end effector

Abstract

The application discloses an end effector, comprising: a rack and an operating member, the rack is provided with a camera; the operating member is provided with an operating end for operation, and the operating member is movably arranged on the rack to be adapted to switch between an operating position and a storage position, at least part of the operating end is opposite to the camera in the optical axis extension direction of the camera when the operating member is in the operating position; wherein the operating member is configured as a plurality of operating members arranged on the rack, and at least one of the operating members is selectively moved to the operating position. The end effector can accurately position the operation point of the operating end, improve the accuracy of surgical navigation, and quickly switch different operating members to realize different surgical operations, improve the efficiency of replacing the operating member, and improve the smoothness of the operation.

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 related technologies, the connection between robotics and the medical field is becoming increasingly close. 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 precision, bringing better treatment results to patients. However, in the surgical robots commonly used in 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. During the actual operation, 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 provide an end effector that coaxially arranges a camera and the operating end of the end effector, effectively avoiding additional errors caused by calibration and improving the accuracy of surgical navigation. It also integrates multiple operating parts to perform different surgical operations, and can use a simple mechanical mechanism to achieve automatic switching between 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 provided on the frame; the operating member is provided with an operating end for operation, and the operating member is movably provided 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 opposite to the camera in the extension direction of the optical axis of the camera; wherein the operating member is constructed to be arranged in plurality 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 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 can be moved between the storage position and the operating position, which can realize rapid switching of different operating parts to realize different surgical operations, thereby improving the efficiency of replacing 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 a plurality of ways corresponding to the operating members; the clamping member is rotatably arranged on the moving block, and 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 further 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 set on the frame, the shell is formed with a slide groove extending in the same direction as the main shaft, the slide groove is constructed into 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 engaging 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 circumferentially slidably matched with the moving block 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 accommodated 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 the frame; the movable base is threadedly engaged 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 multiple one-to-one corresponding to the 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 set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by 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 readily understood from the description of the embodiments with reference to 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 mating state of a partial structure of an end effector when moving according to some embodiments of the present invention;

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

[0022] Figure 6 is a schematic structural diagram 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 2 is a 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; tail 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] The following describes embodiments of the present invention in detail. 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 intended only to explain the present invention and are not to be construed as limiting the present invention.

[0034] Reference below Figures 1-8 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 can also be applied to any automated device that needs to perform 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 provided on the frame 10; the operating member 30 is provided with an operating end 31 for operation, and the operating member 30 is movably provided on the frame 10 so as to be suitable for switching between an operating position and a storage position. When the operating member 30 is in the operating position, at least a portion 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, at least one of which 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 perform specialized surgical operations. The operating ends 31 of multiple operating members 30 can be different to perform different types of surgical operations. When the operating member 30 is in the operating position, at least a portion of the operating end 31 is aligned with the camera 20 in the direction of the extension of the camera 20's optical axis. This ensures that the operating point of the operating end 31 is aligned with the center of the camera 20. The center of the camera 20 image is the operating point of the operating member 30. This eliminates the need to establish an imaging coordinate system for the camera 20 based on the imaging center for hand-eye calibration, and eliminates the need to perform matrix transformation of the operating point in the imaging coordinate system. This avoids calibration errors, ensures accurate positioning of the operating point of the operating end 31, and improves the accuracy of surgical navigation. In addition, the present application provides multiple operating members 30, each of which is movable between a storage position and an operating position. This allows for rapid switching between different operating members 30 to perform different surgical operations, improves the efficiency of replacing operating members 30, and enhances the smoothness of the surgery.

[0037] It should be noted that in the aforementioned end effector of the present application, the surgical operation performed by the operating member 30 is primarily 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. Changing the operating point requires the entire end effector to move. Therefore, 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, eliminating the need for hand-eye calibration throughout the entire operation.

[0038] According to the end effector of the present application, since at least a portion of the operating end 31 is directly opposite 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 can be moved between a storage position and an 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, the extension direction of the main shaft 11 being parallel to or coinciding with the optical axis direction of the camera 20; the operating member 30 is adapted to translate on the frame 10 along the extension direction of the main shaft 11 and selectively rotate relative to the frame 10 to switch between an operating position and a 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 switch between the storage position and the operating position, and because the optical axis extension direction of the camera 20 is directly opposite to the working point, the displacement of the operating member 30 is minimized 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, enabling the operating end 31 to rotate directly toward the working point, thereby facilitating movement 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 disposed on the frame 10 along the extension direction of the main shaft 11, and a plurality of moving blocks 60 are provided, one corresponding to each operating member 30. The clamping member 70 is rotatably disposed on the moving block 60, and the rotation axis of the clamping member 70 relative to the moving block 60 is perpendicular to the axis of the main shaft 11. The operating member 30 is disposed on the clamping member 70 and is adapted to move with the clamping member 70. In this embodiment, the clamping member 70 can achieve the installation and fixation of the operating member 30. The clamping member 70 is disposed on the moving block 60, so that the moving block 60 can drive the operating member 30 to switch between the storage position and the operating position. 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 aligned with the optical axis of the camera 20. The combination of the moving block 60 and the clamping member 70 can achieve translation and rotation of the operating member 30 relative to the frame 10, resulting in a simple structure and easy operation.

[0041] According to some embodiments of the present application, the end effector further includes: a driving member 40, which 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 storage position and the operating position. In this embodiment, by providing a driving member 40 to 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 into a plurality of slide grooves corresponding one to one to the moving block 60, 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 to face the driving member 40 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 circumference, and the slide grooves 51 correspond one-to-one to the moving block 60, so that multiple 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 multiple 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, on the one hand, enable multiple operating members 30 to translate and change their positions along the extension direction of the main shaft 11, and on the other hand, enable multiple operating members 30 to rotate 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. The second driving member can be disposed inside the housing 50 and connected to the housing 50. Furthermore, the second driving member is configured as a drive motor.

[0046] Furthermore, in some embodiments, the bottom of the moving block 60 faces the bottom of the chute 51. A pulley is provided at the bottom of the moving block 60 to support the sliding connection between the moving block 60 and the chute 51 and reduce the friction between the moving block 60 and the chute 51, thereby making the switching of the operating member 30 between the storage position and the operating position smoother. 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 is formed on the mating surface parallel to the rotation axis of the clamping member 70, and the housing 50 is formed with a second tooth portion 52 adapted to engage 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 provided on the housing 50 near the operating point, i.e., at the end of the one-way travel of the moving block 60 relative to the housing 50. When the driving member 40 drives the operating member 30 to move toward the operating position, the moving block 60 moves in the slide groove 51 along the extension direction of the main shaft 11. When it moves close to the operating point, the first tooth portion 71 of the clamping member 70 engages 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 with the moving block 60 under the action of the meshing force, causing the operating end 31 of the operating member 30 to approach and move 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 operating position, and the driving member 40 completes the one-way driving work. When the driver 40 drives the operating member 30 to move toward the storage position, the driver 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 of the moving block 60, causing the operating member 30 to rotate to prevent the operating end 31 from colliding with the housing 50. As the driver 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 along the extension direction of the main shaft 11 in the slide groove 51 until it reaches the storage 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 driver 40. There is no need for a separate structure to drive the clamping member 70 to rotate, nor is there a need to provide additional driving force, and there is no need for a switching control structure. This makes the structural and functional integration of the end effector higher, the structures work together efficiently, 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 circumferentially slidably matched with the moving block 60 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 moving block 60 is limited along the extension direction of the main shaft 11 by the limiting ring 13, and the limiting ring 13 opens an avoidance groove 131 to provide a channel for releasing the moving 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 moving blocks 60 to rotate relative to the avoidance groove 131, the moving 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 moving 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, as 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. 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 in a receiving position. Figure 1 When the operating end 31 of any operating member 30 is at least partially aligned with the direction in which the optical axis of the camera 20 extends, the operating member 30 is positioned in the operating position, as shown 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 accommodated in the avoidance groove 131, and the connecting portion 431 and the moving block 60 are cooperatively 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 accommodated 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. 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 accommodation position to the operating position. The driving member 40 and the moving block 60 of this embodiment can be cooperatively 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 mate 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 freely within 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 mounting grooves that communicate with the avoidance groove 131. The mounting grooves are provided on both sides of the avoidance groove 131. The limiting bearings 45 are installed in the mounting grooves. The limiting bearings 45 abut the connecting portion 431 to limit the rotation of at least part of the driving member 40 relative to the main shaft 11. At the same time, when the driving member 40 partially passes through the avoidance groove 131, the limiting bearings 45 can reduce friction between the driving member 40 and the avoidance groove 131, making the process of the driving member 40 driving the operating member 30 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 engaged 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, and the movable base 42 is threadedly connected to the rotating shell. The push rod 43 is disposed on the movable base 42 and moves synchronously with the movable base 42. The end of the push rod 43 near the operating point forms a connecting portion 431, and a limiting bearing 45 abuts both sides of the connecting portion 431. Furthermore, when the push rod 43 moves along the extension direction of the main shaft 11 through the avoidance groove 131, the limiting bearing 45 abuts 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 in operation, 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, thereby driving the movement of the operating member 30. In some embodiments, the driving body is configured as a drive motor.

[0056] In some embodiments, as 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 movable block 60 and a second slot open toward the radially outer side of the main shaft 11. The first slot is connected to the second slot. The push rod 43 is disposed in the first slot. The limit lever 44 is rotatably disposed in the second slot. Part of the limit lever 44 extends into the barrel slot and part extends out of the through slot 422. Figure 7 、 Figure 8 As shown, the end of the limit lever 44 located within the barrel groove forms a limit block 441, and the push rod 43 forms a limit groove 432 that cooperates with 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 disengaged from the limit groove 432, the push rod 43 and the movable base 42 are relatively free. Furthermore, the mating surface between the limit groove 432 and the limit block 441 is configured as an arc centered on the rotation axis of the limit lever 44, so that the limit block 441 and the limit groove 432 can be easily engaged and disengaged. In this embodiment, the push rod 43 is detachably connected to the movable base 42, facilitating 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 multiple corresponding one-to-one with the clamping jaws 32 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 storage position and the operating position in a synchronized manner, so the push rod 43 needs to be constructed as two, such as Figure 6As shown, the retaining ring 13 is also formed with two corresponding avoidance grooves 131. Furthermore, the operating member 30 can be configured as multiple cooperating operating mechanisms. In this case, the push rods 43 and avoidance grooves 131 should be configured to correspond to each other in a one-to-one manner to facilitate a wider variety of operations. It should be noted that if multiple push rods 43 are configured, they should be easily disassembled so that switching between individual operating members 30 does not affect normal operation.

[0059] In some embodiments, as Figure 2 As shown, the frame 10 includes a main shaft 11, a front frame 12, a middle frame, and a tail frame 14. The front frame 12, the middle frame, and the tail frame 14 are arranged in sequence away from the working point. The main shaft 11 connects the front frame 12, the middle frame, and the tail frame 14 and is arranged at the center of the front frame 12, the middle frame, and the tail frame 14. The limiting ring 13 is constructed as an annular portion on 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. The driving body 41 of the driving member 40 is arranged between the middle frame and the tail frame 14. Figure 2 The main body of the middle frame is not shown. The frame 10 of this embodiment is spatially coordinated with other structures 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, which are arranged on the frame 10, thereby improving the integration 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 to 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, rather than indicating or implying that the device or element referred to 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 the first and second features being in direct contact with each other, or the first and second features not being in direct contact with each other but being in contact with each other via another feature therebetween.

[0065] In the description of the present invention, “on”, “above” and “above” a first feature of a second feature include 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] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0067] While 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 invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. An end effector, characterized in that: include: A frame, wherein a camera is provided on the frame; an operating member having an operating end for operation, and movably disposed on the frame so as to be switchable between an operating position and a storage position, wherein when the operating member is in the operating position, at least a portion of the operating end faces the camera in the direction in which the optical axis of the camera extends; in The operating member is configured to be arranged on the frame in a plurality of ways, at least one of which is selectively movable to the operating position; the frame is formed with a main shaft, the extension direction of the main shaft being parallel to or coincident with the optical axis direction of the camera; the operating member is adapted to translate on the frame along the extension direction of the main shaft and selectively rotate 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 shaft; a moving block, the moving block being movably disposed on the frame along the extension direction of the main shaft, and the moving block being provided in a plurality corresponding one-to-one to the operating members; a clamping member rotatably disposed on the moving block, wherein a 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 disposed on the clamping member and is adapted to move with the clamping member; A driving member is provided 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 shaft and is suitable for driving the operating member to move along the extension direction of the main shaft.

2. The end effector according to claim 1, characterized in that: Also includes: 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. The slide groove is constructed into 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.

3. The end effector according to claim 2, 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.

4. The end effector according to claim 3, 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.

5. The end effector according to claim 4, characterized in that: A connecting portion is formed at the end of the driving member. The connecting portion can be selectively accommodated in the avoidance groove. The connecting portion and the moving block are cooperatively connected in the avoidance groove.

6. The end effector according to claim 5, characterized in that: The driving member includes: A driving body, wherein the driving body is arranged on the frame; a movable base, the movable base being threadably engaged with the driving body and being connected to the frame in a circumferential upper limit position, the movable base being adapted to move 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.

7. The end effector according to claim 6, characterized in that: At least two of the operating members are constructed as mutually cooperating clamping jaws, and the push rod and the avoidance groove are provided with a plurality of clamping jaws corresponding to each other 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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