High-rigidity 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 high-rigidity two-turn-one-shift remote motion center mechanism, a control method and a robot. The mechanism includes an output part, which can move based on the remote motion center point; a synchronization part, including a support rod arranged in the feeding direction and a sleeve ring that can move synchronously with the output part, and the support rod is telescopically connected to the sleeve ring; a first connecting member, which is arranged in the first direction and is rotatably connected to the output part and the sleeve ring respectively; a first branch chain part, which moves synchronously with the first connecting member to selectively drive the first connecting member to move in the first direction; a second branch chain part, which is universally connected to the support rod to selectively drive the support rod to move in the first direction and the second direction; a third branch chain part, which is universally connected to the support rod to selectively drive the support rod to move in the first direction and the second direction; wherein the first branch chain part, the output part and the support rod are coaxially arranged in the first direction; the second branch chain part and the third branch chain part are arranged on both sides of the first branch chain part in the second direction.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a high-rigidity 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 rotational movement around a fixed point and translational movement 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 require operations at a specific location without interfering with the surrounding environment. When it comes to the assembly of sub-mirror modules, the RCM mechanism is usually used to achieve precise control of a single sub-mirror or a multi-sub-mirror array, and independently adjust the posture of the sub-mirror without interfering with the surrounding modules or environment, which has high safety. Due to its unique advantages in safety, the remote motion center mechanism also has a good application prospect in the field of minimally invasive surgery, which can avoid squeezing the tissue around the minimally invasive opening.

[0003] The current remote motion center mechanism has three main deficiencies: First, many mechanisms need to install additional drivers at the end to realize the mobile function of the remote motion center, which makes the structure complicated and increases the moment of inertia. Second, the mechanism consumes a lot of space, which limits its practicality. Third, the drive pair in the mechanism is not completely arranged at the static platform, which makes the mechanism's moment of inertia large, limits the accuracy of the mechanism and reduces the dynamic responsiveness. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, an object 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 problems of low adjustment accuracy and bearing capacity of the existing remote motion center.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: In the first aspect of the present invention, a high-rigidity two-turn and one-shift remote motion center mechanism is provided, comprising a base; an output portion; a synchronization portion, comprising a support rod arranged in the feeding direction and a ring that telescopes with the support rod, the support rod being universally connected to the base; a connecting portion, so that the output portion and the ring are opposite sides of a parallelogram structure; and a first branch chain portion, fixed on the base to selectively apply a force in a first direction to the connecting portion; a second branch chain portion and a third branch chain portion, respectively fixed on the base and universally connected with the support rod to selectively apply a superimposed force in the first direction and / or the second direction to the support rod; the output portion performs two-turn and one-shift motion around the remote motion center point driven by the first branch chain portion, the second branch chain portion and the third branch chain portion.

[0006] As an embodiment of the present invention, the connecting part includes a first connecting member and a second connecting member arranged in parallel, and the first connecting member and the second connecting member are respectively rotatably connected to the output part and the ring so that the output part and the ring are opposite sides of a parallelogram structure; wherein the first branch chain part includes a first branch chain driving member arranged at a base, a first branch chain cross bar rotatably arranged with the first branch chain driving member, a first branch chain near bar and a first branch chain far bar respectively connected to the first branch chain cross bar and the first connecting member of the connecting part, and the first branch chain near bar and the first branch chain far bar make the first connecting member of the connecting part and the first branch chain cross bar opposite sides of a parallelogram structure.

[0007] As an embodiment of the present invention, the near rod of the first branch chain is arranged closer to the synchronization part than the far rod of the first branch chain, and the installation position of the far rod of the first branch chain and the first connecting member is the same as the installation position of the ring and the first connecting member; and / or, the first branch chain cross bar and the first connecting member are arranged in parallel in the first direction, the near rod of the first branch chain and the far rod of the first branch chain are respectively connected to the two ends of the first branch chain cross bar for rotation around the second direction, and the near rod of the first branch chain and the far rod of the first branch chain are respectively connected to the first connecting member end of the connecting part for rotation around the second direction.

[0008] As an embodiment of the present invention, the first branch chain driving member includes a first branch chain base and a slider of a transmission arrangement, and the slider is connected to the first branch chain cross bar for rotation around a first direction; the first branch chain base is fixed on a base to drive the slider to move in the first direction to selectively apply a force in the first direction to the connecting part through the first branch chain cross bar, wherein the first branch chain base and the slider are connected by a ball screw; and / or, the installation position of the first branch chain driving member and the first branch chain cross bar makes the first branch chain near rod and the first branch chain far rod symmetrically arranged.

[0009] 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 fixed on the base, one end of the second branch chain connecting rod is universally connected to the support rod of the synchronization portion, and the other end is universally connected to the second branch chain driving member, the second branch chain driving member can drive the second branch chain connecting rod to perform linear motion, and the second branch chain driving member and the second branch chain connecting rod are connected by a ball screw; wherein the second branch chain driving member is obliquely arranged relative to the first direction and the second direction to selectively apply force to the support rod in the first direction and / or the second direction.

[0010] As an embodiment of the present invention, the second branch chain portion is universally connected to the support rod through a first ball joint pair, the third branch chain portion is universally connected to the support rod through a second ball joint pair, and the first ball joint pair and the second ball joint pair are fixedly arranged on the support rod; and / or the third branch chain portion has the same structure as the second branch chain portion, and the third branch chain portion and the second branch chain portion are symmetrically arranged on both sides of the first branch chain portion along the first direction on the base.

[0011] As an embodiment of the present invention, the synchronization part also includes a synchronization base, one end of the support rod is universally connected to the synchronization base around the universal sub-center point, and the other end is telescopically connected to the ring; wherein the universal sub-center point of the synchronization part and the remote motion center point of the output part are arranged on the same straight line in the first direction; and / or, the first branch chain part, the output part and the support rod of the synchronization part are coaxially arranged in the first direction; the output part is arranged on one side of the synchronization part, and the first branch chain part, the second branch chain part and the third branch chain part are arranged on the other side.

[0012] The second aspect of the present invention provides a two-turn and one-shift remote motion center control method for controlling the high-rigidity two-turn and one-shift remote motion center mechanism described in the first aspect of the present invention, the control method comprising: when it is necessary to make the output part move only in the feeding direction, controlling the second branch part and the third branch part to remain stationary, and the first branch part moves along the first direction to make the collar and the output part move relative to each other; when it is necessary to make the output part rotate only around the first direction, controlling the first branch part to remain stationary, controlling the second branch part and the third branch part to move in opposite directions and keeping the collar and the output part without relative movement; when it is necessary to make the output part rotate only around the second direction, controlling the second branch part and the third branch part to move in the same direction, and controlling the first branch part to adapt to the movement in the first direction to keep the collar and the output part without relative movement.

[0013] The third aspect of the present invention provides a two-turn and one-shift remote motion center control method, which is based on the high-rigidity 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 decoupling the motion requirement 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 part, the second branch part and the third branch part to move to a set position based on the motion requirement.

[0014] According to a fourth 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 high-rigidity two-rotation-one-shift 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 high-rigidity two-rotation-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 high-rigidity two-rotation-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.

[0015] 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

[0016] 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.

[0017] Figure 1 It is a structural schematic diagram of a high-rigidity two-rotation-one-shift remote motion center mechanism provided by a specific embodiment of the present invention;

[0018] Figure 2 It is a top view of a coaxial two-rotation remote motion center mechanism provided by a specific embodiment of the present invention;

[0019] Figure 3 is a schematic structural diagram of a first branch chain portion provided by a specific embodiment of the present invention;

[0020] Figure 4 is a schematic structural diagram of a second branch chain portion provided by a specific embodiment of the present invention;

[0021] Figure 5 It is a structural diagram of a synchronization unit provided by a specific embodiment of the present invention.

[0022] Description of reference numerals:

[0023] 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, slider;

[0024] 200, second branch chain portion; 210, second branch chain connecting rod; 220, second branch chain driving member; 230, first ball joint pair;

[0025] 300, third branch chain portion; 310, third branch chain connecting rod; 320, third branch chain driving member; 330, second ball joint pair;

[0026] 400, synchronization part; 410, synchronization base; 420, synchronization telescopic member; 421, support rod; 422, sleeve ring;

[0027] 510, first connecting member; 520, second connecting member;

[0028] 600, base;

[0029] 700, output unit;

[0030] M, remote motion center point; U, universal secondary center point. DETAILED DESCRIPTION

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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 mutually perpendicular directions. At the same time, the feeding direction (puncture direction) is the length direction of the output part.

[0036] See also Figure 1-Figure 5 The figure provides a high-rigidity two-turn and one-shift remote motion center mechanism, so that the output part 700 can perform a decoupled two-turn and one-shift motion around the remote motion center point M. In this embodiment, the two turns refer to that the output part 700 can rotate around the remote motion center point M in a first direction, that is, around the X-axis, and around the second direction, that is, around the Y-axis, and the one shift refers to that the output part 700 can move in the length direction of the output part 700, that is, move in the feed direction.

[0037] The high-rigidity two-turn and one-shift remote motion center mechanism includes: a base 600, a first branch part 100, a second branch part 200, a third branch part 300, a synchronization part 400, a connecting member and an output part 700. The connecting member includes a first connecting member 510 and a second connecting member 520. The third branch part 300, the second branch part 200, the first branch part 100 and the synchronization part 400 are respectively fixedly arranged on the same side of the base 600. Figure 1 In this specific embodiment, the third branch part 300, the second branch part 200, the first branch part 100 and the synchronization part 400 are respectively fixedly arranged on the upper side of the base 600. The output part 700 is arranged at the far end of the synchronization part 400 in the first direction (i.e., the X direction), and the third branch part 300, the second branch part 200 and the first branch part 100 are arranged at the near end of the synchronization part 400 in the first direction. Figure 1 In this specific embodiment, the distal end is the left side and the proximal end is the right side. The synchronizing portion 400 is disposed on the left side of the output portion 700 , and the third branch portion 300 , the second branch portion 200 and the first branch portion 100 are disposed on the right side.

[0038] See also Figure 1 , Figure 2 , Figure 5The synchronization part 400 includes a synchronization base 410 and a synchronization telescopic member 420. The synchronization base 410 is fixedly arranged on the base 600 and is universally connected to the synchronization telescopic member 420, that is, the synchronization telescopic member 420 can be universally moved around the universal sub-center point U fixedly arranged relative to the synchronization base 410. The synchronization telescopic member 420 and the output part 700 are always arranged in parallel in the feeding direction, and the movement of the output part 700 in the feeding direction can be driven by the expansion and contraction of the synchronization telescopic member 420 relative to the synchronization base 410.

[0039] Specifically, the first connecting member 510 and the second connecting member 520 are arranged in parallel in the first direction, and the first connecting member 510 is rotatably connected to one end of the collar 422 of the synchronous telescopic member 420 away from the synchronous base 410, so that the first connecting member 510 can rotate around the second direction relative to the collar 422 of the synchronous telescopic member 420, that is, it can rotate around the Y axis. Similarly, one end of the second connecting member 520 is rotatably arranged at a position where the collar 422 of the synchronous telescopic member 420 away from the end of the synchronous base 410 is retracted inward by a set distance, and the other end is arranged at a corresponding position of the output part 700 so that the second connecting member 520 is parallel to the first direction, and the second connecting member 520 can rotate around the second direction relative to the collar 422 of the synchronous telescopic member 420, that is, it can move around the Y axis, thereby making the collar 422 of the synchronous telescopic member 420, the first connecting member, the output part 700 and the second connecting member form a parallelogram structure, thereby making the output part 700 and the collar 422 of the synchronous telescopic member 420 keep consistent in movement. At this time, the remote motion center point M and the universal sub-center point U of the synchronization part 400 are on the same straight line in the first direction, so that when the ring 422 of the synchronous telescopic member 420 moves around the universal sub-center point U, the output part 700 moves around the remote motion center point M accordingly.

[0040] For example, when the collar 422 of the synchronous telescopic member 420 performs telescopic movement in the feeding direction relative to the synchronous base 410, since the output part 700 and the synchronous telescopic part are relatively fixed and move synchronously through the first connecting member and the second connecting member, the output part 700 naturally moves in the feeding direction, and the output part 700 is moved in the feeding direction. Similarly, when the collar 422 of the synchronous telescopic member 420 rotates around the X-axis relative to the synchronous base, since the collar 422 of the synchronous telescopic member 420 is always parallel to the feeding part and moves synchronously, the output part 700 naturally rotates around the X-axis. When the collar 422 of the synchronous telescopic member 420 rotates around the Y-axis relative to the synchronous base, since the synchronous telescopic member 420 is always parallel to the feeding part and moves synchronously, the output part 700 naturally rotates around the Y-axis.

[0041] See also Figure 5, the synchronous telescopic member 420 can perform telescopic movement relative to the synchronous base 410. Specifically, the synchronous telescopic member 420 includes a support rod 421 and a collar 422. One end of the support rod 421 is universally connected to the synchronous base 410, and the connection center is the universal sub-center point U; the other end of the support rod 421 is sleeved with a collar 422, and the collar 422 can slide relative to the support rod 421 along the direction of the support rod 421. The collar 422 is respectively connected to the first connecting member 510 and the second connecting member 520 around the Y axis to realize the synchronous movement of the collar 422 and the output part 700. It can be understood that the telescopic movement of the collar 422 on the support rod 421 is a driven movement, that is, there is no power source to actively drive the collar 422 to move relative to the support rod 421, but other components exert a certain force on the collar 422 to realize the relative movement between the two.

[0042] In a specific embodiment, the support rod 421 and the collar 422 are connected by hydraulic transmission or screw transmission. In another alternative embodiment, please refer to Figure 1 and Figure 5 The collar 422 and the support rod 421 are connected by linear bearings, and a direct-acting system of infinite linear motion is realized by utilizing the rolling motion of the ball. The advantage of such a setting is that, on the one hand, the design of the collar 422 and the support rod 421 can well meet the structural design requirements, that is, the outer wall is rotatably connected to the first connecting member 510 and the second connecting member 520, and the inner wall can move in the feeding direction relative to the support rod 421; on the other hand, it can also better bear the load of the output part 700 while realizing precise movement in the feeding direction in coordination with the third branch chain part 300, the second branch chain part 200 and the first branch chain part 100.

[0043] It should be noted that the universal connection between the support rod 421 and the synchronous base 410 needs to at least enable the support rod 421 to move relative to the synchronous base 410 in two mutually perpendicular directions, namely, two second directions and a first direction, along the center point of the universal joint. For example, in this embodiment, the support rod 421 can move around the center point of the universal joint around the Y axis or around the X axis. There are many solutions in the prior art, such as through a Hooke joint, a universal joint or other components, which will not be described in detail.

[0044] Please continue reading Figure 2 The first branch part 100 and the synchronous part 400 are arranged on the same straight line in the first direction, so that the first branch part 100, the synchronous part 400 and the output part 700 are arranged on the same straight line, that is, they are coaxially arranged. The second branch part 200 and the third branch part 300 are arranged on both sides of the first branch part 100 in the second direction, that is, on both sides of the Y direction, and preferably the second branch part 200 and the third branch part 300 are symmetrically arranged.

[0045] See also Figure 3 The first branch chain portion 100 includes a first branch chain proximal rod 120, a first branch chain distal rod 130, a first branch chain cross bar 110 and a first branch chain driving member 140. The first branch chain cross bar 110 is arranged in the first direction and parallel to the first connecting member 510, that is, the first branch chain cross bar 110 is arranged in the X direction and remains parallel to the first connecting member 510. The first branch chain proximal rod 120 and the first branch chain distal rod 130 are arranged in parallel in the first direction, so that the first branch chain proximal rod 120, the first connecting member 510, the first branch chain distal rod 130 and the first branch chain cross bar 110 form a parallelogram structure. Thereby, the first branch chain cross bar 110 and the first connecting member 510 move in coordination, that is, when the first connecting member 510 rotates around the first direction, the first branch chain cross bar 110 also rotates around the first direction; when the first connecting member 510 rotates around the second direction, the first branch chain cross bar 110 also rotates around the second direction; when the first branch chain cross bar 110 moves along the first direction, due to the restriction of the second branch chain part 200 and the third branch chain part 300 on the support rod 421, the first connecting member 510 and the first branch chain cross bar 110 move in opposite directions.

[0046] Specifically, the first branch chain proximal rod 120 and the first branch chain distal rod 130 are arranged in parallel with a predetermined distance in the first direction. One end of the first branch chain proximal rod 120 and the first branch chain distal rod 130 are respectively rotatably connected to the two ends of the first branch chain cross bar 110, and the other ends of the first branch chain proximal rod 120 and the first branch chain distal rod 130 are respectively rotatably connected to different positions of the first connecting member 510. The first branch chain proximal rod 120 and the first branch chain distal rod 130 can rotate relative to the first connecting member 510 and the first branch chain cross bar 110 around the second direction, that is, around the Y axis.

[0047] The first branch chain cross bar 110 is rotatably arranged on the first branch chain driving member 140, and the first branch chain cross bar 110 can rotate relative to the first branch chain driving member 140 around the first direction, that is, the X-axis. The first branch chain driving member 140 can drive the first branch chain cross bar 110 to move in the first direction relative to the base 600. It can be understood that for the first branch chain driving member 140, as long as it can drive the first branch chain connecting member to move in the first direction, the present invention does not limit its specific structure. For example, it can be a ball screw device, or a gear paper strip device, or a conveyor belt device. The present invention is preferably a ball screw device, and the ball screw device includes a first branch chain base 141 and a slider 142 fixed to the base, the slider 142 is connected to the first branch chain base 141 through a ball screw, and the slider 142 is rotatably connected to the first branch chain cross bar 110. The purpose of selecting a ball screw device is that, since the ball screw converts rotational motion into linear motion, it has a small starting torque and can achieve precise micro-feeding. It is particularly suitable for use in scenarios that require fine operation. Considering that the coaxial two-rotation and one-translation remote motion center provided by the present invention is mainly used in minimally invasive surgery and precision operation fields such as space telescope installation, the use of a ball screw can better ensure operational accuracy.

[0048] When the output part 700 needs to be controlled to move only along the feeding direction, the second branch part 200 and the third branch part 300 are kept stationary, and the first branch part 100 moves along the first direction to make the collar 422 and the output part 700 move relative to each other. At this time, the first branch part 100 is controlled to drive the first branch cross bar 110 to move along the first direction. When the first branch cross bar 110, the first branch near bar 120, the first connecting member 510 and the first branch far bar 130 form a parallelogram structure, since the first branch is located in the first direction, that is, on the straight line where the X-axis direction is located, and only moves in the first direction, at this time, the first connecting member 510 must always be parallel to the first branch cross bar 110, that is, the first connecting member 510 is always on the straight line where the first direction is located. Since the first branch chain cross bar 110 moves in the first direction, i.e., the X direction, driven by the first branch chain driving member 140, and the lengths of the first branch chain near rod 120 and the first branch chain far rod 130 are constant, the first connecting member 510 is forced to move in the third direction, i.e., the Z direction. However, since the ring 422 and the support rod 421 of the synchronous telescopic member 420 are arranged in the feeding direction, the ring 422 drives the first connecting member 510 to move in the feeding direction relative to the support rod 421, thereby causing the output part 700 to move in the feeding direction.

[0049] by Figure 1Taking the movement of the first branch chain cross bar 110 toward the proximal end as an example, at this time, since the second branch chain part and the third branch chain part remain relatively still, the support rod 421 remains still, and the angle between the support rod 421 and the base 600 remains unchanged. However, since the first branch chain cross bar 110 moves toward the proximal end and forms a parallelogram with the first branch chain proximal rod 120, the first branch chain distal rod 130 and the first connecting member 510, the first connecting member 510 is forced to move toward the distal end. At this time, under the restriction of the support rod 421 and the collar 422, the collar is finally moved toward the universal sub-center point U in the feeding direction. Then, the feeding reverse movement of the output part 700 at the remote motion center point is realized.

[0050] Preferably, the mounting point of the first branch chain remote rod 130 and the first connecting member 510 coincides with the mounting point of the synchronous telescopic member 420 of the synchronous part 400 and the third branch chain, that is, the pivot of the first branch chain remote rod 130 and the synchronous part 400 and the first connecting member 510 is the same. The advantage of this arrangement is that, compared with the prior art, the design is more compact, the rigidity is improved, and space is saved, which is suitable for occasions with limited installation space.

[0051] Please continue reading Figure 2 The third branch chain portion 300 and the second branch chain portion 200 have the same structure and are symmetrically arranged on both sides of the first branch chain portion 100. Figure 2 In this specific embodiment, the third branch portion 300 is disposed at the front side of the first branch portion 100 , and the second branch portion 200 is disposed at the rear side of the first branch portion 100 .

[0052] The third branch chain part 300 includes a third branch chain link 310 and a third branch chain drive 320. The third branch chain drive 320 is fixedly arranged on the base 600 in an oblique manner, that is, the third branch chain drive 320 and the first branch chain drive 140 are not parallel in the X-axis direction. One end of the third branch chain link 310 is universally connected to the third branch chain drive 320, and the other end is universally connected to the support rod 421 of the synchronization part 400. Similarly, the second branch chain part 200 includes a second branch chain link 210 and a second branch chain drive 220. The second branch chain drive 220 is fixedly arranged on the base 600 in an oblique manner, that is, the second branch chain drive 220 and the first branch chain drive 140 are not parallel in the X-axis direction. One end of the second branch chain link 210 is universally connected to the second branch chain drive 220, and the other end is universally connected to the support rod 421 of the synchronization part 400.

[0053] When the output part 700 needs to rotate only in the second direction, that is, when the output part 700 needs to rotate only in the Y direction, it is only necessary to make the third branch part 300 and the second branch part 200 move synchronously in the same direction, and the first branch drive member 140 of the first branch part 100 moves in the same direction to adapt to the force applied in the first direction by the third branch part 300 and the second branch part 200. For the same-direction adaptive movement of the first branch part 100, that is, when the third branch part 300 and the second branch part 200 move toward the proximal end, the first branch part 100 also moves toward the proximal end adaptively and applies the same force in the first direction, and when the third branch part 300 and the second branch part 200 move toward the distal end, the first branch part 100 moves toward the distal end adaptively and applies the same force in the first direction.

[0054] exist Figure 1 In this specific implementation, since the third branch chain portion 300 and the second branch chain portion 200 are symmetrically arranged along the first branch chain portion 100, a force along the X-axis direction and the force is the same in magnitude will be given to the support rod 421, while the forces in the Y-axis direction will cancel each other out due to the symmetrical arrangement. At the same time, the first branch chain driving member 140 of the first branch chain portion 100 adapts to the movement in the same direction to adapt to the force applied by the third branch chain portion 300 and the second branch chain portion 200 in the first direction, so that the third branch chain portion 300, the second branch chain portion 200 and the first branch chain portion 100 finally jointly give the support rod 421 and the ring 422 the same force along the X-axis direction, thereby ensuring that the synchronous telescopic rod can rotate around the universal sub-center point U and realize the rotation around the Y-axis, so that the output portion 700 only rotates around the Y-axis of the remote motion center point M. That is, when the output part 700 needs to rotate only in the second direction, the second branch part 200 and the third branch part 300 only give the support rod a combined force in the first direction, and the third branch part gives the ring 422 a force equal to the combined force, so that there is no relative movement between the support rod 421 and the ring 422.

[0055] It is naturally understandable that when the third branch chain part 300 and the second branch chain part 200 move synchronously in the same direction, and the first branch chain driving member 140 of the first branch chain part 100 performs non-adaptive movement with a force different from that of the third branch chain part 300 and the second branch chain part 200 in the first direction, the output part 700 performs both rotational movement around the Y axis and feeding movement in the feeding direction. At this time, the non-adaptive movement of the first branch chain driving member 140 can be decomposed into the same-direction adaptive movement and the compensating movement adapted to the third branch chain part 300 and the second branch chain part 200, and then divided into the movement only rotating around the second direction and only in the feeding direction, so that the output part 700 performs both rotational movement around the Y axis and feeding movement in the feeding direction.

[0056] Similarly, when the third branch chain driving member 320 and the second branch chain driving member 220 move in the same direction and asynchronously, and the first branch chain driving member 140 also moves, if the force applied by the first branch chain driving member 140 on the X-axis is in the same direction and the same as the net force applied by the third branch chain portion 300 and the second branch chain portion 200 on the X-axis, the output portion 700 can rotate around the Y-axis while rotating around the X-axis, that is, the output portion 700 can rotate around the first direction and the second direction at the same time. If the force applied by the first branch chain driving member 140 on the X-axis is in the same direction but different from the net force applied by the third branch chain portion 300 and the second branch chain portion 200 on the X-axis, the output portion 700 can rotate around the Y-axis while rotating around the X-axis and can move in the feeding direction.

[0057] For this situation, it is preferably suitable for the situation where the output part 700 needs to be rotated to a greater extent in the Y-axis direction. At this time, because the third branch part 300 and the second branch part 200 give the same force to the support rod 421 in the X-axis direction, the output part 700 can rotate to a greater extent in the Y-axis direction under the same movement conditions as the third branch part 300 and the second branch part 200.

[0058] It can also be understood that the structure of the third branch chain 300 driving member and the second branch chain 200 driving member is preferably a ball screw device that is not parallel to the first branch chain driving member 140 in the X-axis direction. At this time, the second branch chain driving member 220 and the third branch chain driving member 320 have the same structure as the first branch chain driving member 140. The advantage of such a setting is that by converting the rotational motion into linear motion, the control accuracy of the output part 700 can be better improved. At the same time, by further converting the linear motion into motion in other directions, the control accuracy of the output part 700 can be further improved to ensure the final operation accuracy. It is naturally understandable that in addition to being set as a ball screw structure, it can also be set as other structures, such as a gear paper strip device, or a conveyor belt device, etc., which will not be described in detail.

[0059] When the output part 700 needs to rotate only around the first direction, that is, when the output part 700 rotates only around the X-axis, the third branch chain driving member 320 and the second branch chain driving member 220 can be made to move synchronously in opposite directions, while the first branch chain driving member 140 remains stationary to keep the collar 422 and the support rod 421 from moving relative to each other. At this time, since the second branch chain 200 and the third branch chain 300 are symmetrically arranged relative to the first branch chain 100 and move synchronously in opposite directions, the forces applied by the third branch chain driving member 320 and the second branch chain driving member 220 in the X-axis direction cancel each other out, while the forces applied in the Y-axis direction are in the same direction and superimposed on each other, and the first branch chain 100 remains stationary, so that the third branch chain 300, the second branch chain 200 and the first branch chain 100 finally only give the support rod 421 a force in the Y-axis direction, so that the synchronous telescopic member 420 rotates only around the X-axis, thereby realizing that the output part 700 rotates only around the X-axis, that is, only around the first direction. That is, when the output part 700 needs to rotate only around the first direction, the combined forces of the second branch chain part 200 and the third branch chain part 300 on the support rod 421 in the first direction cancel each other out, and a combined force is generated in the second direction. At the same time, the first branch chain part drives the ring 422 to remain stationary relative to the support rod 421. Under the action of the second branch chain part 200 and the third branch chain part 300, the synchronization part 400 drives the first branch chain part 100 and the first connecting member 510 to rotate around the first direction of the universal sub-center point U, thereby realizing the rotation of the output part 700 around the remote motion center point M.

[0060] It is naturally understandable that when the third branch chain driving member 320 and the second branch chain driving member 220 move in opposite directions and asynchronously, while the first branch chain driving member 140 remains stationary, in addition to the force applied on the Y-axis, the forces applied by the third branch chain driving member 320 and the second branch chain driving member 220 in the X-axis direction cannot be completely offset, and there is a residual force after superposition. Since the first branch chain driving member 140 remains stationary, the support rod 421 and the ring 422 eventually produce relative movement, so that the output part 700 rotates around the X-axis while also producing movement in the feed direction.

[0061] Similarly, if the third branch chain portion 300 and the second branch chain portion 200 have the same structure and are symmetrically designed relative to the first branch chain portion 100, when the third branch chain driving member 320 and the second branch chain driving member 220 move in opposite directions and asynchronously, and the first branch chain driving member 140 also moves, if the force applied by the first branch chain driving member 140 on the X-axis is in the same direction and the same as the net force applied by the third branch chain portion 300 and the second branch chain portion 200 on the X-axis, the output portion 700 can rotate around the Y-axis while rotating around the X-axis, that is, the output portion 700 can rotate around the first direction and the second direction at the same time. If the force applied by the first branch chain driving member 140 on the X-axis is in the same direction and different from the net force applied by the third branch chain portion 300 and the second branch chain portion 200 on the X-axis, the output portion 700 can rotate around the Y-axis while rotating around the X-axis and can move in the feeding direction.

[0062] This situation can be better applied to the situation where the output part 700 needs to be rotated to a greater extent around the X-axis direction. At this time, because the third branch part 300 and the second branch part 200 apply the same force to the support rod 421 in the Y-axis direction, the output part 700 can rotate to a greater extent in the X-axis direction while the movement conditions of the third branch part 300 and the second branch part 200 are the same.

[0063] It is naturally understandable that the present embodiment schematically provides a situation where the third branch part 300 and the second branch part 200 have the same structure, correspond to each other in position, and are symmetrically arranged along the first branch part 100. However, in other alternative embodiments, the structures of the third branch part 300 and the second branch part 200 may be different, or may not be symmetrically arranged along the first branch part 100, and they can still achieve various movements of two turns and one shift, and only the forces applied by the third branch part 300, the second branch part 200 and the first branch part 100 need to be adaptively adjusted, and the details will not be repeated.

[0064] Therefore, it can be understood that the high-rigidity two-turn-one-shift remote motion center mechanism provided by the present invention can well realize the independent rotation of the output part 700 around the first direction and the second direction at the remote motion center point M, and can also move in the feeding direction to realize the "two-turn-one-shift" movement, thereby providing higher control accuracy. It can be understood that in the two-turn-one-shift remote motion center, it is often used in scenarios with high control accuracy requirements, such as laparoscopic surgery in minimally invasive surgery, and intraocular surgery. The improvement in accuracy can well realize more sophisticated surgical operations, thereby better meeting the needs of clinicians.

[0065] At the same time, the present invention can arrange the third branch chain part 300, the second branch chain part 200, the first branch chain part 100 and the synchronization part 400, and only arrange the third branch chain driving member 320, the second branch chain driving member 220 and the first branch chain driving member 140 as active driving units, so that the third branch chain part 300 driving member, the second branch chain part 200 driving member and the first branch chain part 100 driving member can be arranged in a direction as far away from the output part 700 as possible. The advantage of such arrangement is that the influence on the output part 700 and the space occupied by the output part 700 can be reduced as much as possible. As mentioned above, in the scene of partial precision control, the space where the output part 700 is located is small. If too many components are arranged near the output part 700, the operation of the corresponding scene cannot be realized.

[0066] Furthermore, the present invention realizes the movement of the output part 700 along the feeding direction through the cooperation of the third branch part 300, the second branch part 200 and the first branch part 100. Compared with the traditional solution of setting a driving device on the synchronous telescopic rod and the collar 422, it can better reduce the force carried by the support rod 421, and better bear the weight of the support rod 421 and the output part 700 by setting the third branch part 300, the second branch part 200 and the third branch part, ensuring a higher bearing capacity under the same conditions, improving the bearing capacity and installation options of the subsequent output part 700, and improving adaptability. That is, the solution provided by the present invention can achieve more load bearing under the same conditions due to the coaxial design of the first branch part 100 and the synchronous part 400 and the output part 700, and thus has a greater bearing capacity.

[0067] On the other hand, the present invention achieves better operating accuracy than direct control of the drive member by arranging the third branch chain drive member 320, the second branch chain drive member 220 and the first branch chain drive member 140 on the base 600, and by utilizing the linear motion of the third branch chain drive member 320, the second branch chain drive member 220 and the first branch chain drive member 140 for conversion, and utilizing the conversion of force generated by multi-directional matching, so as to better adapt to the scenario of precision operation.

[0068] Please continue reading Figure 2 The third branch chain part 300 and the second branch chain part 200 also include a second ball joint 330 and a first ball joint 230 fixedly arranged with the support rod 421, the second ball joint 330 and the third branch chain link 310 are universally connected, the first ball joint 230 and the second branch chain link 210 are universally connected, the second ball joint 330 and the first ball joint 230 are arranged at the same position on the support rod 421, and the second ball joint 330 and the first ball joint 230 are fixedly connected. The advantage of this design is that it can effectively enhance the rigidity and stability of the overall structure and provide better bearing capacity.

[0069] Therefore, compared with the prior art, the present invention has significant technical advantages. Specifically, the 2R1T (two turns and one shift) remote motion center mechanism of the present invention effectively overcomes the problems of large number of series modules and insufficient precision in the existing remote motion center mechanism through its unique design, and also solves the defects of the traditional parallel RCM mechanism such as limited working space and difficult layout. The driving pairs of this mechanism are all arranged on one side of the output platform, and are all moving pairs. The symmetrical arrangement of the branches on both sides further reduces the moment of inertia. Therefore, this mechanism has the characteristics of simple control, high rigidity, high precision and good stability. It is particularly suitable for application scenarios with high requirements for remote motion precision, such as delicate operations such as assembly or posture adjustment of sub-mirror modules in complex optical systems and minimally invasive surgery.

[0070] The present invention also provides a two-turn-one-shift remote motion center control method, which is based on the aforementioned high-rigidity two-turn-one-shift remote motion center mechanism, and can be controlled. The control method can be applied to a control device that is connected to the high-rigidity two-turn-one-shift remote motion center mechanism in communication, so that the control of the high-rigidity two-turn-one-shift remote motion center mechanism is completed by the control device. Naturally, the control device can also be sold as a part of the high-rigidity two-turn-one-shift remote motion center mechanism, and there is no specific limitation. The control method includes the following steps:

[0071] S100: Determine the motion requirement of the output unit 700, where the motion requirement can be decoupled into at least one of rotation around a first direction and a second direction based on a remote motion center point M, and movement along a feeding direction.

[0072] The motion requirement of the output unit 700 can be determined automatically based on a predetermined operation scenario, for example, the motion requirement of the output unit 700 can be automatically determined based on other available information, which is preferably used in a fixed installation scenario of a space telescope. It can also be determined in real time based on the output of an operator, which is preferably used in a medical scenario. There is no specific limitation.

[0073] After obtaining the motion requirement, the control device can decouple it into at least one of rotating around the first direction and the second direction based on the remote motion center point M and moving along the feed direction, thereby facilitating subsequent operations.

[0074] S200: Control the first branch part 100, the second branch part 200 and the third branch part 300 to move to a set position based on the movement requirement.

[0075] After determining the movement requirement of the output part 700, the control device decouples it to the force required for the first branch part 100, the second branch part 200 and the third branch part 300 according to the first movement requirement information, and then determines the set positions of the first branch part 100, the second branch part 200 and the third branch part 300, and then the first branch part 100, the second branch part 200 and the third branch part 300 move to the set positions to complete the setting of the output part 700.

[0076] The present invention also provides a robot, comprising the high-rigidity two-transfer and one-shift remote motion center mechanism described in the first aspect of the present invention.

[0077] The robot includes an operating member, a controller unit, an information acquisition unit and a mechanical arm including the aforementioned decoupled two-turn motion center mechanism, and is used to perform specified operations on the tissue / component to be operated.

[0078] 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.

[0079] The robot arm unit is provided with the aforementioned decoupled two-turn motion center mechanism, and the output part 700 of the decoupled two-turn 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 for installation and maintenance of a large-aperture space telescope.

[0080] 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.

[0081] When the robot is used in minimally invasive surgery, such as abdominal and thoracic minimally invasive surgery, the remote center of the high-rigidity 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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 high-rigidity two-turn and one-shift remote motion center mechanism, characterized in that: include base; Output section; A synchronization part, comprising a support rod arranged in the feeding direction and a collar that telescopes with the support rod, wherein the support rod is universally connected with the base; A connecting portion, so that the output portion and the sleeve are opposite sides of a parallelogram structure; as well as A first branch portion, fixed on the base portion to selectively apply a force in a first direction to the connecting portion; The second branch chain portion and the third branch chain portion are respectively fixed on the base portion and universally connected to the support rod to selectively apply a superimposed force to the support rod in the first direction and / or the second direction; The output part performs two rotations and one translation around the remote motion center point driven by the first branch part, the second branch part and the third branch part.

2. The high-rigidity two-turn-one-shift remote motion center mechanism according to claim 1, characterized in that: The connecting part includes a first connecting member and a second connecting member arranged in parallel, and the first connecting member and the second connecting member are rotatably connected to the output part and the sleeve ring respectively, so that the output part and the sleeve ring are opposite sides of a parallelogram structure; wherein The first branch chain portion includes a first branch chain driving member arranged on a base, a first branch chain cross bar rotatably arranged with the first branch chain driving member, a first branch chain near bar and a first branch chain far bar respectively connected to the first branch chain cross bar and the first connecting member of the connecting portion, the first branch chain near bar and the first branch chain far bar making the first connecting member of the connecting portion and the first branch chain cross bar opposite sides of a parallelogram structure.

3. The high-rigidity two-turn-one-shift remote motion center mechanism according to claim 2, characterized in that: The near rod of the first branch chain is arranged farther away from the synchronization part than the far rod of the first branch chain, and the installation position of the far rod of the first branch chain and the first connecting member is the same as the installation position of the collar and the first connecting member; And / or, the first branch chain cross bar and the first connecting member are arranged in parallel in the first direction, the first branch chain near rod and the first branch chain far rod are respectively connected to the two ends of the first branch chain cross bar for rotation around the second direction, and the first branch chain near rod and the first branch chain far rod are respectively connected to the first connecting member end of the connecting part for rotation around the second direction.

4. The high-rigidity two-turn-one-shift remote motion center mechanism according to claim 2, characterized in that: The first branch chain driving member comprises a first branch chain base and a slider which are arranged for transmission, and the slider is connected to the first branch chain cross bar for rotation around a first direction; the first branch chain base is fixed on the base to drive the slider to move in the first direction so as to selectively apply a force in the first direction to the connecting part through the first branch chain cross bar, wherein the first branch chain base and the slider are connected by a ball screw; And / or, the installation positions of the first branch chain driving member and the first branch chain cross bar enable the first branch chain near bar and the first branch chain far bar to be symmetrically arranged.

5. The high-rigidity 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 fixed on the base, one end of the second branch chain connecting rod is universally connected to the support rod of the synchronization part, and the other end is universally connected to the second branch chain driving member, the second branch chain driving member can drive the second branch chain connecting rod to perform linear motion, and the second branch chain driving member and the second branch chain connecting rod are connected by a ball screw; The second branch chain driving member is disposed obliquely relative to the first direction and the second direction to selectively apply force to the support rod in the first direction and / or the second direction.

6. The high-rigidity two-turn-one-shift remote motion center mechanism according to claim 5, characterized in that: The second branch chain part is universally connected to the support rod through a first ball joint pair, the third branch chain part is universally connected to the support rod through a second ball joint pair, and the first ball joint pair and the second ball joint pair are fixedly arranged on the support rod; And / or, the third branch portion has the same structure as the second branch portion, and the third branch portion and the second branch portion are symmetrically arranged on both sides of the first branch portion along the first direction on the base.

7. The high-rigidity two-turn-one-shift remote motion center mechanism according to any one of claims 1 to 4, characterized in that: The synchronization part also includes a synchronization base, one end of the support rod is universally connected to the synchronization base around the universal sub-center point, and the other end is telescopically connected to the collar; wherein the universal sub-center point of the synchronization part and the remote motion center point of the output part are arranged on the same straight line in the first direction; And / or, the support rods of the first branch part, the output part and the synchronous part are coaxially arranged in the first direction; the output part is arranged on one side of the synchronous part, and the first branch part, the second branch part and the third branch part are arranged on the other side.

8. A two-turn-one-shift remote motion center control method, used to control the high-rigidity two-turn-one-shift remote motion center mechanism as described in any one of claims 1-7, characterized in that: The control method comprises: When it is necessary to make the output part move only in the feeding direction, the second branch part and the third branch part are controlled to remain stationary, and the first branch part moves along the first direction to make the collar and the output part move relative to each other; When the output part needs to rotate only in the first direction, the first branch chain part is controlled to remain stationary, the second branch chain part and the third branch chain part are controlled to move in opposite directions and the sleeve ring and the output part are kept without relative movement; When the output part needs to rotate only in the second direction, the second branch part and the third branch part are controlled to move in the same direction, and the first branch part is controlled to move adaptively in the first direction to keep the ring and the output part without relative movement.

9. A two-turn and one-shift remote motion center control method, based on the high-rigidity two-turn and one-shift remote motion center mechanism described in any one of claims 1-7, 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 high-rigidity two-transfer and one-shift remote motion center mechanism based on any one of claims 1 to 7, 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 high-rigidity 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 high-rigidity 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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