End effector

Abstract

The invention discloses an end effector which comprises a rack and an operating part, and a camera is arranged on the rack; the operating part is provided with an operating end used for operation, the operating part is movably arranged on the rack so as to be suitable for being switched between an operating position and a containing position, and when the operating part is located at the operating position, at least part of the operating end in the optical axis extending direction of the camera directly faces the camera; wherein the plurality of operating parts are arranged on the rack, and at least one operating part can selectively move to an operating position. According to the end effector, the operation point of the operation end can be accurately positioned, and the accuracy of surgical navigation is improved; and meanwhile, different operating parts can be quickly switched to realize different surgical operations, so that the efficiency of replacing the operating parts can be improved, and the smoothness of the surgery is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical end effectors, and in particular to an end effector. Background Art

[0002] In the related technologies, the connection between robotics and the medical field is becoming closer and closer. Robots have demonstrated their great advantages in flexibility, stability and accuracy in the field of surgery. They can not only effectively simplify the complexity of surgical operations, but also improve surgical accuracy and bring better treatment effects to patients. However, in the surgical robots commonly used in the related technologies, the end effector and the camera adopt a non-coaxial design. During surgical navigation, hand-eye calibration is required to obtain the transformation matrix between the two. This is not only time-consuming but also introduces additional calibration errors, affecting the accuracy of the surgery. In addition, the end effector of the surgical robot is generally only equipped with one execution tool head. Multiple execution tool heads need to be manually installed and replaced using a detachable structure. In the actual surgical process, it is necessary to switch to different tool heads such as cutting heads, drilling heads, and grasping heads according to the task process. Each switch requires stopping the workflow, which is not only time-consuming and labor-intensive, but also affects the overall fluency of the operation. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present invention is to propose an end effector, in which a camera and an operating end of the end effector are coaxially configured to effectively avoid additional errors caused by calibration and improve the accuracy of surgical navigation; and a variety of operating parts are integrated to achieve different surgical operations, and a simple mechanical mechanism can be used to achieve automatic switching of workstations, thereby improving the efficiency and automation of the operation process.

[0004] The present application proposes an end effector, comprising: a frame and an operating member, wherein a camera is arranged on the frame; the operating member is provided with an operating end for operation, and the operating member is movably arranged on the frame to be suitable for switching between an operating position and a storage position, and when the operating member is in the operating position, at least a part of the operating end is opposite to the camera in the extension direction of the optical axis of the camera; wherein the operating member is constructed as a plurality of operating members arranged on the frame, and at least one of the operating members can be selectively moved to the operating position.

[0005] According to the end effector of the present application, since at least a part of the operating end is directly opposite to the camera in the extension direction of the camera optical axis when in the operating position, the operating point of the operating end can be accurately positioned, thereby improving the accuracy of surgical navigation; at the same time, multiple operating parts are provided and each of them can be moved between the storage position and the operating position, thereby enabling rapid switching of different operating parts to realize different surgical operations, thereby improving the efficiency of replacing the operating parts and improving the fluency of the operation.

[0006] According to some embodiments of the present application, the frame is formed with a main axis, and the extension direction of the main axis is parallel to or coincides with the optical axis direction of the camera; the operating member is suitable for translating along the extension direction of the main axis on the frame and can be selectively rotated relative to the frame to switch between the operating position and the storage position, and the rotation axis of the operating member is perpendicular to the axis of the main axis.

[0007] According to some embodiments of the present application, the end actuator also includes: a moving block and a clamping member, the moving block is movably arranged on the frame along the extension direction of the main shaft, and the moving block is arranged in multiple numbers corresponding to the operating members one by one; the clamping member is rotatably arranged on the moving block, the rotation axis of the clamping member relative to the moving block is perpendicular to the axis of the main shaft, and the operating member is arranged on the clamping member and is suitable for moving with the clamping member.

[0008] According to some embodiments of the present application, the end actuator also includes: a driving member, which is arranged on the frame, and the driving member can selectively face at least one of the multiple moving blocks in a direction parallel to the extension direction of the main axis and is suitable for driving the operating member to move along the extension direction of the main axis.

[0009] According to some embodiments of the present application, the end actuator also includes: a shell, the shell is rotatably disposed on a frame, the shell is formed with a slide groove extending in the same direction as the main shaft, the slide groove is constructed to be a plurality of slide grooves corresponding to the moving blocks one by one, and the plurality of slide grooves are arranged at circumferential intervals in the shell; the moving block is suitable for sliding in the slide groove relative to the frame along the extension direction of the main shaft; and the moving block is suitable for rotating with the shell relative to the frame to drive any one of the operating members to face the driving member parallel to the extension direction of the main shaft.

[0010] According to some embodiments of the present application, the clamping member is formed with a mating surface surrounding the rotation axis of the clamping member, the mating surface is formed with a first tooth portion parallel to the rotation axis of the clamping member, and the housing is formed with a second tooth portion suitable for meshing with the first tooth portion.

[0011] According to some embodiments of the present application, the frame is formed with a limit ring surrounding the main shaft, and the limit ring is slidably matched with the moving block in the circumferential direction to limit the movement of the moving block along the extension direction of the main shaft; the limit ring is formed with an avoidance groove open along the extension direction of the main shaft, and the avoidance groove is suitable for accommodating a part of the driving member so as to be suitable for the part of the driving member to be connected to one of the multiple moving blocks and pass along the extension direction of the main shaft.

[0012] According to some embodiments of the present application, a connecting portion is formed at the end of the driving member, and the connecting portion can be selectively received in the avoidance groove, and the connecting portion and the moving block are cooperatively connected in the avoidance groove.

[0013] According to some embodiments of the present application, the driving member includes: a driving body, a movable base and a push rod, the driving body is arranged on a frame; the movable base is threadedly matched with the driving body and the movable base is connected to the frame in a circumferential upper limit position, and the movable base is suitable for moving in the axial direction of the frame under the drive of the driving body; the push rod is arranged on the movable base and is suitable for moving with the movable base, and the connecting part is arranged on the push rod.

[0014] According to some embodiments of the present application, at least two structures of the operating member are clamping jaws that cooperate with each other, and the push rod and the avoidance groove are provided with a plurality of one-to-one corresponding clamping jaws to be suitable for synchronously driving the clamping jaws to switch between the receiving position and the operating position.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0017] Figure 1 is a schematic structural diagram of an end effector according to some embodiments of the present invention;

[0018] Figure 2 is a schematic diagram of an exploded structure of an end effector according to some embodiments of the present invention;

[0019] Figure 3 is a schematic diagram of a coaxial state between a camera and an operating end of an end effector according to some embodiments of the present invention;

[0020] Figure 4 is a schematic diagram of a matching state when a partial structure of an end effector moves according to some embodiments of the present invention;

[0021] Figure 5 is a schematic diagram of an axial end of a partial structure of an end effector according to some embodiments of the present invention;

[0022] Figure 6 is a schematic diagram of the structure of a driving component portion of an end effector according to some embodiments of the present invention;

[0023] Figure 7 is a schematic diagram of a push rod structure of an end effector according to some embodiments of the present invention;

[0024] Figure 8 Schematic diagram of the limit lever structure of the end effector according to some embodiments of the present invention.

[0025] Reference numerals:

[0026] Frame 10; spindle 11; front frame 12; limit ring 13; avoidance groove 131; rear frame 14;

[0027] Camera 20;

[0028] Operating member 30; operating end 31; clamping claw 32;

[0029] Driving member 40; driving body 41; movable base 42; through slot 422; push rod 43; connecting portion 431; limiting slot 432; limiting lever 44; limiting block 441; limiting bearing 45;

[0030] Housing 50; slide groove 51; second tooth portion 52;

[0031] Move block 60;

[0032] Clamping member 70; first tooth portion 71. DETAILED DESCRIPTION

[0033] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0034] Reference below Figure 1-Figure 8 The end effector of an embodiment of the present invention is described. The end effector of the present invention is mainly applicable to surgical robots, and may also be applicable to any automated device that needs to implement multiple operations and allows structural integration, such as mechanical processing, agricultural production, etc.

[0035] The present application proposes an end effector, comprising: a frame 10 and an operating member 30, wherein a camera 20 is arranged on the frame 10; the operating member 30 is provided with an operating end 31 for operation, and the operating member 30 is movably arranged on the frame 10 so as to be suitable for switching between an operating position and a storage position, and when the operating member 30 is in the operating position, at least a part of the operating end 31 is opposite to the camera 20 in the extension direction of the optical axis of the camera 20; wherein the operating member 30 is constructed to be arranged in plurality on the frame 10, and at least one of the operating members 30 can be selectively moved to the operating position.

[0036] According to the end effector of the present application, the operating member 30 is provided with an operating end 31, which is the tool head of the surgical instrument, and can complete special surgical operations; the operating ends 31 of multiple operating members 30 may be different to complete different types of surgical operations. When the operating member 30 is in the operating position, at least part of the operating end 31 is directly opposite to the camera 20 in the extension direction of the optical axis of the camera 20, which can ensure that the operating point of the operating end 31 is directly opposite to the center of the camera 20. The center of the imaging of the camera 20 is the operating point of the operating member 30. There is no need to establish the imaging coordinate system of the camera 20 with the imaging center as the base point for hand-eye calibration, and there is no need to perform matrix transformation on the operating point in the imaging coordinate system, which avoids calibration errors, can accurately locate the operating point of the operating end 31, and improve the accuracy of surgical navigation. In addition, the operating member 30 of the present application is provided with multiple and each of them can be moved between the receiving position and the operating position, which can realize the rapid switching of different operating members 30 to realize different surgical operations, can improve the efficiency of replacing the operating member 30, and improve the fluency of the operation.

[0037] It should be noted that in the above-mentioned end effector of the present application, the surgical operation performed by the operating member 30 is mainly a fixed-point operation. After the operating member 30 reaches the operating position, there is no relative movement between the operating member 30 and the frame 10 during the operation. If the operating point is to be changed, the end effector needs to be moved as a whole. Based on this, when the overall structure of the end effector moves to change the operating point, the center of the camera 20 moves accordingly, and the operating point of the operating end 31 can always remain aligned with the center of the camera 20, and no hand-eye calibration is required during the entire operation process.

[0038] According to the end effector of the present application, since at least a portion of the operating end 31 is directly opposite to the camera 20 in the extension direction of the optical axis of the camera 20 when in the operating position, the operating point of the operating end 31 can be accurately positioned, thereby improving the accuracy of surgical navigation; at the same time, a plurality of operating members 30 are provided and each of them can be moved between the storage position and the operating position, thereby enabling rapid switching of different operating members 30 to achieve different surgical operations, thereby improving the efficiency of replacing the operating members 30 and improving the fluency of the operation.

[0039] According to some embodiments of the present application, the frame 10 is formed with a main shaft 11, and the extension direction of the main shaft 11 is parallel to or coincides with the optical axis direction of the camera 20; the operating member 30 is suitable for translating along the extension direction of the main shaft 11 on the frame 10 and selectively rotating relative to the frame 10 to switch between the operating position and the storage position, and the rotation axis of the operating member 30 is perpendicular to the axis of the main shaft 11. In this embodiment, the operating member 30 moves parallel to the optical axis direction of the camera 20 to achieve the conversion between the storage position and the operating position, and because the extension direction of the optical axis of the camera 20 is directly opposite to the working point, the displacement of the operating member 30 is minimal when moving parallel to the optical axis direction; the rotation axis of the operating member 30 is perpendicular to the axis of the main shaft 11, which can realize the rotation of the operating end 31 directly opposite to the working point, so as to move to directly face the camera 20.

[0040] According to some embodiments of the present application, the end effector further includes: a moving block 60 and a clamping member 70, the moving block 60 is movably arranged on the frame 10 along the extension direction of the main shaft 11, and the moving block 60 is arranged in a plurality of pieces corresponding to the operating member 30 one by one; the clamping member 70 is rotatably arranged on the moving block 60, the rotation axis of the clamping member 70 relative to the moving block 60 is perpendicular to the axis of the main shaft 11, and the operating member 30 is arranged on the clamping member 70 and is suitable for moving with the clamping member 70. In this embodiment, the clamping member 70 can realize the installation and fixation of the operating member 30, and the clamping member 70 is arranged on the moving block 60, so the moving block 60 can drive the operating member 30 to switch between the receiving position and the operating position, and the clamping member 70 can drive the operating member 30 to rotate relative to the moving block 60, so that the operating end 31 of the operating member 30 is opposite to the optical axis of the camera 20; through the combination of the moving block 60 and the clamping member 70, the operating member 30 can be translated and rotated relative to the frame 10, and the structure is simple and easy to operate.

[0041] According to some embodiments of the present application, the end effector further includes: a driving member 40, the driving member 40 is disposed on the frame 10, and the driving member 40 can selectively face at least one of the multiple moving blocks 60 in a direction parallel to the extension of the main shaft 11 and is suitable for driving the operating member 30 to move along the extension direction of the main shaft 11. In this embodiment, the driving member 40 can selectively face at least one of the multiple moving blocks 60 in a direction parallel to the extension of the main shaft 11, so that it can be connected to one of the multiple moving blocks 60 to drive the connected moving block 60 to move along the extension direction of the main shaft 11, thereby realizing the switching of the operating member 30 connected to the moving block 60 between the accommodation position and the operating position. In this embodiment, by providing a driving member 40 that can selectively drive any operating member 30, the structure can be simplified to avoid excessive burden on the end effector when multiple driving members 40 are provided.

[0042] According to some embodiments of the present application, the end actuator also includes: a shell 50, the shell 50 is rotatably disposed on the frame 10, the shell 50 is formed with a slide groove 51 extending in the same direction as the main shaft 11, the slide groove 51 is constructed to be a plurality of slide grooves corresponding to the moving block 60 one by one, and the plurality of slide grooves 51 are arranged at circumferential intervals on the shell 50; the moving block 60 is suitable for sliding in the slide groove 51 relative to the frame 10 along the extension direction of the main shaft 11; and the moving block 60 is suitable for rotating with the shell 50 relative to the frame 10 to drive any one of the operating members 30 and the driving member 40 to face each other parallel to the extension direction of the main shaft 11.

[0043] In this embodiment, if Figure 1-5 As shown, since the shell 50 is provided with a slide groove 51 extending along the extension direction of the main shaft 11, the moving block 60 cooperates with the slide groove 51 to drive the operating member 30 to move along the extension direction of the main shaft 11; the shell 50 is provided with a plurality of slide grooves 51 arranged at intervals along the circumferential direction, and the slide grooves 51 correspond to the moving blocks 60 one by one, so that a plurality of operating members 30 can be connected to the shell 50; at the same time, the slide groove 51 has a limiting effect on the moving block 60 along the circumference of the shell 50. When the shell 50 rotates relative to the main shaft 11, the slide groove 51 keeps the moving block 60 and the shell 50 rotating synchronously, so as to drive the plurality of operating members 30 to rotate synchronously, thereby realizing that any operating member 30 rotates to be opposite to the driving member 40 in the extension direction of the main shaft 11, so as to facilitate the relative moving block 60 and the driving member 40 to be connected. In this embodiment, the rotating shell 50 can realize the translation of multiple operating members 30 along the extension direction of the main shaft 11 to change their positions, and can also realize the rotation of multiple operating members 30 relative to the main shaft 11, which can simplify the control structure of the operating members 30 and improve the efficiency of moving or replacing the operating members 30.

[0044] Furthermore, in order to ensure the effective movement of the moving block 60, the moving block 60 should not move relative to the shell 50 in the radial direction of the main shaft 11, so the slide groove 51 can be formed with a guard edge, which extends along the extension direction of the main shaft 11 to limit the moving block 60 from detaching from the shell 50 along the radial direction of the main shaft 11 when sliding relative to the slide groove 51.

[0045] In some embodiments, the end effector of the present application includes a second driving member, which is suitable for driving the housing 50 to rotate relative to the main shaft 11, and the second driving member can be disposed inside the housing 50 and connected to the housing 50. Further, the second driving member is configured as a driving motor.

[0046] Furthermore, in some embodiments, the bottom of the moving block 60 is directly opposite to the bottom of the slide groove 51, and a pulley is provided at the bottom of the moving block 60 to support the sliding connection between the moving block 60 and the slide groove 51 and reduce the friction between the moving block 60 and the slide groove 51, so that the operating member 30 can switch between the receiving position and the operating position more smoothly. In addition, the pulley can be configured as a bearing structure.

[0047] According to some embodiments of the present application, the clamping member 70 is formed with a mating surface surrounding the rotation axis of the clamping member 70, and a first tooth portion 71 parallel to the rotation axis of the clamping member 70 is formed on the mating surface, and the housing 50 is formed with a second tooth portion 52 suitable for meshing with the first tooth portion 71. In this embodiment, the clamping member 70 is formed with the first tooth portion 71, and the housing 50 is formed with the second tooth portion 52 mating with the first tooth portion 71. Figure 1 As shown, the second tooth portion 52 is arranged at the housing 50 near the operation point, that is, at the end of the one-way stroke of the moving block 60 relative to the housing 50. When the driving member 40 drives the operating member 30 to move to the operation position, the moving block 60 moves in the slide groove 51 along the extension direction of the main shaft 11. When it moves to near the operation point, the first tooth portion 71 of the clamping member 70 is engaged with the second tooth portion 52 of the housing 50. As the driving member 40 continues to push the moving block 60 and the clamping member 70, the clamping member 70 rotates around the rotation axis of the moving block 60 under the action of the meshing force, so that the operating end 31 of the operating member 30 approaches and moves to face the optical axis of the camera 20 in its extension direction. When the operating end 31 of the operating member 30 faces the optical axis of the camera 20 in its extension direction, the operating member 30 reaches the operation position, and the driving member 40 completes the one-way driving work. When the driving member 40 drives the operating member 30 to move toward the receiving position, the driving member 40 drives the moving block 60 and the clamping member 70. Under the action of the meshing force, the clamping member 70 rotates around the rotation axis with the moving block 60 to make the operating member 30 rotate to prevent the operating end 31 from colliding with the housing 50. As the driving member 40 continues to drive the moving block 60 and the clamping member 70, the first tooth portion 71 of the clamping member 70 disengages from the second tooth portion 52 of the housing 50, and the moving block 60 drives the operating member 30 in the slide groove 51 along the extension direction of the main shaft 11 until it reaches the receiving position. The meshing teeth of this embodiment are directly formed on the housing 50 and the clamping member 70, and are directly driven by the driving member 40. There is no need to set up a structure to drive the clamping member 70 to rotate, nor is there any need to provide an additional driving force, and there is no need to switch the control structure, so that the structural function integration of the end effector is higher, the structures are efficiently coordinated, and the control efficiency of the operating member 30 is effectively improved.

[0048] According to some embodiments of the present application, the frame 10 is formed with a limit ring 13 surrounding the main shaft 11, and the limit ring 13 is slidably matched with the moving block 60 in the circumferential direction to limit the movement of the moving block 60 along the extension direction of the main shaft 11; the limit ring 13 is formed with an avoidance groove 131 open along the extension direction of the main shaft 11, and the avoidance groove 131 is suitable for accommodating a portion of the driving member 40 so as to be suitable for the portion of the driving member 40 to be connected to one of the multiple moving blocks 60 and pass along the extension direction of the main shaft 11. In this embodiment, the movable block 60 is limited along the extension direction of the main shaft 11 by the limiting ring 13, and the limiting ring 13 is provided with an avoidance groove 131 to provide a channel for releasing the movable block 60, and at the same time, part of the driving member 40 is accommodated in the avoidance groove 131; when the shell 50 drives any one of the movable blocks 60 to rotate to be opposite to the avoidance groove 131, the movable block 60 is no longer restricted by the limiting ring 13 in the extension direction of the main shaft 11, and is directly opposite to the driving member 40 in the extension direction of the main shaft 11. The driving member 40 can drive the movable block 60 to move along the extension direction of the main shaft 11 to drive the operating member 30 to switch from the accommodation position to the operating position.

[0049] In some embodiments, Figure 1 , Figure 2 As shown, the moving block 60 is formed with a recess, and the limiting ring 13 is constructed as a convex portion protruding from the surface of the shell 50, and the recess and the convex portion cooperate to realize a sliding connection between the moving block 60 and the limiting ring 13; when the shell 50 rotates, the moving block 60 is driven by the shell 50 to move relative to the limiting ring 13 along the circumference of the limiting ring 13.

[0050] It should be noted that when the moving block 60 rotates relative to the limiting ring 13, each operating member 30 is located at a receiving position. Figure 1 When the operating end 31 of any operating member 30 is at least partially aligned with the extending direction of the optical axis of the camera 20, the position of the operating member 30 is the operating position, such as Figure 3 shown.

[0051] According to some embodiments of the present application, a connecting portion 431 is formed at the end of the driving member 40, and the connecting portion 431 can be selectively received in the avoidance groove 131, and the connecting portion 431 and the moving block 60 are matched and connected in the avoidance groove 131. In this embodiment, the driving member 40 is formed with a connecting portion 431 and the connecting portion 431 is received in the avoidance groove 131; when the housing 50 drives any one of the moving blocks 60 to rotate to be opposite to the avoidance groove 131, it is directly opposite to the driving member 40 in the extension direction of the main shaft 11 and is directly connected to the connecting portion 431 of the driving member 40, and the driving member 40 can drive the moving block 60 to move along the extension direction of the main shaft 11 to drive the operating member 30 to switch from the receiving position to the operating position. The driving member 40 and the moving block 60 of this embodiment can be matched and connected in the avoidance groove 131. Compared with the driving member 40 and the moving block 60 being directly abutted or connected through other structures, this embodiment can ensure the stability of the drive on the basis of a simplified structure.

[0052] In some embodiments, the connecting portion 431 is configured to cooperate with the recess of the moving block 60. The connecting portion 431 can fill the avoidance groove 131 to form a complete annular assembly in combination with the limiting ring 13. The moving block 60 can rotate arbitrarily in the annular assembly and naturally connect with the connecting portion 431 in the avoidance groove 131. At the same time, when the connecting portion 431 is connected to the moving block 60, the moving block 60 can be limited along the extension direction of the main shaft 11, so that the moving block 60 and the operating member 30 can only move along the extension direction of the main shaft 11 under the driving action of the driving member 40, thereby ensuring the stability and control efficiency of the position switching of the operating member 30.

[0053] Furthermore, if Figure 4 As shown, the limiting ring 13 is formed with an installation groove connected to the avoidance groove 131, and the installation grooves are arranged on both sides of the avoidance groove 131. The limiting bearings 45 are installed in the installation grooves, and the limiting bearings 45 abut against the connecting portion 431 to limit at least part of the driving member 40 from rotating relative to the main shaft 11. At the same time, when part of the driving member 40 passes through the avoidance groove 131, the limiting bearings 45 can reduce the friction between the driving member 40 and the avoidance groove 131, so that the process of the driving member 40 driving the operating member 30 is smoother.

[0054] According to some embodiments of the present application, the driving member 40 includes: a driving body 41, a movable base 42 and a push rod 43, the driving body 41 is arranged on the frame 10; the movable base 42 is threadedly matched with the driving body 41 and the movable base 42 is connected to the frame 10 in a circumferential upper limit position, and the movable base 42 is suitable for moving in the axial direction of the frame 10 under the drive of the driving body 41; the push rod 43 is arranged on the movable base 42 and is suitable for moving with the movable base 42, and the connecting part 431 is arranged on the push rod 43.

[0055] In this embodiment, if Figure 6As shown, the driving member 40 includes a driving body 41, a movable base 42 and a push rod 43. The driving body 41 is formed with a rotating shell that rotates relative to the main shaft 11. The surface of the rotating shell is formed with threads. The movable base 42 is threadedly connected with the rotating shell. The push rod 43 is arranged on the movable base 42 and moves synchronously with the movable base 42. The end of the push rod 43 close to the operation point forms a connecting portion 431. The limiting bearing 45 abuts on both sides of the connecting portion 431. Further, when the push rod 43 moves through the avoidance groove 131 along the extension direction of the main shaft 11, the limiting bearing 45 abuts on both sides of the push rod 43 to limit the rotation of the push rod 43 and the movable base 42 relative to the main shaft 11. When the driving body 41 is working, the rotating shell rotates, and the movable base 42 and the push rod 43 move along the extension direction of the main shaft 11 under the drive of the rotating shell and the limit of the limiting bearing 45 to drive the operation member 30 to move. In some embodiments, the driving body is configured as a driving motor.

[0056] In some embodiments, Figure 6 As shown, the movable base 42 is formed with a through slot 422 extending in two directions, the through slot 422 is formed with a first slot open toward the moving block 60 and a second slot open toward the radial outside of the main shaft 11, and the first slot is connected to the second slot; the push rod 43 is arranged in the first slot, and the limit lever 44 is rotatably arranged in the second slot, and part of the limit lever 44 extends into the barrel slot and part of it extends out of the through slot 422. Figure 7 , Figure 8 As shown, the end of the limit lever 44 located in the barrel groove forms a limit block 441, and the push rod 43 forms a limit groove 432 that matches the limit block 441. When the limit block 441 and the limit groove 432 cooperate, the push rod 43 is fixedly connected to the movable base 42. When the limit block 441 is separated from the limit groove 432, the push rod 43 and the movable base 42 are relatively free. Further, the matching surface of the limit groove 432 and the limit block 441 is constructed as an arc with the rotation axis of the limit lever 44 as the center, so that the limit block 441 and the limit groove 432 can be matched and separated. The push rod 43 of this embodiment is detachably connected to the movable base 42, which is convenient for the removal and replacement of the push rod 43.

[0057] According to some embodiments of the present application, at least two structures of the operating member 30 are configured as mutually cooperating clamping jaws 32, and the push rod 43 and the avoidance groove 131 are provided with a plurality of one-to-one corresponding clamping jaws 32 so as to be suitable for synchronously driving the clamping jaws 32 to switch between the receiving position and the operating position.

[0058] In this embodiment, if Figure 3 As shown, the two clamping jaws 32 of the operating member 30 are configured to cooperate with each other, so as to complete some clamping operations that require the cooperation of the two operating members 30. In actual application, the two clamping jaws 32 need to switch between the receiving position and the operating position synchronously, so the push rod 43 needs to be configured as two. Figure 6As shown, at the same time, the limit ring 13 is formed with two avoidance grooves 131 corresponding to each other. Further, the operating member 30 can be constructed as a plurality of mutually cooperating operating mechanisms, and the push rod 43 and the avoidance groove 131 need to be constructed as a plurality of one-to-one corresponding ones, so as to complete more types of operations. It should be noted that if the push rod 43 is constructed as a plurality of push rods, it needs to be constructed as a structure that is easy to disassemble, so that when switching a single operating member 30, the push rod 43 will not affect the normal operation process.

[0059] In some embodiments, Figure 2 As shown, the frame 10 includes a main shaft 11, a front frame 12, a middle frame and a rear frame 14. The front frame 12, the middle frame and the rear frame 14 are arranged in sequence in a direction away from the working point. The main shaft 11 connects the front frame 12, the middle frame and the rear frame 14 and is arranged at the center of the front frame 12, the middle frame and the rear frame 14. The limiting ring 13 is constructed as an annular part of the outer periphery of the middle frame, the housing 50 and the second driving member are arranged between the front frame 12 and the middle frame, and the driving body 41 of the driving member 40 is arranged between the middle frame and the rear frame 14. Figure 2 The main body of the middle frame is not shown. The frame 10 of this embodiment cooperates with other structures in space to achieve assembly, thereby improving space utilization and the integration of the end effector.

[0060] Furthermore, the end effector further includes a power module and a control module, and the power module and the control module are arranged on the frame 10, thereby improving the integration degree of the end effector.

[0061] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0062] In the description of the present invention, "first feature" or "second feature" may include one or more of the features.

[0063] In the description of the present invention, "plurality" means two or more.

[0064] In the description of the present invention, a first feature being “on” or “under” a second feature may include that the first and second features are directly in contact with each other, or may include that the first and second features are not in direct contact with each other but are in contact with each other via another feature therebetween.

[0065] In the description of the present invention, “on”, “over” and “above” a first feature from a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0066] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0067] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An end effector, characterized in that: include: A frame, wherein a camera is arranged on the frame; An operating member, wherein the operating member is provided with an operating end for operation, and the operating member is movably arranged on the frame so as to be suitable for switching between an operating position and a storage position, and when the operating member is in the operating position, at least a part of the operating end is directly opposite to the camera in the extending direction of the optical axis of the camera; in The operating member is configured to be a plurality of members disposed on the frame, and at least one of the operating members can be selectively moved to the operating position.

2. The end effector according to claim 1, characterized in that: The frame is formed with a main axis, and the extension direction of the main axis is parallel to or coincides with the optical axis direction of the camera; the operating member is suitable for translating along the extension direction of the main axis on the frame and can be selectively rotated relative to the frame to switch between an operating position and a storage position, and the rotation axis of the operating member is perpendicular to the axis of the main axis.

3. The end effector according to claim 2, characterized in that: Also includes: A moving block, the moving block is movably arranged on the frame along the extension direction of the main shaft, and the moving block is arranged in a plurality of pieces corresponding to the operating members one by one; The clamping member is rotatably arranged on the moving block, the rotation axis of the clamping member rotating relative to the moving block is perpendicular to the axis of the main shaft, and the operating member is arranged on the clamping member and is suitable for moving with the clamping member.

4. The end effector according to claim 3, characterized in that: Also includes: A driving member is arranged on the frame, and the driving member can selectively face at least one of the plurality of moving blocks in a direction parallel to the extension direction of the main axis and is suitable for driving the operating member to move along the extension direction of the main axis.

5. The end effector according to claim 4, characterized in that: Also includes: A shell, wherein the shell is rotatably arranged on the frame, and the shell is formed with a slide groove extending in the same direction as the main shaft, and the slide groove is constructed to be a plurality of slide grooves corresponding to the moving blocks one by one, and the plurality of slide grooves are arranged at circumferential intervals in the shell; the moving block is suitable for sliding in the slide groove relative to the frame along the extension direction of the main shaft; and the moving block is suitable for rotating with the shell relative to the frame to drive any one of the operating members to face the driving member parallel to the extension direction of the main shaft.

6. The end effector according to claim 5, characterized in that: The clamping member is formed with a matching surface surrounding the rotation axis of the clamping member, the matching surface is formed with a first tooth portion parallel to the rotation axis of the clamping member, and the housing is formed with a second tooth portion suitable for meshing with the first tooth portion.

7. The end effector according to claim 6, characterized in that: The frame is formed with a limit ring surrounding the main shaft, and the limit ring is slidably matched with the moving block in the circumferential direction to limit the movement of the moving block along the extension direction of the main shaft; the limit ring is formed with an avoidance groove open along the extension direction of the main shaft, and the avoidance groove is suitable for accommodating a part of the driving member so as to be suitable for the part of the driving member to be connected to one of the multiple moving blocks and pass along the extension direction of the main shaft.

8. The end effector according to claim 7, characterized in that: A connecting portion is formed at the end of the driving member, and the connecting portion can be selectively received in the avoidance groove, and the connecting portion and the moving block are cooperatively connected in the avoidance groove.

9. The end effector according to claim 8, characterized in that: The driving member comprises: A driving body, wherein the driving body is arranged on the frame; A movable base, the movable base is threadedly matched with the driving body and the movable base is connected to the frame in a circumferential upper limit position, and the movable base is suitable for moving in the axial direction of the frame under the drive of the driving body; A push rod is arranged on the movable base and is suitable for moving with the movable base, and the connecting part is arranged on the push rod.

10. The end effector according to claim 9, characterized in that: At least two of the operating members are configured as mutually cooperating clamping jaws, and the push rod and the avoidance groove are provided with a plurality of clamping jaws corresponding one to one to the clamping jaws so as to be suitable for synchronously driving the clamping jaws to switch between the receiving position and the operating position.

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