure 4The second branch chain portion 200 includes a second driving member 210, a steering rod 220 and a second rotating assembly 230 connected in sequence. The second rotating assembly 230 includes a second branch chain first link 231 and a second branch chain second link 232 that are rotatably connected. The second driving member 210 is used to drive the steering rod 220 to rotate around a first direction. The second branch chain first link 231 and the second branch chain second link 232 are respectively connected to the steering rod 220 and the connecting member 510 to rotate around the second direction. The first direction is, for example, the X-axis direction, and the second direction is, for example, the Y-axis direction.

[0041] The second driving member 210 is fixedly mounted on the base 400 via a fixing bracket 211, and the output end of the second driving member 210 is fixedly connected to the steering rod 220, so that the second driving member 210 drives the steering rod 220 to rotate around the first steering axis R1, and the first steering axis R1 is parallel to the X axis. Figure 1 In this specific embodiment, the second driving member 210 is a motor, preferably a servo motor, which is fixedly arranged along the X-axis direction. It is naturally understandable that the second driving member 210 can also be other devices other than motors. In an alternative embodiment, the second driving member 210 is a generator, which is arranged in the same direction as Figure 1 This embodiment is the same.

[0042] The second branch chain first link 231 is arranged in the X direction, one end of the second branch chain first link 231 is rotatably connected to the steering rod 220, and the other end is rotatably connected to the second branch chain second link 232. The second branch chain second link 232 is arranged in the Z direction, one end of the second branch chain second link 232 is rotatably connected to the second branch chain first link 231, and the other end is rotatably connected to the connecting member 510. The second branch chain first link 231, the second branch chain second link 232, the connecting member 510 and the output part 600 are coplanar, that is, arranged on the same XZ plane.

[0043] See also Figure 4 The steering rod 220 includes a first section 221, a second section 222, and a third section 223 that are fixedly arranged in sequence. The first section 221, the second section 222, and the third section 223 are arranged perpendicular to each other, and the first section 221, the second section 222, and the third section 223 are respectively arranged perpendicularly in different directions, for example, the first section 221, the second section 222, and the third section 223 are respectively arranged in the X direction, the Z direction, and the Y direction. Of course, the first section 221, the second section 222, and the third section 223 may also be respectively arranged in the Z direction, the X direction, and the Y direction, or the first section 221, the second section 222, and the third section 223 may be respectively arranged in the Y direction, the Z direction, and the X direction.

[0044] exist Figure 4In this specific embodiment, the first section 221 is arranged in the X direction and fixedly connected to the output shaft of the second driving member 210, the second section 222 is arranged in the Z direction, and the third section 223 is arranged in the Y direction and rotatably connected to the first connecting rod 231 of the second branch chain.

[0045] Therefore, in Figure 1-Figure 4 In the second branch chain part 200 shown, the second driving member 210 is provided with a fixed bracket 211 to be fastened with the base 400 by bolts, so that the second driving member 210 is fixedly arranged on the base 400, forming a stable starting point. The second driving member 210 is used as a driving pair, and is powered by a servo motor to ensure precise motion control. The steering rod 220 is fixedly connected to the second driving member 210, so that the second branch chain part 200 can rotate around the X-axis driven by the steering rod 220. The first connecting rod 231 of the second branch chain is rotatably connected to the steering rod 220 by forming a rotating pair. Similarly, one end of the second connecting rod 232 of the second branch chain is rotatably connected to the first connecting rod 231 of the second branch chain by forming a rotating pair, and the other end is rotatably connected to the connecting member 510 by forming a rotating pair.

[0046] When the output part 600 needs to be rotated around the first direction, that is, around the direction of the X-axis, it is only necessary to start the second driving member 210. Under the drive of the second driving member 210, the steering rod 220 can drive the second branch chain first link 231, the second branch chain second link 232, the connecting member and the output part 600 to rotate around the direction of the X-axis, thereby realizing the rotation of the output part 600 along the X-direction, that is, realizing the rotation of the output part 600 in the first direction.

[0047] See also Figure 1-Figure 4 The third branch chain part 300 includes a driven universal joint 320, a third branch chain first link 310 and a third branch chain second link 330 which are rotatably connected, and the driven universal joint 320 is fixedly arranged on the base 400. The driven universal joint 320 includes a universally connected fixing member 321 and a driven rod 322, and the fixing member 321 and the driven rod 322 form a universal pair with a universal sub-center point U, so that the driven rod 322 can realize multiple degrees of freedom of movement around the universal sub-center point U relative to the fixing member 321. There are many implementations in the prior art for the specific structure of the universal pair formed by the universal connection of the fixing member 321 and the driven rod 322, and the specific description is not repeated.

[0048] The fixing member 321 is fixedly arranged on the base 400, one end of the driven rod 322 is universally connected to the fixing member 321, and the other end is fixedly connected to the first link 310 of the third branch chain. Preferably, the driven rod 322 is the first link 310 of the third branch chain. Figure 2In the third branch chain part 300 shown in this embodiment, the fixing member 321 of the driven universal joint 320 and the base 400 are fixedly connected by bolts, and the driven rod 322 and the fixing member 321 are universally connected together to form a universal pair, which is a driven pair. One end of the first link 310 of the third branch chain is fixedly connected to the driven rod 322. The second link 330 of the third branch chain is rotatably connected to an appropriate position in the middle of the first link 310 of the third branch chain through the formed rotation pair, and the connecting member 510 and the other end of the first link 310 of the third branch chain (the top of the first link 310 of the third branch chain away from the base 400) are rotatably connected through the formed rotation pair.

[0049] The remote motion center point M on the output part 600 and the universal joint center point U of the universal joint are on the same straight line parallel to the X-axis. The third branch chain second link 330 is arranged parallel to the connecting member 510, one end of the third branch chain second link 330 is rotatably connected to the third branch chain first link 310, and the other end is rotatably connected to the output part 600, so that the third branch chain first link 310, the connecting member 510, the output part 600 and the third branch chain second link 330 can be rotatably connected in sequence to form at least a closed parallelogram structure.

[0050] The purpose of such arrangement is that, by forming a closed parallelogram structure, the motion state of any point on the straight line of the first link 310 of the third branch chain can be the same as the motion state of the matching point corresponding to the straight line on the output part 600, that is, maintained consistent.

[0051] exist Figure 2 In this specific embodiment, the output part 600 is rotationally connected with the connecting member 510 through the rotational pair formed, and is rotationally connected with the second link 330 of the third branch chain through the rotational pair formed. During the movement, the output part 600 and the first link 310 of the third branch chain remain parallel, and the connecting member 510 and the second link 330 of the third branch chain also maintain a parallel state. These four links together form a parallelogram structure. The output rod can be rotated around the distal point M through the coordinated movement of the first, second, and third branch chains, thereby meeting the specific movement task requirements.

[0052] At this time, by adjusting the motion state of the first link 310 of the third branch chain, the output part 600 can achieve the same motion state. It is easy to understand that, through this setting, the motion state control of the motion state of the remote motion center point M on the output part 600 is changed to the control of the position point on the first link 310 of the third branch chain that matches the remote motion center point M.

[0053] Furthermore, since the remote motion center point M on the output part 600 and the universal joint center point U of the universal joint are on the same straight line parallel to the X-axis, the two are arranged correspondingly. At this time, the movement of the decoupled two-turn remote motion center mechanism around the remote motion center point M is converted into movement around the universal joint center point U, making it a movement around a specific structural point in the decoupled two-turn remote motion center mechanism.

[0054] Please continue reading Figure 1 , the remote motion center point M, the universal sub-center point U and the first steering axis R1 of the second driving member 210 are on the same straight line, and the first steering axis R1 is parallel to the X-axis.

[0055] Therefore, through this design, when the second driving member 210 rotates along the first steering axis R1, it drives the steering rod 220 to rotate around the first steering axis R1, and then drives the second branch chain first link 231, the second branch chain second link 232, the third branch chain first link 310 and the output part 600 to rotate along the first steering axis R1. Since the remote motion center point M and the first steering axis R1 are in the same straight line, the output part 600 naturally rotates in the direction of the first steering axis R1 around the remote center point.

[0056] Preferably, the output part 600, the third branch chain first link 310, the third branch chain second link 330, the connecting member 510, the second branch chain first link 231 and the second branch chain second link 232 are arranged on a plane, the remote motion center point M is arranged at the far end of the universal sub-center point U, and the second driving member 210 is arranged at the near end of the universal sub-center point U. The advantage of such a design is that it can well reduce the difficulty of structural design and manufacturing, and is easy to promote and apply.

[0057] Please continue reading Figure 1 , Figure 5, the first branch chain portion 100 includes a first driving member 110 and a first rotating assembly 120. The first rotating assembly 120 includes a first branch chain first connecting rod 121 and a first branch chain second connecting rod 122. The first branch chain second connecting rod 122 and the first branch chain first connecting rod 121 are respectively connected to the connecting member 510 and the first driving member 110 for rotation around the first direction. One end of the first branch chain first connecting rod 121 is connected to the first driving member 110 for rotation, and the other end is connected to one end of the first branch chain second connecting rod 122 for rotation. One end of the first branch chain second connecting rod 122 is connected to the first branch chain first connecting rod 121 for rotation, and the other end is connected to the connecting member 510 for rotation. The first driving member 110 is arranged along the X direction, and is used to drive the first branch chain first connecting rod 121 to move along the X direction. The first link 121 of the first branch chain and the second link 122 of the first branch chain are arranged on the YZ plane, so that when the first driving member 110 drives the first rotating assembly 120 to move along the X direction, the movement of the first link 121 of the first branch chain and the second link 122 of the first branch chain in the X direction is the same as the movement state of the first driving member 110 in the X direction, that is, they remain consistent.

[0058] In order to better illustrate the movement process of the output part 600 in the second direction around the remote center point, the position where the first link 310 of the third branch chain is rotatably connected to the connecting member 510 is defined as the second turning point R2.

[0059] When the first driving member 110 is controlled to reciprocate along the first direction, Figure 1 In this specific embodiment, when the first driving member 110 is controlled to reciprocate along the direction of the X-axis, the first link 121 of the first branch chain and the second link 122 of the first branch chain will drive the connecting member 510 to move along the direction of the X-axis. However, since the connecting member 510 is rotationally connected to one end of the first link 310 of the third branch chain, and the other end of the first link 310 of the third branch chain is rotationally connected to the base 400, it cannot move in the direction of the X-axis. At this time, in order to adapt to the reciprocating motion of the second rotating assembly 230, the connecting member 510 will make the second turning point R2 move in an arc with the universal sub-center point U as the center and the length of the third branch chain first link 310 as the radius, so that the second turning point R2 drives the third branch chain first link 310 to make a circular motion around the universal sub-center point U in the XZ plane, that is, to rotate around the Y-axis direction. Since the first link 310 of the third branch chain and the output part 600 are opposite sides of a parallelogram, the remote motion center point M corresponds to the universal sub-center point U, so that the output part 600 rotates around the remote motion center point M in the second direction, that is, the direction of the Y axis.

[0060] Therefore, when it is necessary to make the output part 600 move in the second direction around the remote center point, that is, the direction of the Y axis, it is only necessary to make the first driving member 110 lead the first branch chain first link 121 and the first branch chain second link 122 to move far and near along the first direction, that is, to move far and near along the X direction, so that the output part 600 can move in the second direction around the remote center point M.

[0061] Preferably, the first driving member 110 is preferably a ball screw, and by utilizing the transmission efficiency of the ball screw, Figure 5 In this embodiment, the output rod at the end of the first driving member 110 can rotate perpendicular to the normal direction of the paper (i.e., the Y direction) around the remote motion center point M. The first branch chain first connecting rod 121 of the first branch chain part 100 is directly connected to the platform connected to the screw mechanism by forming a rotating pair, thereby realizing a rotational connection with the ball screw. Similar to the first branch chain first connecting rod 121 being connected to the platform through the second rotating pair, the first branch chain second connecting rod 122 is connected to the first branch chain first connecting rod 121 by forming a rotating pair. Finally, the connecting member 510 forms a rotating pair through the first branch chain second connecting rod 122 to realize a rotational connection.

[0062] It can be understood that the advantage of setting the first driving member 110 as a ball screw is that when the first driving member 110 drives the first branch chain first link 121 and the first branch chain second link 122 to move along the direction of the X-axis through the ball screw, since the ball screw converts the steering motion into a planar motion, it can improve the motion accuracy along the direction of the X-axis, thereby making the control accuracy of the output part 600 higher when rotating along the Y-axis. There are many solutions in the prior art for the specific structure of the ball screw, and the present invention does not limit this.

[0063] Therefore, through the solution provided by the present invention, a remote motion center mechanism with higher adjustment accuracy, better stability and wider application scenarios can be provided.

[0064] On the one hand, when the output part 600 is rotated around the direction of the Y-axis, since the solution of the present invention is achieved by setting the first branch chain part 100, that is, it is achieved by the lateral movement of the first driving member 110 in the X-direction, it is possible to achieve a more precise adjustment of the output part 600 in the Y-axis rotation direction, thereby better meeting the purpose of precise operation of the remote motion center mechanism.

[0065] It can be understood that improving control accuracy is of specific significance for the actual use of the remote motion center mechanism, because the remote motion center mechanism is often used in scenarios with small operating space and high operating accuracy. For example, when it is applied to eye surgery, due to the precision of the eye itself, the improvement of the accuracy of the remote motion center mechanism will significantly improve the safety and fault tolerance of the entire ophthalmic surgery, and even directly determine whether it can be applied in this operating scenario.

[0066] On the other hand, by providing the second branch part 200, the first branch part 100 and the third branch part 300, and making the second branch part 200, the first branch part 100 and the third branch part 300 fixedly connected to the base 400, it is possible to well support and fix the output part 600 and the connecting member 510, so that in the case of this structure, a heavier output part 600 can be carried and better stability can be achieved.

[0067] On the other hand, by arranging the second driving member 210 and the first driving member 110 on the second branch chain portion 200 and the first branch chain portion 100, the decoupling between the two rotational motions is achieved, so that the driving member can be as far away from the remote motion center point M as possible, thereby better adapting to more usage scenarios. Because in some specific usage scenarios of the remote motion center mechanism, considering the noise and radiation of the driving member itself, it needs to be as far away from the operator as possible, that is, it needs to be as far away from the far end as possible.

[0068] On the other hand, by arranging the second driving member 210 and the second steering zone provided by the present invention on the same side of the output portion 600, this layout significantly reduces the moment of inertia, thereby improving the response speed and control accuracy of the mechanism. The design of the mechanism simplifies the control process, improves the rigidity, and ensures high precision and high stability. These characteristics enable the mechanism to perform well in application scenarios that require high-precision remote control, such as the assembly and adjustment of sub-mirror modules in complex optical systems or medical fields such as minimally invasive surgery, puncture surgery, and endoscopic examination.

[0069] Please continue reading Figure 1 The second branch chain first link 231 and the second branch chain second link 232 of the second branch chain part 200 are arranged in the XZ plane, and the first branch chain first link 121 and the first branch chain second link 122 of the first branch chain part 100 are arranged in the YZ plane. The advantage of such an arrangement is that the second branch chain part 200 and the first branch chain part 100 can better adapt to the two-turn motion.

[0070] For example, when the output part 600 is rotated around the first direction by the second driving member 210, the first direction is, for example, the X-axis direction. At this time, since the second branch chain first link 231 and the second branch chain second link 232 are arranged in the XZ plane, they remain stationary relative to the second driving member 210, and thus will not cause the connecting member 510 to produce relative movement relative to the second driving member 210, thereby realizing the second driving member 210 for the output part 600 to rotate along the first direction. At the same time, the first branch chain first link 121 and the first branch chain second link 122 in the first branch chain part 100 at this time will adjust the rotation angle between the connecting member 510, the first branch chain first link 121, the first branch chain second link 122 and the first driving member 110 according to the rotation of the connecting member 510 around the first direction, so as to realize the following movement.

[0071] Similarly, when the output part 600 is rotated around the second direction through the first driving member 110, the second direction is, for example, the Y-axis direction. At this time, since the first branch chain first link 121 and the first branch chain second link 122 are arranged in the YZ plane, and the first driving member 110 drives the first branch chain first link 121 and the first branch chain second link 122 to move along the X-axis direction, the first branch chain first link 121 and the first branch chain second link 122 will not move relative to the first driving member 110, thereby making the first branch chain part 100 and the connecting member 510 remain relatively stationary, thereby giving the connecting member 510 a force to move in the X-axis direction. However, due to the limitation of the first link 310 of the third branch chain, the connecting member 510 makes an arc motion around the universal sub-center point U. At this time, the first link 121 of the first branch chain and the second link 122 of the first branch chain adjust the rotation angle between the connecting member 510, the first link 121 of the first branch chain, the second link 122 of the first branch chain and the first driving member 110 to adapt to the movement.

[0072] For the second branch chain portion 200, due to the existence of the steering rod 220, during this movement, the second branch chain first link 231 and the second branch chain second link 232 will adjust the angles between the connecting member 510, the second branch chain second link 232, the second branch chain first link 231 and the steering rod 220 to adapt to the movement, while the steering rod 220 and the second driving member 210 remain stationary at this time.

[0073] Therefore, it can be naturally understood that in the solution of the present invention, the turning rod 220 of the second branch chain part 200 is indispensable, and it is responsible for the harmony and smoothness of the second branch chain part 200 when the output part 600 makes two turns.

[0074] Please continue reading Figure 1A secondary connecting member 511 is also fixedly provided on the connecting member 510, and the secondary connecting member 511 is used to be rotatably connected with the first branch chain second connecting rod 122 of the first branch chain part 100 by forming a rotating pair. Preferably, the rotating pair is arranged along the X-axis direction to better adapt the first branch chain and the connecting member 510.

[0075] In summary, the present invention provides a two-turn remote motion center mechanism, which has shown significant advantages in the field of assembly and adjustment of sub-mirror modules of complex optical systems through its innovative design. Specifically, the first, second, and third branch chain parts 300 of the mechanism work together to enable the output mechanism to accurately perform a predetermined rotation around the far center point M, and these rotations include movements around a first direction (the X-axis in the figure) and around a second direction perpendicular to the first direction (the normal direction perpendicular to the paper surface in the schematic figure, i.e., the Y-axis), thereby meeting the demand for high-precision motion control. In addition, by arranging the second drive member 210 and the first drive member 110 on the same side of the output part 600, this layout not only reduces the moment of inertia, but also simplifies the control process and enhances the rigidity and stability of the mechanism.

[0076] Therefore, the solution provided by the present invention performs well in the assembly and adjustment of sub-mirror modules in complex optical systems with high requirements for remote motion accuracy, and can ensure stable and precise movement around the adjustment point, such as the assembly and adjustment of sub-mirror modules in complex optical systems or in medical fields such as minimally invasive surgery, puncture surgery and endoscopic examination.

[0077] Correspondingly, the present invention also provides a robot, comprising the two-turn remote motion center mechanism described in the first aspect of the present invention.

[0078] In a preferred embodiment, the robot includes an operating member, a controller unit, an information acquisition unit and a robotic arm including the aforementioned decoupled two-turn motion center mechanism, which is used to perform specified operations on the tissue / component to be operated.

[0079] The information acquisition unit can acquire information about the operated area and transmit it to the controller unit. In a specific embodiment, the information acquisition unit includes a visual camera, which can acquire information about the area to be operated. In another alternative embodiment, the information acquisition unit is a sonar, which acquires information about the area to be operated by sound. In another alternative embodiment, the information acquisition unit is a nuclear magnetic resonance imaging unit, which uses nuclear magnetic resonance to obtain information about the area to be operated.

[0080] The robot arm unit is provided with the aforementioned decoupled two-turn motion center mechanism, the output portion of which is fixedly connected to the operating member, and the operating member is configured to contact the tissue / component to be operated to complete the operation on the tissue / component to be operated. In a specific embodiment, the operating member is a scalpel or other medical device that can be used for medical surgery; in another alternative embodiment, the operating member is a construction member that can be used for lunar construction and exploration; in yet another alternative embodiment, the operating member is an installation member for installation and maintenance of a large-aperture space telescope.

[0081] The controller unit is used to communicate with the information acquisition unit and the robotic arm to control the first driving member of the first branch chain part and the second driving member of the second branch chain part respectively according to the information of the area to be operated so as to adjust the operating member to a set posture around the remote motion center point.

[0082] When the robot is used in minimally invasive surgery, such as abdominal and thoracic minimally invasive surgery, the remote center of the decoupled two-turn remote motion center mechanism of the robot arm is preferably the minimally invasive point on the patient's skin. The first drive member and the second drive member are independently controlled by the controller, so that the end of the medical device fixedly connected to the output part can reach the patient's affected area, thereby achieving precise minimally invasive treatment.

[0083] For example, when the robot is used in minimally invasive eye surgery, since the operating range of medical instruments during surgery is usually very small, but the angle changes may be large, using the robot for minimally invasive surgery can avoid large-scale movement of the arms. The position of the instrument end can be flexibly arranged through the bending and deformation of the connecting rod to adapt to different application requirements, making it more compatible with the operating room environment.

[0084] Correspondingly, the present invention also provides a space telescope system, comprising the decoupled two-turn remote motion center mechanism described in the first aspect of the present invention.

[0085] Specifically, the space telescope system includes a telescope unit, a mechanical arm unit, a sub-mirror module and a storage module. The storage module can store sub-mirror modules that can be installed on the telescope unit. Preferably, the storage module can also store replacement mirrors for replacing mirrors on the sub-mirror modules. A plurality of sub-mirror modules can be detachably fixed on the telescope unit to form a large-aperture space telescope.

[0086] The telescope unit can be detachably fixed to the sub-mirror module to provide a starting installation area for the sub-mirror module, so that the sub-mirror module can be integrated and expanded on the telescope unit and assembled in orbit to form a large-aperture space telescope.

[0087] The robotic arm module includes the decoupled two-turn remote motion center mechanism described in the first aspect of the present application, which is used to grab the target component to a specified position. The target component can be, for example, a sub-mirror module or a replacement mirror for replacing the mirror on the sub-mirror module. Of course, it can also be other components, and the present invention is not limited to this.

[0088] There are many ways to assemble and adjust multiple sub-mirror modules in the existing solutions, which will not be described in detail. For example, the application number CN2023116396510 discloses in detail the assembling and adjusting methods between multiple sub-mirror modules. Similarly, there are many ways to docking structures between multiple sub-mirror modules in the existing solutions, which will not be described in detail. For example, the application number CN2024104870411 discloses in detail the docking structure between multiple sub-mirror modules.

[0089] Similarly, for replacing the mirror on a specific sub-mirror, there are many implementation methods in the prior art. For example, CN202411133618.5 discloses a modular large-aperture space telescope mirror replacement system and method.

[0090] The scheme of the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

[0091] References throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be possible in light of the teachings herein and are to be considered part of the spirit and scope of the invention.

[0092] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0093] In addition, unless otherwise explicitly indicated, any marking arrows in the drawings should be regarded as exemplary only and not limiting. In addition, unless otherwise indicated, the term "or" used herein is generally intended to mean "and / or". In the case where the term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be regarded as indicated.

Claims

1. A decoupled two-turn remote motion center mechanism, characterized in that: include: base; The output part can rotate around the remote motion center point; A connecting member, rotatably connected to the output portion and parallel to the base in a first direction; The first branch chain portion comprises a first rotating assembly and a first driving member fixed to the base; two ends of the first rotating assembly are respectively connected to the connecting member and the first driving member for rotation around the first direction; The second branch chain portion comprises a second rotating assembly, a steering rod and a second driving member fixed to the base, which are connected in sequence; two ends of the second rotating assembly are respectively connected to the steering rod and the connecting member for rotation around a second direction; A third branch chain portion, one end of which is universally connected to the base portion, and the other end of which forms a parallelogram structure with the output portion and the connecting member; Among them, the output part, the connecting part, the second branch part and the third branch part are located in the same plane, the first driving member can drive the first rotating assembly to reciprocate along the first direction to make the output part rotate around the second direction; the second driving member can drive the steering rod and the output part to rotate around the first direction to decouple the two-dimensional rotation.

2. The decoupled two-turn remote motion center mechanism according to claim 1, characterized in that: The steering rod of the second branch chain portion includes a first section and a third section which are fixedly connected, the rotation axis of the first section is arranged in a first direction, the rotation axis of the third section is arranged in a second direction, and the first direction and the second direction are perpendicular to each other; in The first section is fixedly connected to the output end of the second driving member, so that the second driving member drives the output portion to rotate around the first direction; The third section is rotatably connected to the second rotating assembly so that the second rotating assembly can rotate around a second direction.

3. The decoupled two-turn remote motion center mechanism according to claim 2, characterized in that: The second rotating assembly includes a first link of the second branch chain and a second link of the second branch chain that are rotationally connected around the second direction, one end of the first link of the second branch chain is rotationally connected to the third section of the steering rod around the second direction, and the other end is rotationally connected to one end of the second link of the second branch chain; the other end of the second link of the second branch chain is rotationally connected to the connecting member around the second direction.

4. The decoupled two-turn remote motion center mechanism according to claim 2, characterized in that: The steering rod of the second branch chain portion further comprises a second section fixedly connected to the first section and the third section, the rotation axis of the second section is arranged in the third direction, and the first branch chain portion, the second branch chain portion and the third branch chain portion are arranged on the same side of the base portion in the third direction; wherein The first direction is a far-to-near direction, the output portion is arranged on the far side of the third branch portion, and the first branch portion and the second branch portion are arranged on the proximal side of the third branch portion; and / or, the second direction is an inside-outside direction, and the first branch portion is arranged on the outside of the second branch portion.

5. The decoupled two-turn remote motion center mechanism according to any one of claims 1 to 4, characterized in that: The third branch chain portion includes a third branch chain first connecting rod parallel to the output portion, a third branch chain second connecting rod parallel to the connecting member, and a driven universal joint; The driven universal joint comprises a universally connected fixing member and a driven rod, wherein the fixing member is fixedly connected to the base; One end of the first connecting rod of the third branch chain is rotatably connected to the connecting member, and the other end is fixedly connected to the driven rod of the driven universal joint; One end of the second connecting rod of the third branch chain is rotatably connected to the output part, and the other end is rotatably connected to the first connecting rod of the third branch chain.

6. The decoupled two-turn remote motion center mechanism according to claim 5, characterized in that: The movement center points of the fixing member and the driven rod, the remote movement center point and the rotation axis of the second driving member are collinear in the first direction.

7. The decoupled two-turn remote motion center mechanism according to any one of claims 1 to 4, characterized in that: The first rotating assembly includes a first link of the first branch chain and a second link of the first branch chain that are arranged to rotate around a first direction, one end of the first link of the first branch chain is connected to the first driving member for rotation around the first direction, and the other end is connected to one end of the second link of the first branch chain for rotation around the first direction; the other end of the second link of the first branch chain is connected to the connecting member for rotation around the first direction.

8. The decoupled two-turn remote motion center mechanism according to claim 7, characterized in that: The first driving member is a ball screw capable of driving the first rotating assembly to translate in a first direction, so as to realize the output portion to rotate in a second direction; And / or, the decoupled two-rotation remote motion center mechanism further includes a slave connecting member, wherein the slave connecting member is fixedly disposed on the connecting member and is rotationally connected to the first rotating component around a first direction.

9. A robot, characterized in that: It includes an operating member, a controller unit, an information acquisition unit and a mechanical arm, wherein the mechanical arm includes a decoupled two-turn remote motion center mechanism according to any one of claims 1 to 8, and the controller unit, the information acquisition unit and the mechanical arm are in communication connection; wherein, The information acquisition unit is used to acquire information of the area to be operated and transmit it to the controller unit; The output part of the decoupled two-turn motion center mechanism is fixedly connected to the operating member, and the operating member contacts the tissue / part to be operated; wherein the operating member is a medical part used for medical surgery, or an installation part used for installation and maintenance of a large-aperture space telescope, or a construction part used for lunar construction and exploration; The controller unit is used to control the first driving member and the second driving member according to information of the area to be operated, so that the operating member can be adjusted to a set posture around the remote motion center point.

10. A space telescope system, characterized in that: It includes a telescope unit, a robotic arm unit, a sub-mirror module and a storage module; A plurality of said sub-mirror modules can be detachably fixed on said telescope unit to form a large-aperture space telescope; The storage module stores a plurality of target components, wherein the target components are sub-mirror modules or replacement mirror surfaces for replacing the mirror surfaces on the sub-mirror modules; The robot unit includes a decoupled two-turn remote motion center mechanism according to any one of claims 1 to 8, and the output part is used to grasp the target component; wherein, The robotic arm unit is used to grab the sub-mirror module or replace the mirror surface to drive the target component to move to a specified position, thereby achieving installation and replacement of the target component.

Images