Transmission device

Abstract

The invention provides a transmission device. The transmission device comprises a base body and a plurality of driving modules arranged in the base body. Each driving module comprises a first transmission set, a linkage piece, a second transmission set, a third transmission set, a gear set and a driving motor. The first transmission set comprises a sliding rail and a sliding table movably arranged on the sliding rail, and the sliding table is fixed to the inner surface of the base body so that the sliding rail can reciprocate along a straight line relative to the sliding table. The linkage piece is fixed to the sliding rail and provided with a sliding shaft. The second transmission set comprises a screw and a nut movably arranged on the screw, and the nut is fixed to the sliding rail. The third transmission set comprises a worm and a worm gear which are meshed with each other, and the worm gear is connected to one end of the screw. The gear set is connected to the worm. The driving motor is provided with a driving shaft, and the driving shaft is connected to the gear set. Therefore, the effects of reducing the influence of the assembly error of the assembly and improving the precision are achieved.

Description

Technical Field

[0001] The invention relates to a transmission device, and in particular to a transmission device capable of reducing assembly errors and improving transmission accuracy. Background Art

[0002] Generally speaking, medical equipment, such as surgical tools, must have high precision, high stability, and high sensitivity to be used in highly complex medical operations. In order to meet these requirements, the internal components of the surgical tools need to reduce assembly errors and improve assembly rigidity.

[0003] For example, the transmission mechanism of a surgical tool includes a lead screw, a coupling, and a drive motor. During assembly, the lead screw, the coupling, and the drive motor are arranged on the same axis, and the torque output by the drive motor is transmitted to the lead screw through the coupling, and then the target component (such as the robotic arm of the surgical tool) is driven to move through the lead screw. However, the precision of the transmission mechanism is easily affected by assembly errors between the coupling and other components connected to the coupling. Summary of the invention

[0004] The present invention provides a transmission device to solve the problem in the prior art that the precision of the transmission mechanism components of surgical tools is easily affected by the assembly quality and combination tolerance between the components.

[0005] In order to solve the above technical problems, one of the technical solutions adopted by the present invention is to provide a transmission device, which includes a base body and a plurality of drive modules. The plurality of drive modules are arranged in the base body, and each drive module includes a first transmission group, a linkage, a second transmission group, a third transmission group, a gear group and a drive motor. The first transmission group includes a slide rail and a slide table movably arranged on the slide rail, and the slide table is fixed to an inner surface of the base body, so that the slide rail reciprocates along a straight line relative to the slide table. The linkage is fixed to the slide rail, and the linkage has a sliding shaft. The second transmission group includes a screw and a nut movably arranged on the screw, and the nut is fixed to the slide rail. The third transmission group includes a worm and a worm wheel that mesh with each other, and the worm wheel is connected to one end of the screw. The gear group is connected to the worm. The drive motor has a drive shaft, and the drive shaft is connected to the gear group, and the drive shaft extends along a first direction. The driving motor is used to output a power to drive the driving shaft, and the driving shaft drives the gear set, the third transmission set, the second transmission set and the first transmission set to operate, so that the sliding shaft moves along a second direction, and the first direction is perpendicular to the second direction.

[0006] The transmission device provided by the present invention can transmit the torque output by the drive motor to the sliding shaft through the configuration of the first transmission group, the second transmission group, the third transmission group and the gear group. Therefore, during assembly, the drive motor, the multiple transmission groups and the sliding shaft do not need to be located on the same axis, and the assembly method is relatively simple, thereby reducing the influence of assembly errors of the components and improving the precision. In addition, in the present invention, multiple drive modules are arranged in the base body, which can enhance the overall rigidity of the transmission device and improve the stability of the transmission device during operation.

[0007] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and description and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a first stereoscopic schematic diagram of the transmission device of the present invention.

[0009] Figure 2 It is a second stereoscopic schematic diagram of the transmission device of the present invention.

[0010] Figure 3 It is an exploded schematic diagram of the transmission device of the present invention.

[0011] Figure 4 It is a first stereoscopic schematic diagram of the driving module of the present invention.

[0012] Figure 5 It is a second stereoscopic schematic diagram of the driving module of the present invention.

[0013] Figure 6 It is a partially exploded schematic diagram of the driving module of the present invention.

[0014] Figure 7 It is a first stereoscopic schematic diagram of the base body of the present invention.

[0015] Figure 8 It is a second stereoscopic schematic diagram of the base body of the present invention.

[0016] Fig. 9 It is a functional block diagram of the transmission device of the present invention. DETAILED DESCRIPTION

[0017] The following is an explanation of the implementation of the "transmission device" disclosed in the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual dimensions. It is stated in advance. The following implementations will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0018] It should be understood that, although the terms "first", "second", "third", etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are mainly used to distinguish one element from another element. In addition, the term "or" used herein may include any one or more combinations of the associated listed items depending on the actual situation.

[0019] Example

[0020] See also Figures 1 to 3 As shown, Figure 1 is a first stereoscopic schematic diagram of the transmission device of the present invention, Figure 2 is a second stereoscopic schematic diagram of the transmission device of the present invention, Figure 3 The present invention provides a transmission device D, which includes a base body 1 and a plurality of drive modules 2. The plurality of drive modules 2 are disposed in the base body 1, and the plurality of drive modules 2 operate independently.

[0021] See also Figures 4 to 6 As shown, Figure 4 is a first stereoscopic schematic diagram of a driving module of the present invention, Figure 5 is a second stereoscopic schematic diagram of the driving module of the present invention, Figure 6 1 is a partially exploded schematic diagram of the driving module of the present invention. Each driving module 2 includes a first transmission group 21 , a second transmission group 22 , a third transmission group 23 , a linkage 24 , a gear group 25 and a driving motor 26 .

[0022] The first transmission group 21 includes a slide 211 and a slide rail 212. The slide 211 is fixed to an inner surface of the base body 1, and the slide 211 is movably disposed on the slide rail 212. Thus, the slide rail 212 can reciprocate relative to the slide 211 along a straight line parallel to the Z axis. The linkage 24 is fixed to the slide rail 212, and the linkage 24 has a slide shaft 241. In other words, the linkage 24 can be driven by the slide rail 212 to make the slide shaft 241 also reciprocate along the Z axis.

[0023] The second transmission group 22 includes a screw rod 221 and a nut 222. The nut 222 is movably disposed on the screw rod 221. The screw rod 221 is parallel to the Z axis. Figure 5 As shown, the nut 222 can be fixed to the slide rail 212 of the first transmission group 21 through a fixing member F3, and the present invention is not limited to the type of the fixing member F3. The third transmission group 23 includes a worm 231 and a worm wheel 232 that mesh with each other, and the worm wheel 232 is connected to one end of the screw 221. Preferably, the lead angle between the worm 231 and the worm wheel 232 is less than 4 degrees. By designing the lead angle less than 4 degrees, the cooperation between the worm 231 and the worm wheel 232 has a self-locking function. In other words, the worm 231 and the worm wheel 232 can only rotate along a fixed rotation direction, so that the power output by the drive motor 26 can be transmitted in a single direction. For example, the power output by the drive motor 26 is transmitted to the screw 221 of the second transmission group 22 in sequence by the gear set 25 and the third transmission group 23. However, when the driving motor 26 is not actuated and the screw rod 221 is subjected to an external force and tries to rotate, the worm gear 232 may be locked by the worm gear 231 and cannot be actuated.

[0024] like Figure 4 and Figure 6 As shown, the drive motor 26 has a drive shaft 261 (see Figure 6 ). The gear set 25 is connected to the worm 231. The gear set 25 includes a driving wheel 251, a driven wheel 252 and at least one intermediate gear 253. The driving shaft 261 extends along a first direction (negative X-axis direction) and is connected to the driving wheel 251. The driven wheel 252 is connected to the worm 231, and at least one intermediate gear 253 is disposed between the driving wheel 251 and the driven wheel 252, and meshes with the driving wheel 251 and the driven wheel 252.

[0025] like Figure 5 and Figure 6 As shown, the driving motor is used to output a power to drive the driving shaft 261, and the driving shaft 261 drives the gear set 25, the third transmission set 23, the second transmission set 22 and the first transmission set 21 to operate, so that the sliding shaft 241 moves along a second direction (positive Z-axis direction).

[0026] Specifically, the driving motor 26 outputs power to drive the driving shaft 261 to rotate, so that the driving shaft 261 drives the driving wheel 251, at least one intermediate gear 253 and the driven wheel 252 to rotate in sequence. Since the driven wheel 252 is connected to the worm 231 and the worm wheel 232 is connected to the screw 221, the driven wheel 252 can drive the screw 221 of the second transmission group 22 through the worm 231 and the worm wheel 232 of the third transmission group 23, so that the screw 221 rotates. The nut 222 reciprocates along the screw 221 (parallel to the Z axis) through the rotation of the screw 221. Then, the nut 222 drives the slide rail 212 and the connecting member 24 fixed to the slide rail 212, so that the sliding shaft 241 of the connecting member 24 reciprocates.

[0027] The transmission device D of the present invention can be used in high-precision medical devices. Figure 1 As shown, for example, the transmission device D of the present invention includes six drive modules 2, which can be connected to one end of multiple mechanical arms (not shown) through six sliding shafts 241, and then matched with the end platform (not shown) connected to the other end of the multiple mechanical arms, together forming a synergistic motion platform (Synergistic motion platform), or Stewart Platform. The parallel manipulator can be configured to manipulate six mechanical rods to enable the end platform to move with six degrees of freedom.

[0028] See also Fig. 9 As shown, Fig. 9 is a functional block diagram of the transmission device of the present invention. Each driving module 2 also includes a motor encoder 262, and the motor encoder 262 is electrically connected to the driving motor 26. Encoders can be divided into contact encoders, electromagnetic encoders or optical encoders according to the way the signal is generated, but the present invention is not limited thereto. In the present invention, the motor encoder 262 is used to measure the rotational movement of the driving shaft 261. Since the displacement of the sliding shaft 241 of the linkage 24 is generated by the power provided by the driving motor 26, the present invention can use the motor encoder 262 to calculate the displacement of the sliding shaft 241 by measuring the number of rotations of the driving motor 26.

[0029] See also Figure 1 , Figure 6 and Fig. 9As shown, each driving module 2 further includes a grating sensor 27 and a fixing member F1. The grating sensor 27 is disposed on the fixing member F1, and the fixing member F1 is disposed on the linkage 24. Therefore, the grating sensor 27 can be fixed to the linkage 24 through the fixing member F1. Further, the grating sensor 27 includes a scale 271 and a sensing component 272. The scale 271 is disposed on the fixing member F1. The sensing component 272 is connected to the first fixing frame 291 of the driving module 2, and is fixed to the base body 1 through the first fixing frame 291. When the slide rail 212 moves, the fixing member F1 and the scale 271 fixed thereon are driven by the slide rail 212 (the sensing component 272 is still fixed to the base body 1), so that the scale 271 and the sensing component 272 move relative to each other.

[0030] Thus, the sensing component 272 can be used to sense the movement of the scale 271 and obtain the displacement of the slide rail 212. Since the linkage 24 is fixed to the slide rail 212, the displacement of the slide rail 212 is the displacement of the slide shaft 241. Then, according to the obtained displacement of the slide rail 212, the sensing component 272 outputs a displacement signal to a control module R (see Fig. 9 ). The control module R is an external component, electrically connected to the drive motor 26, the motor encoder 262 and the grating sensor 27. For example, the control module R can be a microcontroller (MCU), but the present invention is not limited thereto. The control module R can output a control signal to the drive motor 26 according to the displacement signal, so that the drive motor 26 further drives the slide shaft 241 to perform displacement compensation.

[0031] Specifically, the displacement of the slide shaft 241 calculated based on the number of rotations of the drive motor 26 measured by the motor encoder 262 is an estimated value. Since the power output by the drive motor 26 is transmitted to the slide rail 212 via the gear set 25, during the power transmission process, the meshing clearance between the multiple gears (driving wheel 251, at least one intermediate gear 253 and driven wheel 252) of the gear set 25, the tolerance of each component of the drive module 2, and the combined clearance when the components are assembled will cause the actual displacement of the slide shaft 241 to differ from the estimated value obtained based on the motor encoder 262. In contrast, since the grating sensor 27 directly measures the displacement of the slide rail 212, the displacement of the slide rail 212 read by the grating sensor 27 will be closer to (or even equal to) the actual displacement of the slide shaft 241. Therefore, the control module R obtains a displacement difference by comparing the displacement values ​​measured by the grating sensor 27 and the motor encoder 262. The displacement difference is caused by the meshing clearance of the gear set 25, the combination clearance between components and the component tolerance. Therefore, the control module R will output a control signal to the drive motor 26 according to the displacement difference to control the drive motor 26 to drive the slide shaft 241 to generate a compensation displacement.

[0032] Therefore, if Fig. 9 As shown, the present invention forms a closed-loop control system by cooperating with the grating sensor 27 and the motor encoder 262. The control module R can compensate the meshing clearance of the gear set 25, the combined clearance between components and the component tolerance according to the displacement value measured by the grating sensor 27, so as to achieve the purpose of displacement compensation.

[0033] See also Figure 2 , Figure 4 and Fig. 9 As shown, each driving module 2 further includes a switch sensor 28. The switch sensor 28 is connected to the second fixing bracket 292 of the driving module 2 and is fixed to the base body 1 through the second fixing bracket 292 (see Figure 2 ). The switch sensor 28 has a contact 281, and the switch sensor 28 is electrically connected to the control module R. When the slide rail 212 moves along a third direction (negative Z-axis direction) opposite to the second direction relative to the slide table 211, one end of the slide rail 212 will abut against the contact 281. Further, when the slide rail 212 abuts against the contact 281, the switch sensor 28 will output a notification signal to the control module R. In this way, the control module R can use the position of the slide rail 212 when it abuts against the contact 281 as the reference point or final position when the slide shaft 241 moves, and with the displacement of the slide shaft 241 measured by the grating sensor 27 and the motor encoder 262, the exact position of the slide shaft 241 after movement is obtained.

[0034] See also Figure 7 and Figure 8 As shown, Figure 7 is a first stereoscopic schematic diagram of the base body of the present invention, Figure 8 1 is a second stereoscopic schematic diagram of the base body of the present invention. The base body 1 includes an axis base portion 11 and three accommodating portions 12. The three accommodating portions 12 surround the axis base portion 11. Each accommodating portion 12 includes a first side wall 121 and two second side walls 122, the two second side walls 122 are respectively connected to both sides of the first side wall 121, and two openings 13 are respectively formed between the first side wall 121 and the two second side walls 122.

[0035] The shaft base 11 is a hollow shell, and each of the top and bottom of the base body 1 has a through opening. For example, the base body 1 can be further connected to an external component, such as Figures 1 to 3As shown, the external component may include, for example, a connecting sleeve A1 and a shaft member A2. The connecting sleeve A1 may be disposed on the shaft base portion 11 through a through opening at the top of the shaft base portion 11, and the shaft member A2 may be disposed on the shaft base portion 11 through a through opening at the bottom of the shaft base portion 11. When both the connecting sleeve A1 and the shaft member A2 are disposed on the shaft base portion 11, the connecting shaft A21 of the shaft member A2 can be connected to the connecting sleeve A1. It should be noted that the present invention is not limited to the use of the connecting sleeve A1 and the shaft member A2, and is only used to exemplarily illustrate that the base body 1 can be connected to other components through the shaft base portion 11 for appropriate applications.

[0036] See also Figure 3 and Figure 7 As shown, each accommodating portion 12 further includes a partition wall 123. The partition wall 123 is disposed on the inner surface of the first side wall 121, and separates the interior of the accommodating portion 12 into two inner chambers 123C. In the present invention, six driving modules 2 are respectively disposed in the six inner chambers 123C. In each driving module 2, the slide 211 of the first transmission group 21 is fixed to the corresponding first side wall 121, and the driving motor 26 and the gear group 25 can be fixed to the bottom of the base body 1 through a fixing member F2.

[0037] See also Figure 1 and Figure 7 As shown, in each driving module 2, the sensing component 272 of the grating sensor 27 is connected to the first fixing frame 291, and is fixed to the partition wall 123 through the first fixing frame 291. The switch sensor 28 is disposed in one of the openings 13 of the base body 1, and the switch sensor 28 is connected to the second fixing frame 292, and is fixed to one of the second side walls 122 of the base body 1 through the second fixing frame 292.

[0038] For further information, see Figure 6 and Figure 7 As shown, the first fixing frame 291 has a first limiting portion 2911, and the partition wall 123 has a second limiting portion 1231. The first fixing frame 291 is fixed to the partition wall 123 by engaging the first limiting portion 2911 with the second limiting portion 1231. The second fixing frame 292 has a third limiting portion 2921, and the second side wall 122 has a fourth limiting portion 1221. The second fixing frame 292 is fixed to the second side wall 122 by engaging the third limiting portion 2921 with the fourth limiting portion 1221.

[0039] Therefore, the transmission device D of the present invention is formed into a single component by installing multiple driving modules 2 in the base body 1. Since the base body 1 is relatively rigid, the overall structural strength can be improved. In addition, the power transmission of the transmission device D of the present invention is mainly based on the gear set 5, and the assembly method is relatively simple.

[0040] Advantageous Effects of Embodiments

[0041] The transmission device D provided by the present invention can transmit the torque output by the drive motor 26 to the slide shaft 241 through the configuration of the first transmission group 21, the second transmission group 22, the third transmission group 23 and the gear group 25. When assembling the transmission device D of the present invention, the drive motor 26, the multiple transmission groups (the first transmission group 21, the second transmission group 22, the third transmission group 23) and the slide shaft 241 do not need to be located on the same axis, and the assembly method is relatively simple, so the influence of the error generated during the assembly of the components can be reduced, thereby improving the precision. In addition, in the present invention, multiple drive modules 2 are arranged in the base body 1, which can strengthen the overall rigidity of the transmission device D and improve the stability of the transmission device during operation.

[0042] In addition, the transmission device D of the present invention cooperates with the grating sensor 27 and the motor encoder 262 to form a closed-loop control system. According to the displacement value measured by the grating sensor 27, the control module R outputs a control signal to the drive motor 26 to control the drive motor 26 to drive the slide shaft 241 to produce a compensation displacement to compensate for the meshing clearance of the gear set 25, the combined clearance between components and the component tolerance. In addition, the control module R can use the position when the slide rail 212 abuts against the contact 281 of the switch sensor 28 as the reference point or the final position when the slide shaft 241 moves, and with the displacement of the slide shaft 241 measured by the grating sensor 27 and the motor encoder 262, the exact position of the slide shaft 241 after the movement is obtained.

[0043] The contents disclosed above are only preferred feasible embodiments of the present invention, and are not intended to limit the protection scope of the claims of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention description and drawings are included in the protection scope of the claims of the present invention.

Claims

1. A transmission device, characterized in that: The transmission device comprises: a base body; and A plurality of driving modules are disposed in the base body, each of the driving modules comprising: a first transmission group, comprising a slide rail and a slide table movably disposed on the slide rail, wherein the slide table is fixed to an inner surface of the base body, so that the slide rail reciprocates relative to the slide table along a straight line; A linkage member, fixed to the slide rail, wherein the linkage member has a slide shaft; a second transmission group, comprising a screw rod and a nut movably disposed on the screw rod, wherein the nut is fixed to the slide rail; a third transmission group, comprising a worm and a worm wheel meshing with each other, wherein the worm wheel is connected to one end of the screw; a gear set connected to the worm; and a driving motor having a driving shaft, the driving shaft being connected to the gear set and extending along a first direction; Wherein, the driving motor is used to output a power to drive the driving shaft, and the driving shaft drives the gear set, the third transmission set, the second transmission set and the first transmission set to operate, so that the sliding shaft moves along a second direction, and the first direction is perpendicular to the second direction.

2. The transmission device according to claim 1, characterized in that: Each of the driving modules further includes a motor encoder electrically connected to the driving motor. The motor encoder is used to calculate the displacement of the sliding shaft by measuring the number of rotations of the driving motor.

3. The transmission device according to claim 2, characterized in that: Each of the driving modules further includes a grating sensor and a fixing member, wherein the fixing member is disposed on the linkage member, and the grating sensor is disposed on the fixing member.

4. The transmission device according to claim 3, characterized in that: The grating sensor includes a scale and a sensing component, wherein the sensing component is fixed to the base body, and the scale is arranged on the fixing member; wherein the fixing member is used to be driven by the slide rail so that the scale and the sensing component move relative to each other.

5. The transmission device according to claim 4, characterized in that: The sensing component outputs a displacement signal to a control module according to the movement of the scale, and the control module outputs a control signal to the drive motor according to the displacement signal, so that the drive motor further drives the sliding shaft to perform displacement compensation.

6. The transmission device according to claim 1, characterized in that: Each of the driving modules further includes a switch sensor fixed to the base body, wherein the switch sensor has a contact, and when the slide rail moves relative to the slide table along a third direction opposite to the second direction, one end of the slide rail abuts against the contact.

7. The transmission device according to claim 1, characterized in that: The lead angle between the worm and the worm wheel is less than 4 degrees.

8. The transmission device according to claim 1, characterized in that: The gear set includes a driving wheel, a driven wheel and at least one intermediate gear, the driving wheel is connected to the driving shaft, the driven wheel is connected to the worm, and the at least one intermediate gear is arranged between the driving wheel and the driven wheel and meshes with the driving wheel and the driven wheel.

9. The transmission device according to claim 3, characterized in that: The base body includes an axis base portion and three accommodating portions, the three accommodating portions surround the axis base portion, each of the accommodating portions includes a first side wall and two second side walls, the two second side walls are respectively connected to both sides of the first side wall, and two openings are respectively formed between the first side wall and the two second side walls.

10. The transmission device according to claim 9, characterized in that: Each of the accommodating portions includes a partition wall, which is arranged on the first side wall and divides the interior of the accommodating portion into two inner cavities; wherein, the number of the driving modules is six, which are respectively arranged in the six inner cavities, and the slide of each of the driving modules is fixed to the corresponding first side wall.

11. The transmission device according to claim 10, characterized in that: Each of the driving modules also includes a first fixing frame and a second fixing frame, a sensing component of the grating sensor is connected to the first fixing frame and fixed to the partition wall through the first fixing frame, and a switch sensor of each of the driving modules is arranged in one of the openings, the switch sensor is connected to the second fixing frame, and fixed to one of the second side walls through the second fixing frame.

12. The transmission device according to claim 11, characterized in that: The first fixing frame has a first limiting portion, the partition wall has a second limiting portion, and the first fixing frame is fixed to the partition wall by engaging the first limiting portion with the second limiting portion; the second fixing frame has a third limiting portion, the second side wall has a fourth limiting portion, and the second fixing frame is fixed to the second side wall by engaging the third limiting portion with the fourth limiting portion.

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