Moving arm assembly used for being sleeved with protective sleeve and robot system

Abstract

The invention relates to a moving arm assembly used for being sleeved with a protective sleeve and a robot system.The moving arm assembly comprises a moving arm, the moving arm comprises a plurality of arm bodies connected in sequence and at least one track section arranged on each arm body and arranged in the extending direction of a main body of the arm body, and the arm bodies are configured to be of an adjustable structure; at least one track section of part or all of the arm bodies is in butt joint in sequence to form at least one continuous track; the at least one sleeving device comprises at least one sleeving assembly and a protective sleeve connected with the sleeving assembly, and the sleeving assembly is used for keeping the protective sleeve and is configured to be coupled with the at least one track section on the at least one arm body, so that the sleeving device moves along the corresponding continuous track; therefore, the protective sleeve is sleeved on part or all of the arm body of the moving arm.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a motion arm assembly and robot system for attaching a protective cover. Background Technology

[0002] In the field of human-machine collaboration or automated operation of robotics, especially in the application environment of surgical robots with aseptic requirements, it is often necessary to use sterile protective sleeves to physically isolate the non-sterile parts of the robot from the operating area.

[0003] However, the installation of protective covers currently relies mainly on manual operation. This method has the disadvantages of low installation efficiency, high operation complexity, and the risk of introducing contamination or causing the protective cover to fail to seal during the installation process. It is difficult to meet the stringent requirements of high efficiency and sterility in modern medical surgery. Summary of the Invention

[0004] The purpose of this application is to provide a motion arm assembly and robotic system for attaching protective sleeves, which significantly improves aseptic assurance, surgical efficiency and operational standardization through an automated installation process, while reducing the risk of contamination and operational difficulty caused by human factors.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a motion arm assembly for applying a protective sleeve, comprising: a motion arm, and at least one application device; The motion arm includes a plurality of arm bodies connected in sequence and at least one track segment disposed on each arm body. The track segment extends along the main body of the arm body. The plurality of arm bodies are configured to be able to adjust their configuration so that the track segments of some or all of the arm bodies are connected in sequence to form at least one continuous track. The sleeve device includes at least one sleeve component and a protective sleeve connected to the sleeve component. The sleeve component is used to hold the protective sleeve, and the sleeve component is coupled to at least one track segment on the arm body so that the sleeve device can move along a corresponding continuous track, thereby sleeve the protective sleeve on part or all of the arm body of the motion arm.

[0006] In an optional embodiment, the at least one sleeve assembly includes a proximal sleeve assembly, which is disposed corresponding to a proximal arm among the plurality of arm bodies, and the proximal sleeve assembly is configured to move to the proximal arm body to sleeve the protective sleeve on the moving arm.

[0007] In an optional embodiment, the at least one sleeve component further includes at least one other sleeve component, which is configured to correspond to the other arm bodies among the plurality of arm bodies except for the proximal arm body; The at least one other sleeve component is configured to move in coordination with the proximal sleeve component onto its respective arm.

[0008] In an optional implementation, the sleeve component includes: Main base, the main base being configured to couple with the track segment for movement on the track segment; and A retaining arm is disposed on the main base and is formed as at least part of a ring structure for retaining the protective sleeve to pass through the moving arm.

[0009] In an optional embodiment, the main base includes a base body and a track segment coupling portion disposed on the base body. The track segment coupling portion is used to couple with the track segment to drive the base body to move on the track segment.

[0010] In an optional embodiment, the track segment joint includes at least one track segment drive wheel and at least one track segment limiting wheel, and the track segment includes at least one track segment drive surface and at least one track segment limiting surface, with the track segment limiting surface disposed on the opposite side or opposite side of the track segment drive surface. The track segment drive wheel is configured to engage with the track segment drive surface to drive the main base to move along the track segment, and the track segment limiting wheel is configured to engage with the track segment limiting surface to prevent the main base from detaching from the track segment.

[0011] In an optional embodiment, the track segment further includes a longitudinal beam projecting outward from the arm body and a crossbeam disposed on the longitudinal beam, the crossbeam including a first surface serving as the driving surface of the track segment and a second surface serving as the limiting surface of the track segment; The track segment joint also includes a pair of upper mounting arms extending upward from the base body, with an upward-opening track receiving space formed between the upper mounting arms for accommodating the crossbeam; The track segment drive wheel is rotatably mounted between the pair of upper mounting arms and located on one side of the track receiving space; the pair of track segment limit wheels are rotatably mounted on the pair of upper mounting arms and located on the other side of the track receiving space.

[0012] In an optional embodiment, the main base further includes a retaining arm coupling portion disposed on the base body for coupling with the retaining arm, so that the retaining arm can rotate relative to the base body about the center of the annular structure.

[0013] In an optional embodiment, the retaining arm engagement includes at least one retaining arm drive wheel and at least one retaining arm limit wheel; The retaining arm includes at least one retaining arm driving surface and at least one retaining arm limiting surface, the retaining arm driving surface and the retaining arm limiting surface being configured to extend in the circumferential direction of the annular structure, and the retaining arm limiting surface being located on the opposite side or opposite side of the retaining arm driving surface; The retaining arm drive wheel engages with the retaining arm drive surface to drive the retaining arm to rotate relative to the base body; The retaining arm limiting wheel engages with the retaining arm limiting surface to prevent the retaining arm from detaching from the main base.

[0014] In an optional embodiment, the retaining arm further includes a first horizontal arm, a second horizontal arm opposite to the first horizontal arm, and a base receiving space located between the first horizontal arm and the second horizontal arm and opening upward on the first horizontal arm. The first cross arm includes a first surface that serves as the retaining arm limiting surface, and the second cross arm includes a second surface that serves as the retaining arm driving surface; The base receiving space is used to accommodate the retaining arm joint of the main base; The retaining arm joint also includes a pair of lower mounting arms extending downward from the base body, the retaining arm drive wheel being rotatably mounted between the lower mounting arms, and a pair of retaining arm limit wheels being rotatably mounted on both sides of the lower mounting arms.

[0015] In an optional embodiment, the sleeve assembly further includes at least one auxiliary base movably connected to the main base, the auxiliary base being configured to couple with the track segment to follow the main base along the track segment.

[0016] In an optional embodiment, the sleeve assembly further includes at least one movable connecting part for movably connecting the auxiliary base to the main base; The at least one connection includes at least one of a universal joint, a ball joint, or a hinge joint.

[0017] In an optional embodiment, the main base is configured to engage with the track segment on the inside, the retaining arm is disposed on the outside of the main base, and the inner surface of the protective sleeve is held on the outer peripheral surface of the annular structure.

[0018] In an optional embodiment, the sleeve device is provided with a positioning unit; The motion arm also includes a positioning sensing unit for sensing positioning information provided by the positioning unit; The motion arm is also configured to control the movement of the plurality of arms based on the positioning information, so as to adjust the position and posture of the distal arm among the plurality of arms, thereby matching the distal arm with the sleeve device.

[0019] In a second aspect, the present invention also provides a robot system, comprising: a trolley, and at least one motion arm assembly for applying a protective cover according to any one of the foregoing embodiments, wherein the motion arm of the motion arm assembly is disposed on the trolley.

[0020] The motion arm assembly and robot system for applying protective covers in this invention can achieve a synergistic effect of full-process automation and aseptic protection, fundamentally eliminating the risk of contamination introduced by manual installation.

[0021] It achieves precise docking and fitting between the device and the motion arm, maximizing the efficiency of surgical preparation.

[0022] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the motion arm assembly in this application; Figure 2 This is a schematic diagram of the structure of the motion arm in this application; Figure 3A This is a schematic diagram of the structure of the component used in this application; Figure 3B This is a BB-direction sectional view of the component being fitted in this application; Figure 4A This is a schematic diagram of the structure of the track segment joint in this application; Figure 4B This is a schematic diagram of another form of track segment joint in this application; Figure 5A This is a schematic diagram of another form of the sleeve component in this application; Figure 5B A CC-direction sectional view of another form of the sleeve component in this application; Figure 6 This is a schematic diagram of the structure of other forms of sleeve devices in this application; Figure 7 This is a cross-sectional view of other forms of sleeve devices in this application; Figure 8 This is a cross-sectional view of the motion arm assembly in this application; Figure 9 This is a schematic diagram of another form of the motion arm assembly in this application; Figure 10 This is a schematic diagram of the robot system in this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "coupling," and "combination" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] In the description of this application, the term "position" refers to the location of an object or part of an object in three-dimensional space (e.g., three translational degrees of freedom can be described using variations in Cartesian X, Y, and Z coordinates, such as three translational degrees of freedom along the Cartesian X, Y, and Z axes, respectively). The term "attitude" refers to the rotational setting of an object or part of an object (e.g., three rotational degrees of freedom, which can be described using roll, pitch, and yaw). The term "pose" refers to a combination of the position and attitude of an object or part of an object, which can be described, for example, using six parameters of the six degrees of freedom mentioned above.

[0029] The end closer to the user (e.g., a surgeon) is defined as the proximal end, proximal or rear end, or posterior end, and the end opposite to the proximal end, proximal or rear end, or posterior end is defined as the distal end, distal or anterior end, or anterior end. Alternatively, the end closer to the associated party (e.g., a surgical patient) is defined as the distal end, distal or anterior end, or anterior end, and the end opposite to the distal end, distal or anterior end, or anterior end is defined as the proximal end, proximal or rear end, or posterior end. Those skilled in the art will understand that embodiments of this application can be used in medical devices or surgical robots, as well as other non-medical devices.

[0030] The pose of a portion of the motion arm (e.g., the end effector of the motion arm) refers to the pose of the coordinate system defined by that portion of the motion arm relative to a reference coordinate system (e.g., the coordinate system defined by the trolley on which the motion arm is located, or the world coordinate system). In this application, the configuration of the motion arm can be represented by a set of joint values ​​(e.g., a one-dimensional matrix composed of these joint values) of the multiple joints included in the motion arm when the motion arm is in that configuration. The joint values ​​indicate the angle of rotation of the corresponding joint relative to the corresponding joint axis or the distance moved relative to the initial position.

[0031] Figure 1 A schematic diagram of the structure of a motion arm assembly 10 according to some embodiments of this application is shown. For example... Figure 1 As shown, the motion arm assembly 10 may include a motion arm 100 and at least one sleeve device 300. In this application, the motion arm assembly can use the sleeve device to sleeve a protective sleeve on the motion arm, thereby isolating at least a portion of the non-sterile structure of the motion arm and the sleeve device from the external sterile area, and the motion arm can move to perform operations while the protective sleeve is on.

[0032] like Figure 1 As shown, the motion arm 100 may include a plurality of arm bodies 110 connected in sequence and at least one track segment 130 disposed on each arm body 110 and arranged along the main extension direction of the arm body 110. The plurality of arm bodies 110 are configured to be adjustable so that at least one track segment 130 on some or all of the arm bodies 110 is sequentially mated to form at least one continuous track 150. At least one sleeve device 300 is used to move along the corresponding at least one continuous track 150 to sleeve a protective sleeve 305 onto the motion arm 100.

[0033] In some embodiments, the sleeve device 300 may include at least one sleeve assembly 310 and a protective sleeve 305 connected to the sleeve assembly 310. The sleeve assembly 310 is used to hold the protective sleeve 305 and is configured to couple with at least one track segment 130 on at least one arm body 110 so that the sleeve device 300 moves along a corresponding continuous track 150 to sleeve the protective sleeve 305 on part or all of the arm body of the motion arm 100.

[0034] Figure 2 The diagram illustrates the structure of a motion arm 100 according to some embodiments of this application. In this application, the motion arm 100 may be a motion arm mounted on a fixed or movable base, such as a trolley mounted on a robotic system (e.g., a robot). Figure 10 The motion arm 100 is shown on the trolley 90. In some embodiments, the motion arm 100 can be detachably connected to an end-effector at its distal end to drive the end-effector to perform a procedure. The end-effector may be, for example, a surgical instrument for performing a surgical procedure. In some embodiments, the motion arm 100 may include a multi-degree-of-freedom motion arm consisting of a plurality of arm bodies 110 sequentially connected by a plurality of joints. A track segment 130 is provided on the arm body 110 of the motion arm 100, and the track segment 130 may extend axially along the arm body 110. In some embodiments, the motion arm 100 is configured such that some or all of the arm bodies 110 can move to at least one suit configuration, such that some or all of the track segments 130 are sequentially connected to form at least one continuous track, for example... Figure 1 The diagram shows all track segments 130 (e.g.) Figure 2 The complete continuous track 150 is formed by connecting the track segments 131-135 as shown in sequence, or Figure 2 The diagram shows a portion of track segment 130 (e.g., Figure 2 The track segments 134 and 135 shown are connected sequentially to form a local continuous track 151. It should be understood that the kit configuration of the motion arm can be predetermined by the kinematic model of the motion arm. The kinematic model of the motion arm can be determined based on the arm body structure (e.g., the external dimensions of the arm body), the track segment structure (e.g., the size and distribution of the track segments), etc. The kinematic model and kit configuration of the motion arm can be pre-stored in the memory.

[0035] In some embodiments, such as Figure 2 As shown, the plurality of arm bodies 110 of the motion arm 100 may include a proximal arm body 111 located at its proximal end. The proximal end of the proximal arm body 111 may be fixed to the base 120, or the proximal arm body 111 may be rotatably connected to the base 120 via a rotary joint, so that the proximal arm body 111 can rotate relative to the base 120 about a rotation axis of a first rotary joint (e.g., an axis perpendicular to the horizontal plane). In some embodiments, such as Figure 2 As shown, the plurality of arm bodies 110 of the motion arm 100 may further include at least one other arm body besides the proximal arm body 111, such as intermediate arm bodies 112, 113, 114, and 115, which are sequentially rotatably connected at the proximal and distal ends via rotary joints. In some embodiments, a drive device may be provided at the end of the distal arm body 114, for example... Figure 2The drive unit 116 shown is used to mount and drive an end-effector (not shown). In some embodiments, the drive unit 116 can be connected to the end-effector via an adapter (not shown) that serves as a sterile barrier to deliver drive to the end-effector. For example, the drive unit 116 can be configured such that its distal end is connected to the proximal end of the adapter, and the proximal end of the end-effector is connected to the distal end of the adapter, delivering drive to the end-effector through a transmission structure within the adapter to control the end-effector to bend, roll, or perform operations, etc.

[0036] In some embodiments, the motion arm 100 further includes a track segment 130 disposed on each arm body 110. For example... Figure 2 As shown, the track segment 130 may include a track segment 131 disposed on the proximal arm 111, a track segment 132 disposed on the intermediate arm 112, a track segment 133 disposed on the intermediate arm 113, a track segment 134 disposed on the intermediate arm 114, and a track segment 135 disposed on the distal arm 115. In some embodiments, the track segment 130 may be formed in a shape substantially parallel to the axis of each arm 110, for example, in a shape substantially the same as the outer shape of the arm 110. It should be understood that the track segment is not limited to the above-described shape, and any track segment that can be sequentially connected to form a continuous track, either partially or entirely, under the sleeve configuration of the motion arm is not outside the scope of this application. For example, the track segment 130 may also be formed along the outer periphery of the arm 110 as, for example, a cylindrical thread with the axis of the arm 110 as the center line.

[0037] In some embodiments, a track segment 130 may be provided on each arm body 110 to form a continuous track 150 in the sleeve configuration of the motion arm 100, such as Figure 1 As shown. It should be understood that the arrangement of the track segments 130 is not limited to the above. In some embodiments, multiple track segments 130 distributed circumferentially may be provided on each arm body 110, so that the moving arm 100 can form multiple complete continuous tracks 150 in the sleeve configuration, allowing multiple sleeve devices 300 to move along their respective corresponding continuous tracks 150, as will be described later. In some embodiments, a different number of track segments 130 may be provided on each arm body 110, allowing the moving arm 100 to realize multiple sleeve configurations. For example, the moving arm 100 may be configured to have multiple track segments 135 (e.g., two track segments 135) circumferentially provided on the end arm body 115, and a track segment 134 formed on the intermediate arm body 114 adjacent to the end arm body 115, so that the moving arm 100 can form continuous tracks 151 in at least two sleeve configurations.

[0038] It should be understood that, although Figure 1A joint-embedded motion arm 100 is shown, with track segments 130 disposed on arm bodies 110 sequentially connected via the embedded joints. The motion arm 100 is not limited to the structure described above; any motion arm capable of moving to form a continuous track is within the scope of this application. For example, the motion arm 100 may also include at least one exposed joint for connecting the arm bodies 110. The exposed joint may have an external structure substantially continuous with both sides of the arm bodies 110. At least one track segment 130 may include at least one arm body track segment disposed on the arm body 110 and at least one joint track segment disposed on the joint. The motion arm 100 can be configured such that at least one arm body track segment and at least one joint track segment are sequentially connected to form at least one continuous track 150.

[0039] In some embodiments, the sleeve device 300 may include at least one sleeve assembly 310. The sleeve assembly 310 is configured to couple with a track segment 130 on the arm 110 to move along a continuous track and stop on one of the plurality of arms 110, thereby sleeved the protective sleeve 305 on at least a portion of the motion arm 100. Figure 3A This diagram illustrates the structure of the sleeve assembly 310 according to some embodiments of this application. Figure 3B A cross-sectional view along the BB direction of a sleeve assembly 310 according to some embodiments of this application is shown. Figure 3A and Figure 3B As shown, the sleeve assembly 310 may include a main base 3101 and a retaining arm 3103 disposed on the main base 3101. The main base 3101 is configured to couple with the track segment 130 for movement on the track segment 130. The retaining arm 3103 is formed as at least a portion of an annular structure A. The annular structure A is used to retain the protective sleeve 305 for passage of the moving arm 100. In this application, the annular structure A is shaped to allow passage of the arm body 110. In some embodiments, the arm body 110 of the moving arm 100 may be a circular or square cross-section, and the annular structure A may be formed to conform to the cross-sectional shape of the arm body 110, for example, a circular or square annular shape with a diameter or side length greater than the cross-section of the arm body 110.

[0040] In some embodiments, such as Figure 3A As shown, the main base 3101 can be configured to engage with the track section 130 on its inner side, and the retaining arm 3103 is disposed on the outer side of the main base 3101. The inner surface of the protective sleeve 305 can be retained on the outer peripheral surface of the annular structure A. Thus, after the protective sleeve 305 is fitted, the arm body 110 and the fitting device 300 are both located inside the protective sleeve 305, thereby preventing contamination of the sterile area located outside the protective sleeve 305. In some embodiments, the inner surface of the protective sleeve 305 can be fixed to the outer peripheral surface of the retaining arm 3103 by means of adhesive bonding, heat fusion bonding, Velcro, or magnetic attraction.

[0041] In some embodiments, such as Figure 3A and Figure 3B As shown, the main base 3101 may include a base body 3104 and a track segment coupling portion 3105 disposed on the base body 3104. The track segment coupling portion 3105 is used to couple with the track segment 130 to drive the base body 3104 to move on the track segment 130. In some embodiments, the main base 3101 may be configured to be able to move actively on the track segment 130 to drive the retaining arm 3103 and the protective sleeve 305 to move along the track segment 130.

[0042] In some embodiments, the track segment joint 3105 may include at least one track segment drive wheel (e.g. Figure 3A and Figure 3B The track segment drive wheel 31051 is shown. The track segment drive wheel can be a driving wheel connected to a drive unit (not shown, e.g., a motor) to rotate under the drive of the drive unit. Track segment 130 may include at least one track segment drive surface (e.g., Figure 3A and Figure 3B The first surface 13001 of the crossbeam 1302 is shown. With the main base 3101 coupled to the track segment 130 via the track segment coupling 3105, the track segment drive wheel is configured to engage (e.g., abut) with the track segment drive surface to drive the main base 3101 on the track segment 130. In some embodiments, the outer peripheral surface of the track segment drive wheel and the track segment drive surface may be formed as non-smooth surfaces with a high coefficient of friction to increase the friction between them, thereby stably driving the main base 3101 to move on the track segment 130. In other embodiments, the outer peripheral surface of the track segment drive wheel and the track segment drive surface may also be formed as toothed surfaces, thereby enabling stable driving of the main base 3101 on the track segment 130 through mutual meshing.

[0043] In some embodiments, the track segment joint 3105 may further include at least one track segment limiting wheel (e.g., Figure 3A and Figure 3B The track segment limiting wheel 31052 is shown. The track segment limiting wheel can be a passively rotating wheel. The track segment 130 may also include at least one track segment limiting surface located on the opposite or opposite side of the track segment driving surface (e.g., Figure 3A and Figure 3B The second surface 13002 of the crossbeam 1302 shown. When the track segment joint 3105 is coupled to the track segment 130, the track segment limiting wheel is configured to engage with the track segment limiting surface to prevent the main base 3101 from detaching from the track segment 130.

[0044] In some embodiments, the track segment 130 may be configured to project outwards from the arm 110, and the main base 3101 of the sleeve assembly 310 may surround the track segment 130 from the outside. For example... Figure 3A and Figure 3B As shown, the track segment 130 also includes a longitudinal beam 1301 protruding outward from the arm body 110 and a crossbeam 1302 disposed on the longitudinal beam 1301. The crossbeam 1302 may include a first surface 13001 (e.g., the lower surface of the crossbeam 1302 shown in the figure) serving as the track segment driving surface and a second surface 13002 (e.g., the upper surface of the crossbeam 1302 shown in the figure) serving as the track segment limiting surface. The track segment joint 3105 also includes a pair of upper mounting arms 31050 extending upward from the base body 3104 and a track receiving space 31055 located between the pair of upper mounting arms 31050 and opening upward, the track receiving space 31055 being used to receive the crossbeam 1302 of the track segment 130. In some embodiments, the track segment drive wheel 31051 is rotatably disposed between a pair of upper mounting arms 31050 on a first side (e.g., the inner side of the track receiving space 31055) of the track receiving space 31055, and a pair of track segment limiting wheels 31052 are rotatably disposed on a pair of upper mounting arms 31050 on a second side (e.g., the outer side of the track receiving space 31055).

[0045] It should be understood that the track segment joint is not limited to the structure described above. Any track segment joint that can engage with the track segment to drive the main base to move along the track segment is within the scope of this application. For example, the track segment joint may also include multiple rows of track segment drive wheels and / or track segment limiting wheels distributed axially. Alternatively, the track segment limiting wheels may include at least one first track segment limiting wheel (e.g., for example, for engaging with the track segment drive wheel 31051 to prevent the main base 3101 from disengaging radially from the track segment 130). Figure 3A and Figure 3B In addition to the track segment limiting wheel 31052 shown, the track segment 130 may also include at least one second track segment limiting wheel for preventing the main base 3101 from detaching from the track segment in the circumferential direction. The track segment 130, besides the first track segment limiting surface (e.g., for engaging with the first track segment limiting wheel), may also include at least one second track segment limiting wheel. Figure 3A and Figure 3B In addition to the second surface 13002 of the crossbeam 1302 shown, a second track segment limiting surface may also be included for engaging with the second track segment limiting wheel. The second track segment limiting surface may, for example, be a surface perpendicular to the first track segment limiting surface. Alternatively, the track segment engagement may not include the track segment limiting wheel, but instead include multiple track segment drive wheels configured to cooperate with each other to limit the position of the main base and to rotate collaboratively to drive the main base to move on the track segment. Figure 4A This diagram shows a structural schematic of the track segment joint 3105 according to some embodiments of this application. Figure 4B A schematic diagram of the structure of the track segment joint 3105 according to other embodiments of this application is shown. In some embodiments, such as Figure 4A and Figure 4B As shown, the track segment 130 can also be formed as a recess from the arm body 110 inwards, including a receiving space for accommodating the track segment joint 3105. The track segment joint 3105 can be configured to be inserted into the receiving space of the track segment 130 to engage with the track segment 130. For example, as Figure 4A and Figure 4B As shown, the track segment joint 3105 may include at least one track segment drive wheel 31051 and at least one track segment limiting wheel 31052. The track segment 130 may include a first surface 13001 as at least one track segment drive surface and a second surface 13002 as at least one track segment limiting surface located on the opposite or opposite side of the track segment drive surface. The track segment drive wheel 31051 is configured to engage with the track segment drive surface to drive the main base 3101 to move along the track segment 130. The track segment limiting wheel 31052 is configured to engage with the track segment limiting surface to prevent the main base 3101 from disengaging from the track segment 130. In some embodiments, such as... Figure 4A and Figure 4B As shown, the track segment joint 3105 also includes one or more upper mounting arms 31050 extending upward from the base body 3104. The upper mounting arms 31050 are used to insert into the receiving space of the track segment 130. The track segment drive wheel 31051 and the track segment limit wheel 31052 are respectively rotatably mounted on the upper mounting arms 31050.

[0046] In some embodiments, the retaining arm 3103 may be movably disposed on the main base 3101 to rotate relative to the main base 3101. Figure 5A This diagram illustrates the structure of the sleeve assembly 310 according to other embodiments of this application. Figure 5B A CC-direction cross-sectional view of a sleeve assembly 310 according to some embodiments of this application is shown. In some embodiments, such as Figure 5A and Figure 5B As shown, the main base 3101 may also include a retaining arm coupling portion 3106, which is disposed on the base body 3104 and is used to couple with the retaining arm 3103 so that the retaining arm 3103 can rotate relative to the base body 3014 around the center P of the annular structure A.

[0047] In some embodiments, the retaining arm 3103 may be configured to rotate actively relative to the main base 3101. For example, the retaining arm engagement 3106 may include at least one drive element, such as at least one retaining arm drive wheel, to drive the retaining arm 3103 to rotate actively relative to the main base 3101. By adjusting the rotation of the retaining arm 3103 relative to the main base 3101, the tension of the protective sleeve can be relieved during the sleeve application stage or the movement stage of the moving arm after the protective sleeve has been applied, thereby preventing the protective sleeve 305 from being pulled or even wrapped.

[0048] In some embodiments, the retaining arm joint 3106 can be configured to adjust the rotation angle of the retaining arm 3103 based on the roll angle of the arm body 110 corresponding to the sleeve assembly 310. For example, a joint sensor connected to the arm body 110 can detect the joint value, and the retaining arm joint 3106 can adjust the rotation angle of the retaining arm 3103 in the opposite direction based on the joint value of the corresponding joint, thereby reducing the tension in the protective sleeve 305. Alternatively, a tension sensor for detecting the protective sleeve 305 can be provided on the retaining arm 3103. The retaining arm joint 3106 can adjust the rotation angle of the retaining arm 3103 based on the detection value of the tension sensor. A stress sensor can be provided, for example, on the outer peripheral surface of the retaining arm 3103.

[0049] In some embodiments, the retaining arm engagement 3106 may include at least one retaining arm drive wheel (e.g. Figure 5A and Figure 5B The retaining arm drive wheel 31061 is shown. The retaining arm drive wheel can be a drive wheel connected to a drive unit (not shown, e.g., a motor) to rotate under the drive of the drive unit. The retaining arm 3103 may include at least one retaining arm drive surface (e.g., Figure 5A and Figure 5B The retaining arm 3103 has a second surface 31032, and the retaining arm drive surface is configured to extend circumferentially in the annular structure A. With the main base 3101 coupled to the retaining arm 3103 via the retaining arm engagement 3106, the retaining arm drive wheel is configured to engage (e.g., abut) with the retaining arm drive surface to drive the retaining arm 3103 to rotate relative to the main base 3101. In some embodiments, the outer peripheral surface of the retaining arm drive wheel and the retaining arm drive surface may be formed as non-smooth surfaces with a high coefficient of friction to increase the friction between them, thereby stably driving the retaining arm 3103 to rotate relative to the main base 3101. In other embodiments, the outer peripheral surface of the retaining arm drive wheel and the retaining drive surface may also be formed as toothed surfaces, thereby enabling stable driving of the retaining arm 3103 to rotate relative to the main base 3101 through mutual meshing.

[0050] In some embodiments, the retaining arm connection 3106 may further include at least one retaining arm limiting wheel (e.g., 5A and 5A). Figure 5B The retaining arm limiting wheel 31062 is shown. The retaining arm limiting wheel can be a passively rotating wheel. The retaining arm 3103 may also include at least one retaining arm limiting surface (e.g., Figure 5A and Figure 5B The first surface 31031 of the retaining arm 3103 shown is located on the opposite side or opposite side of the retaining arm driving surface, and is configured to extend circumferentially in the annular structure A. When the main base 3101 is coupled to the retaining arm 3103 through the retaining arm engagement 3106, the retaining arm limiting wheel is configured to engage with the retaining arm limiting surface to prevent the retaining arm 3103 from disengaging from the main base 3101.

[0051] In some embodiments, the retaining arm 3103 may be formed to be recessed inward to receive and engage the retaining arm engagement portion 3106. In some embodiments, such as Figure 5B As shown, the retaining arm 3103 may further include a first horizontal arm 31033, a second horizontal arm 31034 opposite to the first horizontal arm 31033, and a base receiving space 31035 located between the first horizontal arm 31033 and the second horizontal arm 31034 and opening upward on the first horizontal arm 31033. The first horizontal arm 31033 includes a first surface 31031 (e.g., the lower surface of the first horizontal arm 31033 shown in the figure) which serves as a retaining arm limiting surface, and the second horizontal arm 31034 includes a second surface (e.g., the upper surface of the second horizontal arm 31034 shown in the figure) which serves as a retaining arm driving surface. The base receiving space 31035 is used to receive the retaining arm connecting portion 3106 of the main base 3101. In some embodiments, the retaining arm connection 3106 may further include a pair of lower mounting arms 31060 extending downward from the base body 3104, a retaining arm drive wheel 31061 rotatably disposed between the pair of lower mounting arms 31060, and a pair of retaining arm limiting wheels 31062 rotatably disposed on both sides of the pair of lower mounting arms 31060.

[0052] It should be understood that the retaining arm joint 3106 and retaining arm 3103 are not limited to the structures described above, and any retaining arm joint that allows the retaining arm to rotate relative to the base body is within the scope of this application. Those skilled in the art will understand that the retaining arm joint 3106 and retaining arm 3103 can also be formed with a structure similar to that of the track segment joint 3105 and track segment 130. In some embodiments, the retaining arm 3103 can also be configured to passively rotate relative to the main base 3101. For example, the retaining arm joint 3106 may include at least one retaining arm limiting wheel, but not a retaining arm drive wheel, to allow the retaining arm 3103 to rotate freely relative to the main base 3101. When the protective sleeve 305 is tensioned due to rotation between the multiple arm bodies 110, the retaining arm 3103 can be rotated in the opposite direction relative to the main base 3101 by at least one retaining arm limiting wheel to relieve the tension in the protective sleeve 305.

[0053] In some embodiments, such as Figure 3B (and Figure 7 As shown, the sleeve assembly 310 may further include at least one auxiliary base 3102 movably connected to the main base 3101. The auxiliary base 3102 is configured to couple with the track segment 130 to follow the main base 3101 as it moves along the track segment 130. In some embodiments, the auxiliary base 3102 may be movably connected to the distal end of the main base 3101, or the auxiliary base 3102 may be located on both sides of the main base 3101. The auxiliary base 3102 may have a structure similar to that of the main base 3101, including a base body and a track segment engagement portion for engaging with the track segment 130. In some embodiments, the track segment engagement portion of the auxiliary base 3102 may include at least one track segment limiting wheel for engaging with the track segment 130 to roll along the track segment 130. Alternatively, the track segment engagement portion of the auxiliary base 3102 may also include at least one track segment drive wheel for driving the movement of the auxiliary base 3102. In some embodiments, the sleeve assembly 310 may further include at least one movable connecting portion 3109 for movably connecting the auxiliary base 3102 and the main base 3101. The at least one movable connecting portion 3109 may include at least one of a universal joint, a ball joint, or a hinge joint. The auxiliary base 3102 can be used to stabilize the movement of the main base 3101 on the track segment 130 and prevent the main base 3101 from tilting. Furthermore, by providing the auxiliary base 3102, the sleeve assembly 310 can better adapt to the shape of the continuous track 150, avoiding sluggish movement of the sleeve assembly 310 at bends and undulations in the continuous track 150.

[0054] In some embodiments, at least one sleeve component 310 may include one or more sleeve components. For example, such as Figure 1 and Figure 2As shown, at least one sleeve assembly 310 may include a proximal sleeve assembly 311 corresponding to a proximal arm body 111 among a plurality of arm bodies 110. The proximal sleeve assembly 311 is configured to move to the proximal arm body 111 to sleeve the protective sleeve 305 onto the motion arm 100. In some embodiments, the proximal sleeve assembly 311 may include at least a portion of the protective sleeve 305, such as an opening in the protective sleeve 305. Figure 1 As shown. The proximal sleeve assembly 311 may have, for example... Figures 3A to 5B The structure is similar to that of the set component 310 shown.

[0055] In some embodiments, at least one sleeve assembly 310 may further include at least one other sleeve assembly corresponding to the other arms of the plurality of arms 110 other than the proximal arm 111, the at least one other sleeve assembly being configured to move in coordination with the proximal sleeve assembly 311 onto their respective corresponding arms. Figure 6 This diagram shows a structural schematic of the sleeve device 300' according to other embodiments of this application. Figure 7 A cross-sectional view of the sleeve device 300' according to other embodiments of this application is shown. For example... Figure 6 and Figure 7 As shown, in addition to the proximal sleeve assembly 311, the sleeve device 300' may also include multiple other sleeve assemblies, such as four other sleeve assemblies. These other sleeve assemblies may be sleeve assemblies corresponding to other arms among the plurality of arms 110 besides the proximal arm 111. For example, as... Figure 2 , Figure 6 and Figure 7 As shown, other sleeve components may include other sleeve components 312 corresponding to intermediate arm body 112, other sleeve components 313 corresponding to intermediate arm body 113, other sleeve components 314 corresponding to intermediate arm body 114, and other sleeve components 315 corresponding to distal arm body 115. In some embodiments, other sleeve components may have a similar structure to proximal sleeve component 311, for example... Figures 3A to 5B The combination of the sleeve assembly 310 is shown. Multiple other sleeve assemblies can be configured to hold the middle portion of the protective sleeve to move in coordination with the proximal sleeve assembly 311 onto their respective arm bodies to sleeve the protective sleeve 305 onto the motion arm 100. For example, as... Figure 7 As shown, the protective sleeve 305 can be redundantly held between the sleeve components. As Figure 6As shown, multiple sleeve components 310 can move together from the proximal end of the motion arm 100 and stop one by one on the corresponding arm body 110. For example, the sleeve device 300' can be configured to make multiple sleeve components 310 move in coordination, so that other sleeve components 315, other sleeve components 314, other sleeve components 313, other sleeve components 312, and proximal sleeve component 311 stop sequentially on the distal arm body 115, the intermediate arm body 114, the intermediate arm body 113, the intermediate arm body 112, and the proximal arm body 111, thereby achieving the coverage of the protective sleeve 305 on the entire motion arm 100.

[0056] It should be understood that the sleeve device 300' is not limited to the structure described above. In some embodiments, the sleeve device 300' may also include a number of sleeve components that are less than or greater than the number of arm bodies. For example, the sleeve device 300' may also include only a proximal sleeve component 311 and an intermediate sleeve component 315. In some embodiments, the main bases of the other sleeve components may all be main bases capable of active movement on a continuous track, or some of the main bases of the other sleeve components may be formed as passive main bases that require traction from other sleeve components to move.

[0057] Figure 8 A cross-sectional view of a motion arm assembly 20 according to some embodiments of this application is shown. In some implementations, such as Figure 8 As shown, in the motion arm assembly 20, each arm body 110 may be provided with two track segments 130a and 130b distributed circumferentially and extending axially. Multiple arm bodies are configured to be adjustable so that track segments 130a and 130b are sequentially connected to form corresponding continuous tracks. The motion arm assembly 20 also includes two fitting devices 300a and 300b. Fitting devices 300a and 300b may have, for example... Figure 1 The sleeve device 300 shown or Figure 6 The sleeve 300' shown has a similar structure. In some embodiments, sleeve devices 300a and 300b can cooperate with each other to move synchronously on a continuous track formed by multiple track segments 130a and a continuous track formed by multiple track segments 130b, respectively, to sleeve the protective sleeve 305 onto the moving arm 100. It should be understood that the moving arm assembly is not limited to the structure described above. In some embodiments, multiple track segments distributed circumferentially may be provided on each arm body, such as three, four, or more track segments. The moving arm assembly may include a corresponding number of sleeve devices, such as three, four, or more sleeve devices, to collaboratively perform the sleeve sleeve application operation.

[0058] In some embodiments, the fitting device and the motion arm in the motion arm assembly can be separate from each other. The fitting device can be mounted on a workbench (e.g., an operating table) or a wall, and the motion arm can be mounted on a mobile station, for example. The motion arm can control the movement of multiple arm bodies based on the pose of the fitting device to mate the distal arm body with the fitting device. In this application, the mate of the distal arm body with the fitting device refers to the alignment of the track segment on the distal arm body with the proximal fitting assembly (e.g., the fitting device on the fitting device) on the fitting device. Figure 1 , Figure 6 or Figure 7 The track segment joint of the proximal sleeve assembly 311 shown is aligned to allow the sleeve device to move along the track segment.

[0059] Figure 9 A schematic diagram of the structure of a motion arm assembly 30 according to some embodiments of this application is shown. For example... Figure 9 As shown, the motion arm assembly 30 can have the same characteristics as... Figure 1 The shown motion arm assembly 10 or Figure 8 The structure is similar to that of the shown motion arm assembly 20. In some embodiments, a positioning unit 301 may be provided on the sleeve device 300 of the motion arm assembly 30, and the motion arm 100 may further include a positioning sensing unit 101, which is used to sense positioning information provided by the positioning unit 301 on the sleeve device 300. In some embodiments, the motion arm 100 is further configured to control the movement of a plurality of arm bodies 110 based on the positioning information to adjust the distal arm body (e.g., ...) among the plurality of arm bodies 110. Figure 2 The position of the distal arm 115 shown is such that the distal arm matches the sleeve device 300.

[0060] In some embodiments, the positioning unit may be mounted on the retaining arm of at least one of the fitting components in the fitting device 300, for example, it may be mounted on the proximal fitting component (e.g., Figure 1 , Figure 6 or Figure 7 The positioning unit is mounted on the retaining arm of the proximal fitting assembly 311 shown to provide positioning information associated with the pose of the fitting device 300. The positioning unit may include at least one of acoustic positioning units, electromagnetic positioning units, and optical positioning units, etc., and the positioning information may include at least one of acoustic positioning information, electromagnetic positioning information, and optical positioning information, etc. The positioning sensing unit may be mounted on at least one arm body 110 of the motion arm 100, for example, it may be mounted on the distal arm body (e.g., Figure 2 On the distal arm 115 shown, positioning information provided by the positioning unit 301 mounted on the sleeve device 300 is sensed. In some embodiments, the positioning information can be sensed by the positioning sensing unit through signal sensing and / or image acquisition. The positioning sensing unit may include at least one of an acoustic wave detection unit, a magnetic field detection unit, and an optical signal detection unit, etc.

[0061] In some embodiments, the positioning unit may include at least one positioning tag, such as an ArUco identifier. The positioning sensing unit may include at least one image acquisition device for acquiring positioning images of the fitting device. The image acquisition device may include, but is not limited to, a dual-lens image acquisition device or a single-lens image acquisition device, such as a monocular camera, a binocular camera, a monocular structured light camera, a binocular structured light camera, a TOF (Time of Flight) camera, etc. Depending on the application environment, the image acquisition device may be a camera, an industrial camera, etc. In some embodiments, the image acquisition device may realize at least one of visible light band imaging, infrared band imaging, etc. Depending on the type of image acquired, those skilled in the art may select different image acquisition devices as image acquisition devices.

[0062] In some embodiments, the motion arm 100 is further configured to determine the pose of at least a portion of the fitting device 300 based on positioning information. For example, the control device of the motion arm 100 may be connected to a positioning sensing unit to perform image processing based on positioning images of at least a portion of the fitting device 300 captured by an image acquisition device to determine the pose of at least a portion of the fitting device 300.

[0063] In some embodiments, the motion arm 100 may also be configured to control the movement of a plurality of arm bodies 110 to adjust to the sleeve configuration after receiving the sleeve device 300, thereby connecting the track segments 130 on the arm body 110 in sequence to form a continuous track 150.

[0064] This application also provides a robot system. Figure 10 A schematic diagram of a robot system 1 according to some embodiments of this application is shown. Figure 10 As shown, the robot system 1 may include a trolley 90 and at least one motion arm assembly 10, wherein the motion arm of the at least one motion arm assembly 10 (e.g., Figure 1 , Figure 2 , Figure 6 or Figure 9 The motion arm 100 shown is mounted on the trolley 90. In some embodiments, at least one motion arm assembly 10 may include, for example, any one of the motion arm assemblies 10, 20, and 30 described above.

[0065] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0066] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A motion arm assembly for attaching a protective sleeve, characterized in that, include: A mobile arm, and at least one sleeve device; The motion arm includes a plurality of arm bodies connected in sequence and at least one track segment disposed on each arm body. The track segment extends along the main body of the arm body. The plurality of arm bodies are configured to be able to adjust their configuration so that the track segments of some or all of the arm bodies are connected in sequence to form at least one continuous track. The sleeve device includes at least one sleeve component and a protective sleeve connected to the sleeve component. The sleeve component is used to hold the protective sleeve, and the sleeve component is coupled to at least one track segment on the arm body so that the sleeve device can move along a corresponding continuous track, thereby sleeve the protective sleeve on part or all of the arm body of the motion arm.

2. The motion arm assembly for attaching a protective sleeve according to claim 1, characterized in that, The at least one sleeve assembly includes a proximal sleeve assembly, which is disposed corresponding to the proximal arm body among the plurality of arm bodies. The proximal sleeve assembly is configured to move to the proximal arm body to sleeve the protective sleeve on the moving arm.

3. The motion arm assembly for attaching a protective sleeve according to claim 2, characterized in that, The at least one sleeve component also includes at least one other sleeve component, which is configured to correspond to the other arm bodies among the plurality of arm bodies except for the proximal arm body; The at least one other sleeve component is configured to move in coordination with the proximal sleeve component onto its respective arm.

4. The motion arm assembly for attaching a protective sleeve according to claim 2, characterized in that, The sleeve component includes: Main base, the main base being configured to couple with the track segment for movement on the track segment; and A retaining arm is disposed on the main base and is formed as at least part of a ring structure for retaining the protective sleeve to pass through the moving arm.

5. The motion arm assembly for attaching a protective sleeve according to claim 4, characterized in that, The main base includes a base body and a track segment coupling portion disposed on the base body. The track segment coupling portion is used to couple with the track segment to drive the base body to move on the track segment.

6. The motion arm assembly for attaching a protective sleeve according to claim 5, characterized in that, The track segment joint includes at least one track segment drive wheel and at least one track segment limiting wheel. The track segment includes at least one track segment drive surface and at least one track segment limiting surface. The track segment limiting surface is disposed on the opposite side or opposite side of the track segment drive surface. The track segment drive wheel is configured to engage with the track segment drive surface to drive the main base to move along the track segment, and the track segment limiting wheel is configured to engage with the track segment limiting surface to prevent the main base from detaching from the track segment.

7. The motion arm assembly for attaching a protective sleeve according to claim 6, characterized in that, The track segment also includes a longitudinal beam protruding outward from the arm body and a crossbeam disposed on the longitudinal beam. The crossbeam includes a first surface that serves as the driving surface of the track segment and a second surface that serves as the limiting surface of the track segment. The track segment joint also includes a pair of upper mounting arms extending upward from the base body, with an upward-opening track receiving space formed between the upper mounting arms for accommodating the crossbeam; The track segment drive wheel is rotatably mounted between the pair of upper mounting arms and located on one side of the track receiving space; the pair of track segment limit wheels are rotatably mounted on the pair of upper mounting arms and located on the other side of the track receiving space.

8. The motion arm assembly for attaching a protective sleeve according to claim 5, characterized in that, The main base also includes a retaining arm coupling portion, which is disposed on the base body and used to couple with the retaining arm so that the retaining arm can rotate relative to the base body around the center of the annular structure.

9. The motion arm assembly for attaching a protective sleeve according to claim 8, characterized in that, The retaining arm connection includes at least one retaining arm drive wheel and at least one retaining arm limit wheel; The retaining arm includes at least one retaining arm driving surface and at least one retaining arm limiting surface, the retaining arm driving surface and the retaining arm limiting surface being configured to extend in the circumferential direction of the annular structure, and the retaining arm limiting surface being located on the opposite side or opposite side of the retaining arm driving surface; The retaining arm drive wheel engages with the retaining arm drive surface to drive the retaining arm to rotate relative to the base body; The retaining arm limiting wheel engages with the retaining arm limiting surface to prevent the retaining arm from detaching from the main base.

10. The motion arm assembly for attaching a protective sleeve according to claim 9, characterized in that, The retaining arm also includes a first horizontal arm, a second horizontal arm opposite to the first horizontal arm, and a base receiving space located between the first horizontal arm and the second horizontal arm and opening upward on the first horizontal arm; The first cross arm includes a first surface that serves as the retaining arm limiting surface, and the second cross arm includes a second surface that serves as the retaining arm driving surface; The base receiving space is used to accommodate the retaining arm joint of the main base; The retaining arm joint also includes a pair of lower mounting arms extending downward from the base body, the retaining arm drive wheel being rotatably mounted between the lower mounting arms, and a pair of retaining arm limit wheels being rotatably mounted on both sides of the lower mounting arms.

11. The motion arm assembly for attaching a protective sleeve according to claim 4, characterized in that, The sleeve assembly further includes at least one auxiliary base, which is movably connected to the main base and configured to couple with the track segment to follow the main base along the track segment.

12. The motion arm assembly for attaching a protective sleeve according to claim 11, characterized in that, The sleeve assembly further includes at least one movable connecting part for movably connecting the auxiliary base to the main base; The at least one movable connection includes at least one of a universal joint, a ball joint, or a hinge joint.

13. The motion arm assembly for attaching a protective sleeve according to any one of claims 4-12, characterized in that, The main base is configured to engage with the track section on the inner side, the retaining arm is disposed on the outer side of the main base, and the inner surface of the protective sleeve is maintained on the outer peripheral surface of the annular structure.

14. The motion arm assembly for attaching a protective sleeve according to claim 1, characterized in that, The sleeve device is equipped with a positioning unit; The motion arm also includes a positioning sensing unit for sensing positioning information provided by the positioning unit; The motion arm is also configured to control the movement of the plurality of arms based on the positioning information, so as to adjust the position and posture of the distal arm among the plurality of arms, thereby matching the distal arm with the sleeve device.

15. A robot system, characterized in that, include: A trolley, and at least one motion arm assembly for applying a protective sleeve according to any one of claims 1 to 14, wherein the motion arm of the motion arm assembly is disposed on the trolley.

Images