Long-distance two-turn one-shift remote motion center mechanism, control method and robot

Abstract

The present invention belongs to the field of manipulators, and provides a long-distance two-turn and one-shift remote motion center mechanism, a control method and a robot, comprising: a base; a connecting part, comprising a first connecting section, a second connecting section, an output connecting section and a connecting base section; the output connecting section is fixedly arranged at the axis center of the connecting base section; the first connecting section and the second connecting section are parallel and rotatably arranged on both sides of the connecting base section; a synchronization part, comprising a sleeve and a support rod telescopically connected along a feeding direction, the support rod is universally connected to the base, and the sleeve is rotatably connected to the output connecting section; an output part, which is rotatably connected to the output connecting section and keeps consistent with the movement of the sleeve; and a motion generating part, comprising a first branch chain part, a second branch chain part and a third branch chain part that slide independently along a first direction; the first branch chain part is rotatably connected to the first connecting section, and the second branch chain part and the third branch chain part are respectively rotatably connected to the two ends of the second connecting section, so as to drive the output part to perform two-turn and one-shift motion to move the driving component away from the remote motion center point.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a long-distance two-turn-one-shift remote motion center mechanism, a control method and a robot. Background Art

[0002] Due to the constraints of the mechanical structure, the movement of the output end of the two-rotation and one-shift remote motion center (RCM) mechanism is limited to rotation around a fixed point and translation through the point. This fixed point is generally far away from the mechanism and exists virtually, and is called the remote motion center of the mechanism. This feature is particularly useful for applications that need to operate at a specific location without interfering with the surrounding environment.

[0003] There are two main research directions for the remote motion center structure. One research direction is how to increase the load of the entire structure to increase the weight of the output end that the remote motion center structure can bear as much as possible. This scenario is preferably used in scenarios where heavy equipment and complex medical equipment need to be installed and constructed. Another research direction is how to increase the distance between the drive component and the remote motion center point to minimize the interference of the output component on the remote motion center point. This scenario is preferably used in scenarios where the remote motion center point is located in a particularly small construction space, or in scenarios where there are many restrictions on the remote motion center point. For example, in neurosurgery such as cranial surgery in conjunction with nuclear magnetic resonance detection equipment, in order to reduce the electromagnetic interference of the drive component (such as the motor) on the location of the remote motion center point to improve the detection accuracy, the drive component (such as the motor) needs to be set as far away from the remote motion center point as possible.

[0004] In the existing research schemes of remote motion center points, most of them focus on how to realize the functions of the remote center or how to increase the carrying capacity of the remote motion center. There are few studies on how to increase the distance between the driving components and the remote motion center point. In addition, due to structural constraints, the adjustment accuracy of the entire remote motion center is not high when the output of the output parts is the same. Summary of the invention

[0005] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a coaxial two-rotation and one-translation remote motion center, a control method and a robot to solve the problem of adjustment accuracy of the existing remote motion center and to set the driving components as far away from the remote motion center point as possible.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: In the first aspect of the present invention, there is provided a long-distance two-turn and one-shift remote motion center mechanism, comprising: a base; a connecting part, comprising a first connecting section, a second connecting section, an output connecting section and a connecting base section; the output connecting section is fixed at the axis center of the connecting base section; the first connecting section and the second connecting section are parallel and rotatably arranged on both sides of the connecting base section; a synchronization part, comprising a sleeve and a support rod telescopically connected along the feeding direction, the support rod is universally connected to the base, and the sleeve is rotatably connected to the output connecting section; an output part, which is rotatably connected to the output connecting section and keeps consistent with the movement of the sleeve; and a motion generating part, comprising a first branch chain part, a second branch chain part and a third branch chain part which slide independently along the first direction; the first branch chain part is rotatably connected to the first connecting section, and the second branch chain part and the third branch chain part are respectively rotatably connected to the two ends of the second connecting section, so as to drive the output part to perform two-turn and one-shift motion around the remote motion center point.

[0007] As an embodiment of the present invention, the first branch chain portion includes a first branch chain proximal rod, a first branch chain distal rod and a first branch chain cross bar; the first branch chain proximal rod, the first connecting segment, the first branch chain distal rod and the first branch chain cross bar are sequentially enclosed to form a parallelogram structure, the first branch chain proximal rod and the first branch chain distal rod, the first branch chain cross bar and the first connecting segment are opposite sides of each other; wherein, the first branch chain cross bar slides along a first direction relative to the base; and / or, the first branch chain portion also includes a first branch chain driving member, the first branch chain driving member includes a first slider and a first branch chain base fixed on the base, the first slider is rotationally connected to the first branch chain cross bar along the first direction, and the first slider is slidably connected to the first branch chain base to drive the first branch chain cross bar to slide along the first direction relative to the base; wherein, the first branch chain cross bar is connected to the first branch chain base via a ball screw.

[0008] As an embodiment of the present invention, the first branch portion, the second branch portion and the third branch portion are relatively fixedly arranged on the base, the first branch portion is arranged on one side of the synchronization portion of the base, the second branch portion and the third branch portion are arranged on the other side of the synchronization portion with the first direction as the axis, and the second branch portion and the third branch portion are arranged front and back along the first direction on the other side.

[0009] As an embodiment of the present invention, the near rod of the first branch chain and the far rod of the first branch chain have the same size and are arranged in parallel, the two ends of the first connecting section of the connecting part are rotatably connected to the near rod of the first branch chain and the far rod of the first branch chain respectively, and the two ends of the first branch chain cross bar of the first branch chain part are rotatably connected to the near rod of the first branch chain and the far rod of the first branch chain respectively, so that the near rod of the first branch chain, the first connecting section, the far rod of the first branch chain and the cross bar of the first branch chain form a parallelogram structure.

[0010] As an embodiment of the present invention, the second branch chain portion includes a second branch chain connecting rod and a second branch chain driving member, the second branch chain driving member includes a second slider and a second branch chain base fixed on the base; one end of the second branch chain driving member is rotatably connected to the second connecting section, and the other end is rotatably connected to the second slider; the second slider is slidably connected to the second branch chain base; wherein the second branch chain connecting rod and the second branch chain base are connected via a ball screw; and / or the third branch chain portion includes a third branch chain connecting rod and a third branch chain driving member, the third branch chain driving member includes a third slider and a third branch chain base fixed on the base; one end of the third branch chain driving member is rotatably connected to the second connecting section, and the other end is rotatably connected to the third slider; the third slider is slidably connected to the third branch chain base; wherein the third branch chain connecting rod and the third branch chain base are connected via a ball screw.

[0011] As an embodiment of the present invention, the first branch portion and the second branch portion are symmetrically arranged along the first direction where the output connection section of the connecting portion is located, and the second branch portion and the third branch portion are symmetrically arranged along the second direction where the connection base section of the connecting portion is located.

[0012] As an embodiment of the present invention, the connecting part also includes a second connecting rod, one end of the second connecting rod is rotatably connected to the output part, and the other end is rotatably connected to the ring, the second connecting rod, the output part, the output connecting section and the ring are sequentially enclosed to form a parallelogram structure, the ring and the output part are opposite sides of the parallelogram structure so that the movements of the output part and the ring are consistent; and / or, the ring and the support rod are telescopically connected by a roller-type moving pair.

[0013] As an embodiment of the present invention, it also includes a control device, which is communicated with the first branch part, the second branch part and the third branch part, so that the output part performs two rotations and one translation under the drive of the connection part; when it is necessary to make the output part rotate only around the first direction, the control device controls the first branch part, the second branch part and the third branch part to move in coordination, so as to apply a resultant force that only exists in the second direction to the ring through the connection part; when it is necessary to make the output part move only in the feeding direction, the control device controls the first branch part, the second branch part and the third branch part to move in coordination, so as to apply a resultant force that only exists in the feeding direction to the ring through the connection part, and the feeding direction is located in a plane formed by the first direction and the third direction, and the third direction, the first direction and the second direction are perpendicular to each other; when it is necessary to make the output part rotate only around the second direction, the control device controls the first branch part, the second branch part and the third branch part to move in coordination, so as to apply a resultant force that only exists in the feeding direction to the ring through the connection part.

[0014] The second aspect of the present invention proposes a two-turn and one-shift remote motion center control method, which is based on the long-distance two-turn and one-shift remote motion center mechanism described in the first aspect of the present invention. The control method includes the following steps: determining the motion requirement of the output part, and the motion requirement is decoupled to at least one of rotating around the first direction and the second direction based on the remote motion center point and moving along the feed direction; controlling the first branch chain part, the second branch chain part and the third branch chain part to move to the set position based on the motion requirement.

[0015] According to a third 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 long-distance two-turn-one-shift remote motion center mechanism based on 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 long-distance two-turn-one-shift remote motion center mechanism is fixedly connected to the operating member, and the operating member is in contact with the tissue / component to be operated; the controller unit is used to control the long-distance two-turn-one-shift remote motion center mechanism according to the information of the area to be operated, so that the operating member is adjusted to a set posture around the remote motion center point; wherein the operating member is a medical component used for medical surgery, or an installation component used for the installation of a large-aperture space telescope, or a construction component used for lunar construction and exploration.

[0016] 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, and is particularly suitable for use in scenarios where the drive component is set at a long distance from the remote motion center point. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 It is a schematic diagram of the overall structure of a long-distance two-turn and one-shift remote motion center mechanism provided by the present invention;

[0019] Figure 2 It is a side view of the overall structure of a long-distance two-turn and one-shift remote motion center mechanism provided by the present invention;

[0020] Figure 3 is a schematic structural diagram of the first branch chain portion provided by the present invention;

[0021] Figure 4 is a schematic structural diagram of the second branch chain portion provided by the present invention;

[0022] Figure 5 It is a structural schematic diagram of the connecting portion provided by the present invention;

[0023] Figure 6 It is a structural schematic diagram of the synchronization unit provided by the present invention.

[0024] Description of reference numerals:

[0025] 100, first branch chain portion; 110, first branch chain cross bar; 120, first branch chain near bar; 130, first branch chain far bar; 140, first branch chain driving member; 141, first branch chain base; 142, first sliding block;

[0026] 200, second branch chain portion; 210, second branch chain connecting rod; 220, second branch chain driving member; 221, second branch chain base; 222, second sliding block; 230, second central axis;

[0027] 300, third branch chain portion; 310, third branch chain connecting rod; 320, third branch chain driving member; 321, third branch chain base; 322, third sliding block;

[0028] 400, synchronization part; 410, synchronization base; 420, support rod; 430, sleeve ring;

[0029] 500, connecting portion; 510, first connecting section; 520, second connecting section; 530, output connecting section; 540, connecting base section;

[0030] 600, base;

[0031] 700, output unit;

[0032] 800, second connecting rod;

[0033] M, remote motion center point; U, universal sub-center point. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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. At the same time, the feeding direction is the length direction of the output part, and the feeding direction is located in the plane formed by the first direction and the third direction.

[0039] See also Figure 1-Figure 6, the figure shows a long-distance two-turn and one-shift remote motion center mechanism, including a base 600, a motion generating part, a synchronization part 400, a connecting part 500 and an output part 700. The motion generating part includes a first branch part 100, a second branch part 200 and a third branch part 300. The connecting part 500 can be connected to the output part 700, the first branch part 100, the second branch part 200, the third branch part 300 and the synchronization part 400 respectively, so that the output part 700 can make two turns and one shift relative to the remote motion center point M under the drive of the first branch part 100, the second branch part 200 and the third branch part 300. The two turns and one shift motion refers to rotation around the first direction and the second direction, and relative motion in the feeding direction. Figure 1 In this specific implementation, the first direction is the direction of the X-axis, the second direction is the direction of the Y-axis, and the feeding direction is the direction of the length direction of the output portion 700 (which can be decomposed into movement in both the X-axis direction and the Z-axis direction).

[0040] The connecting portion 500 includes a first connecting section 510, a second connecting section 520, an output connecting section 530 and a connecting base section 540. The connecting base section 540 is rotatably connected to the first connecting section 510 and the second connecting section 520, respectively, and is fixedly connected to the output connecting section 530. The axes of the output connecting section 530 and the connecting base section 540 are collinear in the first direction. The output connecting section 530 is fixedly connected to the synchronization portion 400 and the output portion 700. Figure 1 In this specific embodiment, the connecting base segment 540 is arranged along the first direction, that is, along the X direction. The connecting base segment 540 is fixedly connected to the output portion 700 and the synchronization portion 400 at the distal end, and is rotatably connected to the first connecting segment 510 and the second connecting segment 520 at the proximal end.

[0041] The first connecting section 510 and the second connecting section 520 are symmetrically arranged on both sides of the axis of the connecting base section 540 in the second direction. The two ends of the connecting base section 540 are rotatably connected to the first connecting section 510 and the second connecting section 520 respectively. Figure 1 In this specific embodiment, the first connecting segment 510 and the second connecting segment 520 are respectively arranged at both ends of the connecting base segment 540 in the second direction, that is, at both ends of the Y direction. The first connecting segment 510 is arranged at the front end of the connecting base segment 540, and the second connecting segment 520 is arranged at the rear end of the connecting base segment 540. The first connecting segment 510 can move along the first direction driven by the first branch chain portion 100, and the second connecting segment 520 can move along the first direction driven by the second branch chain portion 200 and the third branch chain portion 300. The first branch chain portion and the second branch chain portion are always arranged in parallel. Figure 1 In this specific embodiment, the first branch segment and the second branch segment have the same length and are arranged along the X direction.

[0042] exist Figure 1 In this embodiment, the first connecting section 510 and the second connecting section 520 of the connecting part 500 are connected by a connecting base section 540, and the connection method is a bearing connection, and the two ends of the bearing are limited without radial movement. The connecting base section 540 is an "I"-shaped structure, with sleeves at both ends, and is fixed by welding through the middle connecting rod. The output connecting section 530 is fixedly connected from the midpoint of the connecting rod connecting the two sleeves, and is preferably a welded long rod. Two hinge points are set on the output connecting section 530, which are the middle hinge point hinged with the collar 430 of the synchronization part 400, and the end hinge point hinged with the output part 700. The plane triangle formed by the two center points of the first connecting section 510 and the second connecting section 520 and a point on the output connecting section 530 is taken as the research object point. When any one of the first branch chain part 100, the second branch chain part 200 and the third branch chain part 300 undergoes a single linear horizontal movement, the triangle will rotate at a certain angle relative to the base surface, and the moving trajectory of the center point of the triangle is a spatial curve.

[0043] The synchronization part 400 is arranged at the proximal end of the output part 700 and can move synchronously with the output part 700. The synchronization part 400 includes a synchronization base 410, a support rod 420 and a collar 430. The synchronization base 410 is fixedly arranged on the base 600. The support rod 420 is arranged in the feeding direction and is arranged parallel to the output part 700. One end of the support rod 420 is universally rotatably connected to the synchronization base 410, and the other end is telescopically connected to the collar 430. The collar 430 is rotatably connected to the output connection section 530 of the connection part 500. The universal sub-center point U of the universal rotation connection between the support rod 420 and the synchronization base 410 and the remote motion center point M are arranged on the same straight line in the first direction.

[0044] Furthermore, since the support rod 420 is parallel to the output part 700 in the feeding direction and the collar 430 and the output part 700 are opposite sides of a parallelogram, the movements of the collar 430 and the output part 700 can be completely synchronized, that is, the movement of the output part 700 in the feeding direction can be achieved simply by making the collar 430 telescopically connected relative to the support rod 420 in the feeding direction; similarly, the output part 700 can be rotated in the first direction and the second direction along the remote motion center point M only by making the collar 430 and the support rod 420 relatively still and the support rod 420 rotating about the first direction and the second direction relative to the universal sub-center point U, that is, rotating about the X-axis and the Y-axis.

[0045] exist Figure 1In this specific implementation, the synchronous base 410 and the support rod 420 are universally connected via a Hooke's joint. Specifically, the Hooke's joint is connected to the synchronous base 410 via a bearing, the bearing shaft direction is perpendicular to the side of the fixed base (that is, the bearing shaft is arranged on the side of the fixed base in the first direction close to the first branch chain), the Hooke's joint can realize a degree of freedom (first direction, X direction) rotation around this bearing direction, and the other degree of freedom rotation axis is perpendicular to the bearing direction of the synchronous base 410, the support rod 420 is connected to the Hooke's joint in an articulated manner, and the degree of freedom of rotation is another degree of freedom (second direction, Y direction) of the above-mentioned Hooke's joint.

[0046] The support rod 420 and the collar 430 are telescopically connected by a movable pair. This movable pair is a roller type movable pair (not shown in the figure). Four rollers are symmetrically distributed at the connection, thereby reducing the friction between the support rod 420 and the collar 430 and reducing the matching clearance. The collar 430 is a hollow structure. The diameter of the end of the support rod 420 facing the collar 430 is thinner, slightly smaller than the diameter of the inner diameter of the hole of the collar 430. The matching mode of the support rod 420 and the collar 430 is a clearance fit, which can achieve axial sliding, thereby achieving a telescopic connection between the two. The support rod 420 is divided into two parts according to the rod diameter. The smaller diameter is the first part, which is connected to the collar 430; the larger diameter is the second part, which is universally connected to the synchronous base 410. The first part and the second part are fixedly arranged.

[0047] The connecting part 500 also includes a second connecting rod 800, which can be enclosed with the output part 700, the collar 430, and the output connecting section 530 to form a parallelogram structure, which can achieve structural stability and enable the output part 700 to be controlled by the output connecting section 530, so that the end execution point can move with high precision and small error at any point in the three-dimensional workspace. In a specific embodiment, the two ends of the second connecting rod 800 are respectively rotatably connected to the output part 700 and the collar 430, parallel to the output connecting section 530, and enclose a parallelogram structure, so that the collar 430 and the output part 700 are opposite sides of the parallelogram, thereby making the output part 700 and the collar 430 keep the same action.

[0048] Please continue reading Figure 1-Figure 6, the first connecting section 510 is connected and rotated with the connecting base section 540 in the first direction. The first branch chain part 100 can drive the first connecting section 510 to selectively move in the first direction. The first branch chain part 100 includes a first branch chain cross bar 110, a first branch chain near bar 120, a first branch chain far bar 130, a first slider 142, and a first branch chain driving member 140. The first branch chain cross bar 110 is arranged in the same direction as the first connecting section 510 and is always kept parallel. One end of the first branch chain near bar 120 and the first branch chain far bar 130 are respectively connected and rotated with the two ends of the first branch chain cross bar 110 in the second direction, and the other ends of the first branch chain near bar 120 and the first branch chain far bar 130 are respectively connected and rotated with the two ends of the first connecting section 510 in the second direction, so that the first branch chain near bar 120 and the first branch chain far bar 130 can rotate around the second direction, that is, the Y axis. Preferably, both ends of the first branch chain cross bar 110 are rotatably connected to the first branch chain near bar 120 and the first branch chain far bar 130 respectively through hinges.

[0049] The first branch chain proximal rod 120 and the first branch chain distal rod 130 are arranged in parallel and have the same size, so that the first connecting segment 510, the first branch chain proximal rod 120, the first branch chain cross bar 110 and the second branch chain distal rod constitute a single degree of freedom structure of a parallelogram structure, thereby ensuring that the first connecting segment 510 and the first branch chain cross bar 110 always remain parallel, and allowing the first connecting segment 510 to rotate around the Y axis relative to the first branch chain cross bar 110.

[0050] The first driving member includes a first slider 142 and a first branch chain base 141. The first branch chain base 141 is arranged in the first direction. The first branch chain base 141 and the first slider 142 are slidably connected, so that the first slider 142 can move in the first direction. The first slider 142 is rotatably connected with the first branch chain cross bar 110 so that the first branch chain cross bar 110 can rotate around the first direction, so that the first branch chain cross bar 110 rotates around the first direction and can move in the first direction under the drive of the first driving member, thereby realizing that the first connecting section 510 of the connecting portion 500 rotates around the first direction and moves in the first direction.

[0051] The position point of the rotational connection setting of the first slider 142 and the first branch chain cross bar 110 is preferably set at the center of the first branch chain cross bar 110, so that the first branch chain near rod 120 and the first branch chain far rod 130 are symmetrically arranged on both sides of the first slider 142. The first branch chain cross bar 110 and the first slider 142 are rotationally connected through a bearing, preferably through a tapered roller bearing to increase the radial load force. In addition, by setting the first connecting section 510 and the connecting base section 540 of the connecting part 500 to be rotationally connected around the first direction, the connecting base section 540 of the connecting part 500 can be driven by the first connecting section 510 to move in the first direction, and can also rotate relative to the first connecting section 510.

[0052] Preferably, the first branch chain driving member 140 is connected to the first branch chain base 141 through a ball screw, and the guide rail is driven to operate by changing the speed of the motor output end around the central axis according to a set transmission ratio, and the first slider 142 on the guide rail is moved in a first horizontal direction through the ball screw mechanism, thereby realizing the movement of the first slider 142 in a certain range in the direction of the central axis of the motor output shaft (i.e., the first direction) through the motor.

[0053] Please continue reading Figure 1-Figure 6 The first connecting section 510 and the connecting base section 540 are rotatably connected in the first direction. The second connecting section 520 of the connecting part 500 can selectively move along the first direction under the drive of the second branch section 200 and the third branch section 300. The second branch section 200 and the third branch section 300 are rotatably arranged at both ends of the second connecting section 520 of the connecting part 500 in the first direction. Figure 1 In this specific embodiment, the proximal end of the second connecting segment 520 of the connecting portion 500 is rotatably connected to the second branch portion 200 , and the distal end is rotatably connected to the third branch portion 300 .

[0054] The second branch chain part 200 includes a second branch chain link 210 and a second branch chain driving member 220, and the second branch chain driving member 220 is fixedly arranged on the base 600. One end of the second branch chain link 210 is rotatably connected to the proximal end of the second connecting section 520 of the connecting part 500, and the other end is rotatably connected to the second branch chain driving member 220. The second branch chain driving member 220 can drive the second branch chain link 210 to move in the first direction. The second branch chain driving member 220 includes a second branch chain base 221 and a second slider 222, and the second branch chain base 221 is fixedly arranged on the base 600 along the first direction, and the second slider 222 is slidably connected to the second branch chain base 221, and the second slider 222 is rotatably connected to the second branch chain link 210 in the first direction, so that the second branch chain link 210 can be rotatably connected relative to the second slider 222 around the first direction.

[0055] Preferably, the second branch chain link 210 and the second slider 222 are rotationally connected through the second central axis 230. The second central axis 230 is rotationally connected to the second branch chain link 210 at one end close to the third branch chain portion 300, preferably through a hinge. The other end is connected and limited in the hole above the second slider 222 through a bearing, and its end point does not protrude from the hole. The advantage of using a hinge is that the hinge process equipment is simple, the connection strength is high, the tightness is good, and the impact resistance is strong. The purpose of setting the end point not to protrude from the hole is, first, to reduce useless material waste, second, to avoid the excess part from colliding with or being involved with environmental objects during normal operation, and third, because if it is exposed, the exposed part may come into contact with the second branch chain drive member 220, resulting in early limitation and shortening the maximum working moving distance of the second slider 222.

[0056] The structure of the third branch chain part 300 is preferably the same as that of the second branch chain part 200. Similarly, the third branch chain part 300 includes a third branch chain connecting rod 310 and a third branch chain driving member 320, and the third branch chain driving member 320 is fixedly arranged on the base 600. One end of the third branch chain connecting rod 310 is rotatably connected to the distal end of the second connecting section 520 of the connecting part 500, and the other end is rotatably connected to the third branch chain driving member 320. The third branch chain driving member 320 can drive the third branch chain connecting rod 310 to move in the first direction. The third branch chain driving member 320 includes a third branch chain base 321 and a third slider 322, the third branch chain base 321 is fixedly arranged on the base 600 along the first direction, the third slider 322 is slidably connected to the third branch chain base 321, and the third slider 322 is rotatably connected to the third branch chain connecting rod 310 in the first direction, so that the third branch chain connecting rod 310 can be rotatably connected relative to the third slider 322 around the first direction.

[0057] exist Figure 1 In this specific embodiment, the overall connection mode of the third branch chain part 300 is completely the same as that of the second branch chain part 200, and is symmetrically distributed on the base 600 with the second branch chain part 200 relative to the connecting base section 540. One end of the second branch chain link 210 and the third branch chain link 310 are independently controlled by their respective second branch chain driving members 220 and third branch chain driving members 320, respectively, and the other end is hinged to the two ends of the second connecting section 520 of the connecting part 500, thereby ensuring that in this structure, the second connecting section 520 is always parallel to the surface of the base 600, and the second slider 222 and the third slider 322 can move independently, with two degrees of freedom.

[0058] It is naturally understandable that since the connecting base section 540 of the connecting portion 500 is connected to the first connecting segment 510 and the second connecting segment 520 for rotation around the first direction respectively, and the first connecting segment 510 and the second connecting segment 520 are arranged in parallel, at this time, it is only necessary to make the first branch chain portion 100 and the first connecting segment 510 form a parallelogram, so that the first branch chain cross bar 110 is always arranged in parallel in the first direction, thereby realizing that the first connecting segment 510 is always arranged in parallel in the first direction, and since the first connecting segment 510 and the second connecting segment 520 are arranged in parallel, it is realized that the second connecting segment 520 is always located in the first direction.

[0059] It can be understood that since the first direction, the second direction and the third direction are perpendicular to each other, Figure 1 The coordinate system in this embodiment can be divided into X, Y and Z directions. In the plane of the first direction-third direction (i.e., XZ plane), in addition to decoupling the forces in the plane into the first direction and the second direction, it can also be decoupled into forces in two other mutually perpendicular directions. For example, in order to better understand the movement in this plane, it can be decoupled into the feed direction and the force perpendicular to the feed direction. When the ring 430 is given only the resultant force in the feed direction in this plane, Figure 1 This structure will make the collar 430 move along the feeding direction; and when the only resultant force perpendicular to the feeding direction is applied to the collar 430 in the plane, Figure 1 This structure allows the ring 430 to move around the second direction (ie, the Y direction).

[0060] When it is necessary to rotate the output part 700 only around the Y-axis, that is, to rotate around the second direction in the "two turns" of the two-turn-one-shift movement, it is only necessary to move the first slider 142, the second slider 222 and the third slider 322 together to apply a combined force that only exists perpendicular to the feed direction to the ring 430 through the connecting part 500.

[0061] Specifically, if the output portion 700 rotates only around the Y axis at an angle (toward the base) of less than 90° with the third branch link 310, it is only necessary to make the first slider 142 of the first branch portion 100, the second slider 222 of the second branch portion 200, and the third slider 322 of the third branch portion 300 move in the same direction; in addition, at a certain position, for the third slider 322 of the third branch portion 300, if the output portion 700 rotates only around the Y axis at an angle of not less than (i.e., greater than or equal to) 90° with the third branch link 310, the movement direction of the third slider 322 is opposite to that of the first slider 142 and the second slider 222, ensuring that the first branch portion 100 at any position when the remote motion center point rotates around the second direction is relative to the connecting portion 500 along the second direction ( Figure 1The component forces in the first direction (in the Y-axis direction) and the feeding direction are the sum of the component forces of the second branch chain 200 and the third branch chain 300 on the connecting part 500 along the Y-axis direction and the feeding direction, and the two cancel each other out. Then, under the action of the first branch chain 100, the second branch chain 200 and the third branch chain 300, the collar 430 is subjected to a first direction-third direction plane ( Figure 1 The resultant force of a specific speed perpendicular to the central axis direction of the support rod 420 (in the XZ plane) can ensure that there is no telescopic movement between the collar 430 and the support rod 420, that is, no feeding movement is generated. At the same time, when the support rod 420 is universally connected to the synchronous base 410, the collar 430 is forced to rotate around the universal joint motion center point, and the parallelogram structure formed by the second connecting rod 800 and the output part 700, the collar 430, and the output connecting section 530 remains unchanged, so that the output part 700 can rotate around the remote motion center point M around the Y axis.

[0062] When it is necessary to make the output part 700 move only in the feeding direction, that is, to realize the "one shift" movement in the feeding direction in the two-turn-one-shift movement, it is only necessary to make the first slider 142, the second slider 222 and the third slider 322 move together to apply a combined force that only exists in the feeding direction to the ring 430 through the connecting part 500.

[0063] Specifically, the first slider 142 of the first branch chain part 100 and the second slider 222 of the second branch chain part 200 can be made to move in the same direction. For different positions, if the angle between the "one-shift" movement speed direction of the feed and the second branch chain link 210 (direction toward the base) is not less than (that is, greater than or equal to) 90°, the third slider 322 of the third branch chain part 300 moves at a reverse speed relative to the first slider 142 of the first branch chain part 100 and the second slider 222 of the second branch chain part 200; if the angle between the "one-shift" movement speed direction of the feed and the second branch chain link 210 is less than 90°, the third slider 322 of the third branch chain part 300 moves at the same speed relative to the first slider 142 of the first branch chain part 100 and the second slider 222 of the second branch chain part 200. And the third branch chain part 300 has a good control over the connection part 500 around the first direction and the second direction ( Figure 1 The component force of the rotation of the first branch chain part 100 and the second branch chain part 200 with respect to the connecting part 500 around the first direction and the second direction ( Figure 1 The sum of the rotational forces (in the X and Y directions) cancels each other out.

[0064] by Figure 1 For example, the angle between the first branch link 100 and the second branch link 210 is greater than 90°, and the first branch link 100 and the second branch link 200 are aligned along the X direction (i.e. Figure 1The third branch chain portion 300 moves along the far end (i.e. Figure 1 The first branch chain 100 and the second branch chain 200 exert a force on the collar 430 to move downward and toward the proximal end, and the third branch chain 300 exerts a force on the connecting portion 500 to move downward and toward the distal end. The magnitude of the component force of the third branch chain 300 on the connecting portion 500 toward the distal end and the sum of the component forces of the first branch chain 100 and the second branch chain 200 on the connecting portion 500 toward the proximal end cancel each other out, so that at this time, the connecting portion 500 is subjected to a force along the central axis direction of the support rod 420. The net force under the synchro part 400 is 400, and due to the restriction of the support part of the synchro part 400 and the synchro base 410 on the collar 430 and the connecting part 500, the collar 430 drives the synchro part 400 to move toward the synchro base 410 in the feeding direction, and the parallelogram structure formed by the second connecting rod 800 and the output part 700, the collar 430, and the output connecting section 530 remains unchanged, thereby realizing the movement of the remote motion center point M in the entry direction (close to the remote motion center point M) along the feeding direction. Similarly, when reverse movement is required, it is only necessary to make the first branch part 100 and the second branch part 200 move distally in the X direction, and the third branch part 300 move proximally in the X direction, and the component force of the third branch part 300 on the connecting part 500 rotating around the X and Y directions and the sum of the component force of the first branch part 100 and the second branch part 200 on the connecting part 500 rotating around the X and Y directions offset each other.

[0065] It should be noted that for Figure 1 In the case of the movement along the feeding direction, since the angle between the feeding direction of the collar 430 and the second branch link 210 is an obtuse angle, the movement directions of the first slider 142 and the second slider 222 are the same, while the movement directions of the third slider 322 are opposite to those of the first slider 142 and the second slider 222. When the angle between the feeding direction of the collar 430 and the second branch link 210 is an acute angle, the movement directions of the first branch part 100, the second branch part 200 and the third branch part 300 can be the same for the movement only in the feeding direction. For example, when it is necessary to move only in the direction close to the remote center point along the feeding direction, the first branch part 100, the second branch part 200 and the third branch part 300 can move in the same direction toward the proximal end of the first direction. Vice versa.

[0066] When it is necessary to rotate the output portion 700 along the remote motion center point M around the X-axis (i.e., around the first direction), that is, to realize the other rotation of the "two rotations" in the two-rotation-one-movement motion, that is, to realize the rotation around the first direction relative to the rotation around the X-axis, it is only necessary to move the first slider 142, the second slider 222 and the third slider 322 together to apply a resultant force that only exists in the second direction to the ring 430 through the connecting portion 500.

[0067] Specifically, at this time, the movement directions of the second slider 222 of the second branch part 200 and the third slider 322 of the third branch part 300 are the same, the movement directions of the first slider 142 of the first branch part 100 and the second slider 222 of the second branch part 200 and the third slider 322 of the third branch part 300 are opposite, and the component forces of the first branch part 100, the second branch part 200 and the third branch part 300 on the connecting part 500 in the XZ plane are offset.

[0068] by Figure 1 For example, when the output part 700 needs to move clockwise around the remote motion center point M around the X-axis, it is only necessary to make the first branch chain driving member 140 of the first branch chain part 100 drive the first branch chain cross bar 110 to move toward the distal end (i.e., the left side in the figure), and the second branch chain part 200 and the third branch chain part 300 move toward the proximal end (i.e., the right side in the figure for the second branch chain part 200, and the left side in the figure for the third branch chain part 300), and the first branch chain part 100 and the second branch chain part 200 and the third branch chain part 300 offset the component forces of the connecting part 500 on the XZ plane. At this time, since the sum of the component forces of the first branch chain part 100 on the connecting part 500 on the XZ plane and the sum of the component forces of the second branch chain part 200 and the third branch chain part 300 on the connecting part 500 on the XZ plane offset each other, the connecting part 500 will not generate forces in the X or Z direction, thereby ensuring that the axis of the connecting part 500 will not be offset at this time.

[0069] However, due to the objective existence of the movement of the first branch portion 100, the second branch portion 200 and the third branch portion 300, the synchronization portion 400 at this time must match the movement of the first branch portion 100, the second branch portion 200 and the third branch portion 300, thereby forcing the first connection segment 510 of the connection portion 500 to move upward when the first branch portion 100 moves toward the distal end, and the second connection segment 520 to move downward when the second branch portion 200 and the third branch portion 300 move toward the proximal end. In addition, because the axis of the connection portion 500 will not be offset at this time, and the axis of the output connection segment 530 and the connection base segment 540 are colinear in the first direction, the entire connection base segment 540 is finally rotated around the X-axis, thereby driving the output connection segment 530 and the output portion 700 to rotate around the X-axis.

[0070] Therefore, through the solution provided by the present invention, the two-rotation-one-translation motion of the output unit 700 around the remote motion center point M can be well realized.

[0071] On the one hand, the solution provided by the present invention can well realize the control of two rotations and one shift of the remote motion center point M of the output part 700 by only setting three driving devices, namely the first branch part 100, the second branch part 200 and the third branch part 300, which greatly simplifies the layout and setting of the entire structure and better reduces the manufacturing cost.

[0072] On the other hand, the present invention can make the first branch part 100, the second branch part 200 and the third branch part 300 as driving parts as far away from the output part 700 (i.e., the end effector) as possible by arranging the first branch part 100, the second branch part 200 and the third branch part 300 on the base 600, which is particularly suitable for certain scenes where it is particularly necessary to keep the driving part and the output part 700 at a distance. For example, in medical surgeries involving the use of nuclear magnetic resonance technology, since nuclear magnetic resonance technology needs to detect the specific parts and conditions of the patient, and it requires that no metal exists in a certain area, that is, it needs to be arranged near the output part 700 or the synchronization part 400. Through this device, the first branch part 100, the second branch part 200 and the third branch part 300 can be arranged far enough away, thereby meeting the layout space requirements of the nuclear magnetic detection device, and avoiding the interference of the metal parts in the first branch part 100, the second branch part 200 and the third branch part 300 with the nuclear magnetic detection device.

[0073] On the other hand, the present invention can achieve two-turn-one-shift motion more accurately under the same conditions by setting the first branch part 100, the second branch part 200 and the third branch part 300 to apply forces in different directions to the connection part 500 respectively, and generate the forces in different directions to cancel and superimpose, and drive the output part 700 to move around the remote motion center point M through the connection part 500. For example, if a driving device for controlling the collar 430 along the feeding direction is set between the collar 430 of the synchronization part 400 and the support rod 420, at this time, one amount of movement will drive the output part 700 to move in the feeding direction. The three branches set by the present invention can achieve that the output part 700 moves less than one amount of movement when moving one amount of movement through the cooperation of the first branch part 100, the second branch part 200 and the third branch part 300, thereby improving the control accuracy of the output part 700, which is more suitable for the precise remote motion center scene.

[0074] Please continue reading Figure 1-Figure 6 The first branch chain portion 100 and the second branch chain portion 200 are symmetrically arranged in the first direction along the axis of the connecting base segment 540 of the connecting portion 500. Figure 1 In this specific embodiment, the first branch portion 100 is arranged at the front side of the connecting portion 500 in the second direction, and the second branch portion 200 is arranged at the rear side of the connecting portion 500 in the second direction; similarly, the second branch portion 200 and the third branch portion 300 are symmetrically arranged along the axis of the connecting base section 540 of the connecting portion 500 in the second direction. Figure 1 In this specific embodiment, the second branch portion 200 is disposed at the proximal end of the connecting portion 500 in the first direction, and the third branch portion 300 is disposed at the distal end of the connecting portion 500 in the third direction.

[0075] The advantage of such a configuration is that it can greatly reduce the difficulty of controlling the first branch part 100, the second branch part 200 and the third branch part 300, and reduce the control requirements for the device.

[0076] Preferably, the first branch chain driving member 140 of the first branch chain portion 100, the second branch chain driving member 220 of the second branch chain portion 200, and the third branch chain driving member 320 of the third branch chain have the same structure, and are all ball screw type structures. The advantage of such a structure is that it can convert rotational motion into planar motion, thereby improving the accuracy of operation while reducing the difficulty of control.

[0077] Preferably, the long-distance two-turn and one-shift remote motion center mechanism provided by the present invention also includes a control device, which is communicated and connected with the first branch chain part 100, the second branch chain part 200 and the third branch chain part 300, so that the output part 700 performs two-turn and one-shift motions driven by the connecting part 500; wherein when it is necessary to make the output part 700 rotate only around the first direction, the control device controls the second slider 222 and the third slider 322 to move in the same direction, controls the first slider 142 and the second slider 222 and the third slider 322 to move in opposite directions, and the component force of the first slider 142 on the connecting part 500 is the same as the sum of the component forces of the second slider 222 and the third slider 322 on the connecting part 500; when it is necessary to make the output part 700 rotate only around the first direction When rotating in the second direction, the control device controls the first slider 142, the second slider 222 and the third slider 322 to move in the same direction, and controls the component force of the third slider 322 on the connecting part 500 to be the same as the sum of the component forces of the first slider 142 and the second slider 222 on the connecting part 500; when it is necessary to make the output part 700 move only in the feeding direction, the control device controls the first slider 142 and the second slider 222 to move in the same direction and have the same component force on the connecting part 500, and controls the third slider 322 to move in the opposite direction to the first slider 142 and the second slider 222, and the component force of the third slider 322 on the connecting part 500 is the sum of the component forces of the first slider 142 and the second slider 222 on the connecting part 500.

[0078] The technical effects achieved by the present invention are as follows: the output part 700 can be displaced at any point in the moving space under the coordinated movement of the first branch part 100, the second branch part 200, and the third branch part 300. The moving space is the overlapping area of ​​the working spaces of the three branch parts. The driving parts of the three branch parts control each slider to move linearly. Through the connection between the rod and the rotating pair, the connecting base section 540 can be controlled to achieve parallel movement and a certain rotation in the space.

[0079] In addition, the first connecting section 510 and the second connecting section 520 of the connecting portion 500 remain parallel at all times during the rotation process, and each parallel rod can realize rotation in two directions; the angle of the first connecting section 510 and the second connecting section 520 relative to the plane of the base 600 is not constant, but the two are always coplanar and at a variable angle to realize two rotations and one shift.

[0080] In summary, compared with the prior art, the present invention includes at least one of the following beneficial technical effects:

[0081] 1. The present invention provides a two-rotation and one-transfer RCM mechanism with a compact structure, few branches, and a driving pair installed on a static platform. The mechanism has a compact structure, few branches, and little interference between components;

[0082] 2. The present invention drives the two-rotation and one-shift output motion of the mechanism by driving the moving pair, thereby ensuring high output accuracy;

[0083] 3. The present invention arranges the driving pair at the static platform to reduce the moment of inertia and improve the dynamic response speed and control accuracy.

[0084] The present invention also provides a robot, comprising the remote two-turn one-shift remote motion center mechanism described in the first aspect of the present invention. The robot comprises an operating member, a controller unit, an information acquisition unit and a mechanical arm comprising the aforementioned decoupled two-turn motion center mechanism, and is used to enable the tissue / component to be operated to complete a specified operation.

[0085] The information acquisition unit can acquire information about the area to be operated 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.

[0086] The robot arm unit is provided with the aforementioned remote two-turn-one-shift remote motion center mechanism, and the output part 700 of the remote two-turn-one-shift remote motion center mechanism 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 instrument 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 another alternative embodiment, the operating member is an installation member used for installation and maintenance of a large-aperture space telescope.

[0087] The controller unit is used to communicate with the information acquisition unit and the robotic arm to control the first branch chain drive 140, the second branch chain drive 220 and the third branch chain drive 320 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 M.

[0088] When the robot is used in minimally invasive surgery, such as abdominal and thoracic minimally invasive surgery, the remote center of the remote two-turn and one-shift 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 700 can reach the patient's affected area, thereby achieving precise minimally invasive treatment.

[0089] 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.

[0090] It is naturally understandable that robots can be used in addition to medical scenarios, but also in other scenarios, such as in the installation and manufacturing of space telescopes.

[0091] The present invention also provides a mobile robot end effector for performing other construction tasks on the lunar surface or in space, or other space missions, including the aforementioned robot of the present invention.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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 remote two-turn one-shift remote motion center mechanism, characterized in that: include base; The connecting part comprises a first connecting section, a second connecting section, an output connecting section and a connecting base section; the output connecting section is fixedly arranged at the axis center of the connecting base section; the first connecting section and the second connecting section are parallel and rotatably arranged on both sides of the connecting base section; The synchronization part comprises a sleeve and a support rod which are telescopically connected along the feeding direction, the support rod is universally connected to the base, and the sleeve is rotationally connected to the output connection section; An output portion, rotatably connected to the output connection section and in accordance with the movement of the collar; and The motion generating part comprises a first branch part, a second branch part and a third branch part which slide independently along a first direction; the first branch part is rotationally connected to the first connecting section, and the second branch part and the third branch part are rotationally connected to the two ends of the second connecting section respectively, so as to drive the output part to perform two rotations and one translation around the remote motion center point.

2. The long-distance two-turn-one-shift remote motion center mechanism according to claim 1, characterized in that: The first branch chain portion includes a first branch chain proximal rod, a first branch chain distal rod and a first branch chain cross rod; The first branch chain proximal rod, the first connecting section, the first branch chain distal rod and the first branch chain cross rod are sequentially enclosed to form a parallelogram structure, and the first branch chain proximal rod and the first branch chain distal rod, the first branch chain cross rod and the first connecting section are opposite sides to each other; wherein the first branch chain cross rod slides along the first direction relative to the base; And / or, the first branch chain portion also includes a first branch chain driving component, the first branch chain driving component includes a first slider and a first branch chain base fixed on the base, the first slider is rotatably connected to the first branch chain cross bar along a first direction, the first slider is slidably connected to the first branch chain base to drive the first branch chain cross bar to slide relative to the base along the first direction; wherein, the first branch chain cross bar and the first branch chain base are connected via a ball screw.

3. The long-distance two-turn-one-shift remote motion center mechanism according to claim 1, characterized in that: The first branch portion, the second branch portion and the third branch portion are relatively fixedly arranged on the base, the first branch portion is arranged on one side of the synchronous portion of the base, the second branch portion and the third branch portion are arranged on the other side of the synchronous portion with the first direction as the axis, and the second branch portion and the third branch portion are arranged front and back along the first direction on the other side.

4. The long-distance two-turn-one-shift remote motion center mechanism according to claim 2, characterized in that: The near rod of the first branch chain and the far rod of the first branch chain have the same size and are arranged in parallel, the two ends of the first connecting section of the connecting part are rotatably connected to the near rod of the first branch chain and the far rod of the first branch chain respectively, and the two ends of the first branch chain cross bar of the first branch chain part are rotatably connected to the near rod of the first branch chain and the far rod of the first branch chain respectively, so that the near rod of the first branch chain, the first connecting section, the far rod of the first branch chain and the cross bar of the first branch chain form a parallelogram structure.

5. The long-distance two-turn-one-shift remote motion center mechanism according to any one of claims 1 to 4, characterized in that: The second branch chain portion includes a second branch chain connecting rod and a second branch chain driving member, and the second branch chain driving member includes a second slider and a second branch chain base fixed on the base; one end of the second branch chain connecting rod is rotatably connected to the second connecting section, and the other end is rotatably connected to the second slider; the second slider is slidably connected to the second branch chain base; wherein the second slider is connected to the second branch chain base via a ball screw; And / or, the third branch chain portion includes a third branch chain connecting rod and a third branch chain driving member, and the third branch chain driving member includes a third slider and a third branch chain base fixed on the base; one end of the third branch chain connecting rod is rotatably connected to the second connecting section, and the other end is rotatably connected to the third slider; the third slider is slidably connected to the third branch chain base; wherein, the third slider is connected to the third branch chain base via a ball screw.

6. The long-distance two-turn-one-shift remote motion center mechanism according to any one of claims 1 to 4, characterized in that: The first branch portion and the second branch portion are symmetrically arranged along a first direction where the output connection section of the connection portion is located, and the second branch portion and the third branch portion are symmetrically arranged along a second direction where the connection base section of the connection portion is located.

7. The long-distance two-turn-one-shift remote motion center mechanism according to any one of claims 1 to 4, characterized in that: The connecting part further comprises a second connecting rod, one end of which is rotatably connected to the output part, and the other end of which is rotatably connected to the collar, the second connecting rod, the output part, the output connecting section and the collar are sequentially enclosed to form a parallelogram structure, the collar and the output part are opposite sides of the parallelogram structure to ensure that the output part and the collar move in a consistent manner; And / or, the collar and the support rod are telescopically connected via a roller-type movable pair.

8. The long-distance two-turn-one-shift remote motion center mechanism according to any one of claims 1 to 4, characterized in that: It also includes a control device, which is in communication with the first branch part, the second branch part and the third branch part, so that the output part performs two rotations and one shifting motion under the drive of the connection part; When the output part needs to rotate only in the first direction, the control device controls the first branch part, the second branch part and the third branch part to move in coordination, so as to apply a resultant force only in the second direction to the ring through the connecting part; When it is necessary to make the output part move only in the feeding direction, the control device controls the first branch part, the second branch part and the third branch part to move in coordination, so as to apply a resultant force only in the feeding direction to the collar through the connecting part, and the feeding direction is located in a plane formed by the first direction and the third direction, and the third direction, the first direction and the second direction are perpendicular to each other; When the output portion needs to rotate only in the second direction, the control device controls the first branch portion, the second branch portion and the third branch portion to move in coordination, so as to apply a resultant force only in a direction perpendicular to the feeding direction to the ring through the connecting portion.

9. A two-turn-one-shift remote motion center control method, based on the long-distance two-turn-one-shift remote motion center mechanism according to any one of claims 1 to 8, characterized in that: The control method comprises the following steps: Determining a motion requirement of the output portion, wherein the motion requirement is decoupled into at least one of a rotation about a first direction and a second direction based on a remote motion center point and a motion along a feed direction; The first branch part, the second branch part and the third branch part are controlled to move to a set position based on the movement requirement.

10. 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 remote two-transfer and one-shift 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 portion of the remote two-turn-one-shift remote motion center mechanism is fixedly connected to the operating member, and the operating member is in contact with the tissue and / or component to be operated; The controller unit is used to control the long-distance two-turn one-shift remote motion center mechanism according to the information of the area to be operated, so that the operating member is adjusted to a set posture around the remote motion center point; wherein The operating part is a medical component used in medical surgery, or an installation component used for installing a large-aperture space telescope, or a construction component used for lunar construction and exploration.

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