Coupling method of processing assembly, processing device and medical robot

Abstract

The patent relates to the technical field of medical robot equipment, in particular to a coupling method of processing assembly, processing device and medical robot. The patent discloses a coupling method of processing assembly, which is applied to a processing device of a head end of a mechanical arm and comprises the following steps: moving the processing assembly along a circulating track from a preparation position close to a proximal end of the mechanical arm to a working position close to a distal end of the mechanical arm; and making a driver interface and couple with the processing assembly located at the working position, so that the processing assembly can carry out processing work. The patent provides a coupling method of processing assembly, which can switch the processing assembly between the preparation position and the working position along the circulating track, and can complete the automatic switching of multiple processing assemblies. The first driving mechanism of the patent can greatly reduce the overall volume of the processing device while realizing the switching function of the processing assembly, reduce the shielding, and facilitate the observation of the surgical situation by the surgical operator.

Description

Technical Field

[0001] This patent relates to the field of medical robot equipment technology, and in particular to a coupling method for processing components, a processing device, and a medical robot. Background Technology

[0002] With the rapid development of modern technology, surgical robots have begun to be widely used in the medical field to treat patients. Surgical robots typically include a surgical endpiece equipped with various surgical tools. These tools are used to perform a variety of surgical procedures on patients.

[0003] In related technologies, surgical robots typically require the use of various surgical tools to perform surgical procedures. Therefore, medical personnel often need to change the robot's surgical tools or the mounting brackets for the tools during the procedure. However, changing surgical tools in existing surgical robots is extremely inconvenient.

[0004] The need for multiple manual changes of surgical instruments increases the overall surgery time and complicates the procedure. Summary of the Invention

[0005] To solve, or at least partially solve, the above-mentioned technical problems, this patent provides a coupling method for processing components, a processing device, and a medical robot.

[0006] The first aspect of this patent discloses a coupling method for a processing component, applied to a processing device at the head end of a robotic arm, comprising the following steps:

[0007] The moving processing unit is moved along a circular track from a ready position near the proximal end of the robotic arm to a working position near the distal end of the robotic arm.

[0008] This allows the driver to interface with and couple to the processing component located at the workstation, enabling the processing component to perform processing tasks.

[0009] Optionally, in the coupling method of the processing component as described above, the processing component includes a first processing unit and a second processing unit, and the method further includes the following steps:

[0010] Prior to the step of moving the processing component, the driver is decoupled from the second processing unit located at the work station;

[0011] In the step of moving the processing component, the first processing unit and the second processing unit are moved synchronously, thereby switching the second processing unit on the workstation to the first processing unit.

[0012] Optionally, in the step of docking and coupling the driver with the processing component located at the work station in the coupling method of the processing component as described above, the driver is docked with the processing component located at the work station by moving the driver.

[0013] The second aspect of this patent discloses a processing device that can be disposed at the head end of a robotic arm, comprising:

[0014] A rotating body has a circumferential surface, around which a closed circular track is arranged, the circular track corresponding to at least one ready position near the proximal end of the robotic arm and at least one working position near the distal end of the robotic arm.

[0015] The processing component is set on the circulating track and can be moved to switch positions between the ready position and the working position.

[0016] A driver is capable of being coupled or decoupled from the processing components at the workstation;

[0017] A driver is used to drive the processing components coupled to it, thereby enabling processing operations to be performed.

[0018] Optionally, in the processing apparatus as described above, the processing component includes a first processing unit and a second processing unit;

[0019] When the processing components are moved, the first processing unit and the second processing unit can move synchronously along the loop track, thereby switching the second processing unit on the workstation to the first processing unit.

[0020] Optionally, in the processing device described above, the circulation track has multiple preparation positions, and the number of processing components in the processing assembly is the same as the total number of preparation positions and working positions, and they are set in a one-to-one correspondence.

[0021] Optionally, in the processing apparatus described above, the segments connecting adjacent preparation and working positions of the circulating track have an arc shape, and the curvature of the arc changes according to the following rule: from the position of the preparation position to the position of the working position, it first decreases from large to small, and then increases from small to large.

[0022] Optionally, in the processing apparatus described above, the rotating body is hollow, and the circulating track penetrates the circumferential surface of the rotating body;

[0023] The processing device also includes a first drive mechanism, which is connected to the processing component through the rotating body. The first drive mechanism drives the processing component to move along the circular track by rotating about the axis of the rotating body.

[0024] Optionally, in the processing apparatus described above, the first drive mechanism includes:

[0025] First motor;

[0026] A transmission component is connected to a first motor, which can drive the transmission component to rotate. The transmission component has a first linear track along the axis of the rotating body.

[0027] The connector is attached to the first linear track of the transmission component and passes through the circulation track to connect with the processing component;

[0028] When the transmission component rotates, it drives the processing component to move along the circular track through the connector, and the connector adaptably reciprocates within the first linear track.

[0029] Optionally, in the processing apparatus described above, the transmission component includes:

[0030] The first roller is connected to the first motor, and the first motor can drive the first roller to rotate.

[0031] The first linear track is a groove set on the first roller; or...

[0032] The transmission component also includes a second roller, which is sleeved inside the first roller. The first linear track is a groove and a protrusion that are fitted on the inner surface of the first roller and the outer surface of the second roller.

[0033] Optionally, in the processing apparatus described above, the circulation track further comprises:

[0034] The far end position is located at the far end of the circular track closest to the robotic arm, and is located between the ready position and the working position;

[0035] The driver is fixed in place, and the processing component is coupled to the driver as it moves from the remote position to the working position, and decoupled from the driver when it leaves the working position.

[0036] Optionally, the processing device as described above further includes a second drive mechanism, the second drive mechanism comprising:

[0037] The second linear track is set along the axis of the rotating body;

[0038] A slider is mounted on the second linear track, and a driver is connected to the slider;

[0039] The drive power source, coupled to the slider, is used to drive the slider to reciprocate along the second linear track, so as to couple or decouple the driver from the processing component.

[0040] Optionally, in the processing device as described above, the sliding member has a hollow chamber, a second linear track is connected inside the chamber, and a drive power source is located inside the chamber.

[0041] The driving power source is a second motor, and the second linear track is a lead screw; or...

[0042] The driving power source is a pneumatic piston, and the second linear track is a slide rail.

[0043] Optionally, in the processing device as described above, the second drive mechanism further includes a spring, one end of which is fixed and the other end is connected to the slider, so that the slider tends to move away from the working position;

[0044] The driving power source is an electromagnet, and a permanent magnet is installed on the sliding part. When the electromagnet is energized, it pushes the sliding part to move towards the working position.

[0045] The third aspect of this patent provides a medical robot, wherein the head end of the robotic arm of the medical robot is provided with a processing device as described in the second aspect above.

[0046] Compared to existing technologies, this invention provides a coupling method for processing components, enabling the processing components to switch between a ready position and a working position along a circular track, thus achieving automated switching of multiple tools in robots, particularly surgical robots. Correspondingly, this patent also provides a processing device applying the processing component coupling method. The first drive mechanism is equipped with a transmission component, which can drive the processing components to move along the circular track via connecting members. Furthermore, by setting multiple connecting members and corresponding ready and working positions, multiple processing components can synchronously rotate around a rotating body and switch between ready and working positions. Compared to existing technologies, the second drive mechanism can couple the actuator with the processing component at the working position to perform processing operations. While enabling the same actuator to drive different processing components, the movement of the actuator along a second linear track also creates space for the processing components to switch between the working and ready positions. Attached Figure Description

[0047] To more clearly illustrate the embodiments of this patent, the relevant drawings will be briefly described below. It should be understood that the drawings described below are only for illustrating some embodiments of this patent, and those skilled in the art can obtain many other technical features and connections not mentioned herein based on these drawings.

[0048] Figure 1 This is a three-dimensional schematic diagram of a processing device according to an embodiment of this patent;

[0049] Figure 2 This is a perspective view of a processing device with a processing component in a ready position according to an embodiment of this patent.

[0050] Figure 3 This is a perspective view of a processing device having two processing components according to an embodiment of this patent.

[0051] Figure 4This is a three-dimensional schematic diagram of a processing device in a coupled state between a driver and a processing component according to an embodiment of this patent.

[0052] Figure 5 This is a perspective view of another processing device according to an embodiment of this patent;

[0053] Figure 6 This is a cross-sectional schematic diagram of a processing device according to an embodiment of this patent;

[0054] Figure 7 This is a cross-sectional schematic diagram of the first drive mechanism of a processing device according to an embodiment of this patent.

[0055] Figure 8 This is a cross-sectional schematic diagram of the second drive mechanism of a processing device according to an embodiment of this patent.

[0056] Figure 9 This is a three-dimensional schematic diagram of the first roller of a processing device according to an embodiment of this patent.

[0057] Figure 10 This is a three-dimensional schematic diagram of a processing device with a preparation position circulation track according to an embodiment of this patent.

[0058] Figure 11 This is a three-dimensional schematic diagram of a processing device with a spring according to an embodiment of this patent.

[0059] Explanation of reference numerals in the attached figures:

[0060] A. Processing device; a. Working position; b. Ready position; c. Remote position;

[0061] 1. Rotating body; 11. Circulating track;

[0062] 2. Processing component; 21. First processing unit; 22. Second processing unit;

[0063] 3. Driver;

[0064] 4. First drive mechanism; 41. First motor; 42. Transmission component; 421. First linear track; 422. First roller; 43. Connecting component;

[0065] 5. Second drive mechanism; 51. Second linear track; 52. Sliding component; 521. Compartment body; 53. Drive power source;

[0066] 6. Spring. Detailed Implementation

[0067] The patent will now be described in detail with reference to the accompanying drawings.

[0068] In existing technologies, when disassembling and assembling surgical instruments in situ, it is necessary to manually decouple the driver and processing components, and it is difficult to visually determine whether the coupling has been decoupled. If decoupling is not performed, the connection may fail during pulling. Therefore, this invention discloses a processing device and its coupling method. Please refer to the following embodiments:

[0069] Implementation Method 1

[0070] The first embodiment of this patent discloses a processing device A and its coupling method, such as Figure 1 As shown, the processing device A can be disposed at the head end of the robotic arm, and the processing device A includes:

[0071] The rotating body 1 has a circumferential surface, and a closed circular track 11 is arranged around the circumferential surface of the rotating body 1. The circular track 11 corresponds to at least one preparatory position b near the proximal end of the robotic arm and at least one working position a near the distal end of the robotic arm.

[0072] Processing component 2 is set on the circulation track 11. Processing component 2 can be moved to switch positions between the preparation position b and the working position a.

[0073] The driver 3 is capable of being coupled or decoupled from the processing component 2 located at work position a;

[0074] It is worth noting that "coupling" generally refers to the interaction between two or more systems or components. In this embodiment, the driver 3 can act on the processing component 2 at work position a, driving the processing component 2 to perform processing tasks. "Decoupling," on the other hand, refers to the process of reducing coupling, minimizing the dependence between modules or components. Specifically, the process of decoupling the driver 3 from the processing component 2 is the process of the driver 3 moving away from the processing component 2, and the driver 3 will no longer drive the processing component 2 to perform processing tasks.

[0075] The driver 3 is used to drive the processing component 2 coupled thereto, thereby enabling processing operations to be performed.

[0076] Based on the above technical solution, in this patent embodiment, a medical robot is also proposed, wherein the head end of the robotic arm of the medical robot is provided with the aforementioned processing device A.

[0077] Accordingly, the first embodiment of this patent also proposes a coupling method for the processing component 2, applied to the processing device A at the head end of a robotic arm, comprising the following steps:

[0078] Move the processing component 2 along a circular track 11 from Figure 2 The preparatory position b, located near the proximal end of the robotic arm, is moved to... Figure 1 Workstation a, located at the far end of the robotic arm;

[0079] The driver 3 is docked and coupled to the processing component 2 located at work position a so that the processing component 2 can perform processing operations.

[0080] Processing device A can be mounted at the head end of a robotic arm. Processing device A includes a rotating body 1, a processing component 2, and a driver 3. The rotating body 1 has a circumferential surface around which a closed circular track 11 is wound. The processing component 2 is mounted on the circular track 11. The circular track 11 of the rotating body 1 has a ready position b and a working position a. The ready position b refers to the predetermined position of the processing component 2 on the circular track 11 before starting work or when not in use; this position is typically chosen as a safe position. The working position a refers to the position of the processing component 2 on the circular track 11 when performing processing work. Spatially, the ready position b is located relatively close to the robotic arm, and the working position a is located relatively far from the robotic arm.

[0081] In this embodiment, by setting a ready position b and at least one working position a, the processing component 2, which is set on the circulation track 11, can be moved and switched between the ready position b and the working position a. When the processing component 2 needs to perform a task, it can be switched to the working position a to perform the task. When no longer needed, the processing component 2 can switch from the working position a to the ready position b for standby. In other embodiments, multiple ready positions b and multiple working positions a can be set. When the processing component 2 is in the working position a, the driver 3 can be coupled or decoupled from the processing component 2, and when the driver 3 is coupled to the processing component 2, the driver 3 can drive the processing component 2 to perform the task.

[0082] Processing device A can be mounted on the head end of a robotic arm (not shown). In the specific implementation process, it is combined with... Figure 1 and Figure 2 As shown, firstly, the processing component 2 can move along the circulation track 11, and can move from the preparation position b near the proximal end of the robotic arm on the circulation track 11 to the working position a near the distal end of the robotic arm. Secondly, when the processing component 2 moves to the working position a, the driver 3 can dock and couple with the processing component 2 so that the processing component 2 can perform processing operations. With the processing device A configured as described above, the processing component 2 can be switched to the working position a along the circulation track 11 when needed, and controlled by the driver 3 to perform processing operations.

[0083] In an optional embodiment, in the step of coupling the aforementioned processing component 2 to dock and couple the driver 3 with the processing component 2 located at work position a, the driver 3 can be moved to dock with the processing component 2 located at work position a. That is, when the processing component 2 is at work position a, the driver 3 can move toward the processing component 2 to complete the docking and coupling action with the processing component 2.

[0084] Optionally, see Figures 1 to 4 As shown, the segment connecting the adjacent preparation position b and working position a of the circular track 11 has an arc shape, and the curvature of the arc changes according to the following rule: from the position of preparation position b to the position of working position a, it first decreases from large to small, and then increases from small to large.

[0085] The segments between adjacent preparation positions b and working positions a on the circulation track 11 are arc-shaped, which facilitates the smooth switching of the processing unit between preparation positions b and working positions a along the arc-shaped segments.

[0086] Furthermore, from the position of preparation station b to the position of working station a, the curvature of the arc changes according to the rule of first decreasing and then increasing. By setting a segment where the curvature of the arc-shaped track decreases, specifically, this segment can be a bend, which facilitates the rapid transfer of the processing component from its original movement path to the shortest path to working station a, thereby saving the space required for movement and contributing to the miniaturization of the equipment. Similarly, this segment where the curvature of the arc-shaped track increases can also be a bend connecting to working station a. When the processing component moves along this segment, it can smoothly reach working station a, reducing wear during the movement process.

[0087] It is worth noting that, correspondingly, the curvature of the arc changing from the position of work station a to the position of preparation station b can also follow the same rule: first decreasing in curvature, then increasing in curvature. In other words, the forward and reverse switching methods between work station a and preparation station b can be the same.

[0088] In addition, the arc segment of the above-mentioned circular track 11 can be a segment extending along the axis of the rotating body 1 on the circumference of the rotating body 1. In other embodiments, it can also be a segment extending along the radially protruding part of the rotating body 1. Both extension methods can distinguish the working position a from the preparation position b.

[0089] Implementation Method 2

[0090] According to the first embodiment, when a single processing component 2 operates on the circulating track 11, it can automatically switch between the preparation position b and the working position a, and when in the working position a, the processing component 2 can couple with the driver 3. However, the inventors of this patent have discovered that when the processing component 2 is removed from the processing device A for maintenance, the processing device A cannot operate, and in case of an emergency, it cannot respond and handle the situation in a timely manner.

[0091] In view of this, the second embodiment of this disclosure provides a medical robot and its processing device A, as well as a coupling method for the processing component 2. The second embodiment is a further improvement upon the first embodiment, the improvement being:

[0092] See Figure 3 and Figure 4 As shown, the processing component 2 of the processing device A includes at least a first processing component 21 and a second processing component 22.

[0093] When processing component 2 is moved, the first processing component 21 and the second processing component 22 can move synchronously along the circulation track 11, thereby switching the second processing component 22 on work station a to the first processing component 21. Conversely, the first processing component 21 on the preparation station b moves along the circulation track 11 to work station a, and the second processing component 22 on work station a moves along the circulation track 11 to the preparation station a, completing the position switching of the first processing component 21 and the second processing component 22.

[0094] By setting up multiple processing units 21, processing units 21 that are in the ready position b and do not need to be processed temporarily can be disassembled for maintenance.

[0095] Accordingly, the coupling method for processing component 2 proposed in the second embodiment of this patent is improved in that the method further includes the following steps:

[0096] Prior to the step of moving the processing component 2, the driver 3 is decoupled from the second processing component 22 located at the working position a;

[0097] In the step of moving the processing component 2, the first processing component 21 and the second processing component 22 are moved synchronously, thereby switching the second processing component 22 on the work station a to the first processing component 21.

[0098] Processing component 2 includes a first processing unit 21 and a second processing unit 22. When processing component 2 is moved, the first processing unit 21 and the second processing unit 22 can move synchronously along the loop track 11. Furthermore, the coupling method of processing component 2 may further include two steps:

[0099] Before the aforementioned step of moving the processing component 2, the driver 3 is decoupled from the processing component 2 located at working position a. That is, before the processing component 2 moves from working position a to ready position b on the circulation track 11, the driver 3 first disengages from the processing component 2 before proceeding with the switch from working position a to ready position b. This prevents collisions between the driver 3 and the processing component 2 and provides space for the position switching of the processing component 2. The disengagement of the driver 3 from the processing component 2 can be achieved by the driver 3 actively disengaging from the processing component 2, or by the processing component 2 actively disengaging from the driver 3. For example, a specific docking method could be to provide a pin on the driver 3 and a slot on the processing component 2, achieving engagement between the driver 3 and the processing component 2 through the snap-fit ​​of the pin and slot. Alternatively, an electromagnet could be provided on either the driver 3 or the processing component 2, and a magnet on the other, using the attraction properties of the electromagnet to bring the two closer together, achieving attraction and alignment. Furthermore, the electromagnet can be replaced with a permanent magnet, which can be used to directly achieve adsorption and alignment, and the sufficiently large driving force provided by the driver 3 can be used to disengage the two.

[0100] In the aforementioned step of moving the processing component 2, the first processing component 21 and the second processing component 22 can be moved synchronously. When the entire processing component 2 moves along the circulation track 11, the first processing component 21 and the second processing component 22 can move synchronously along the circulation track 11. That is, when the first processing component 21 moves to the working position a of the circulation track 11, the second processing component 22 also moves to the preparation position b of the circulation track 11. Figure 3 and Figure 4 The example illustrates a scenario where the loop track 11 has two preparation positions b and one working position a. Its operating principle is as follows: the first processing unit 21, located at the first preparation position b, moves towards the working position a, while the second processing unit 22, located at the working position a, moves synchronously towards the second preparation position b. After the movement is complete, the first preparation position b becomes available, the first processing unit 21 is at the working position a, and the second processing unit 22 is at the second preparation position b.

[0101] However, it is also feasible to set only one preparation position b and one working position a. In this case, the first processing unit 21 and the second processing unit 22 can rotate around the axis of the rotating body 1 at the same angular velocity. The specific switching process of the processing component 2 is as follows: when the first processing unit 21 switches out from the working position a and rotates to the preparation position b, the second processing unit 22 rotates synchronously with the first processing unit 21 and rotates from the preparation position b to the working position a. When the first processing unit 21 rotates to the preparation position b, the second processing unit 22 simultaneously reaches the working position a, completing the switching of the processing component 2.

[0102] Furthermore, such as Figure 3 and Figure 4 As shown, the circulation track 11 of the processing device A has multiple preparation positions b. The number of processing components in the processing assembly 2 is the same as the total number of preparation positions b and working positions a, and they are arranged in a one-to-one correspondence. That is, on the circulation track 11, each preparation position b or working position a corresponds to one processing component. When the processing assembly 2 moves on the circulation track 11 and is replaced once, each processing component moves from the existing preparation position b or working position a to the next preparation position b or working position a. This arrangement allows multiple processing components to move to the next position synchronously.

[0103] Implementation Method 3

[0104] This embodiment is a further improvement based on any one of the first and second embodiments. The main improvement is that the structure of the processing device A is further improved in this embodiment.

[0105] Specifically, see Figure 5 As shown, the rotating body 1 of the processing device A in this embodiment is hollow, and the circulating track 11 penetrates the circumferential surface of the rotating body 1.

[0106] The processing device A also includes a first drive mechanism 4, which is connected to the processing component 2 through the rotating body 1. The first drive mechanism 4 drives the processing component 2 to move along the circular track 11 by rotating about the axis of the rotating body 1.

[0107] The rotating body 1 is hollow. A circulating track 11 penetrates the circumference of the rotating body 1. The outside of the rotating body 1 and the hollow portion of the rotating body 1 are connected through the circulating track 11. The processing device A also includes a first drive mechanism 4, which is connected to the processing component 2 via the circulating track 11 through the rotating body 1. The first drive mechanism 4 is capable of rotating about the axis of rotation of the rotating body 1. When the first drive mechanism 4 rotates about this axis, it drives the processing component 2 connected to it to rotate along the circulating track 11.

[0108] By using the rotating body 1 and the first drive mechanism 4 as described above, the space for installing the processing component 2 in the processing device A can be effectively saved, thus reducing the size of the processing device A at the end of the robotic arm. This avoids the processing device A obstructing the surgeon's view and reduces the risk of operational errors.

[0109] Furthermore, a circular track 11 is provided on the rotating body 1, so that when the processing component 2 is driven by the first drive mechanism 4 to rotate around the axis of the rotating body 1, it can move along the circular track 11 to achieve movement in the circumferential and axial directions of the rotating body 1, thereby realizing the switching of the processing component 2 between the preparation position b and the working position a.

[0110] This method of automatically switching the processing component 2 by moving along the circulation track 11 saves the time of manually replacing the processing component 2. Especially in cases where surgery is required using the processing device A, it can simplify surgical procedures, shorten surgical time, and reduce the risk of infection or complications.

[0111] In an optional embodiment, the circulation track 11 may also be a track protruding from the circumference of the rotating body 1, rather than penetrating the circumference of the rotating body 1. When the circulation track 11 protrudes, the processing component 2 can be engaged with the circulation track 11 and run on it. For example, the circulation track 11 may be configured as a T-shaped protrusion, the T-shaped protrusion structure having a support structure protruding relative to the circumference of the rotating body 1, and protruding structures extending vertically from both sides of the support structure, forming a track groove between the protruding structures and the circumference of the rotating body 1. The processing component 2 may be provided with a fitting structure that engages with the track groove, so that the processing component 2 can be stably engaged with the circulation track 11 and move along the circulation track 11.

[0112] Further, see Figure 6 As shown, the first drive mechanism 4 of the processing device A in this embodiment may include:

[0113] First motor 41;

[0114] The transmission component 42 is connected to the first motor 41, and the first motor 41 can drive the transmission component 42 to rotate. The transmission component 42 has a first linear track 421 along the axis of the rotating body 1.

[0115] The connector 43 is connected to the first linear track 421 of the transmission component 42 and passes through the circulation track 11 to connect with the processing component 2;

[0116] When the transmission component 42 rotates, it drives the processing component 2 to move along the circulating track 11 through the connector 43. The connector 43 adaptably reciprocates within the first linear track 421.

[0117] The first drive mechanism 4 may include a first motor 41, a transmission component 42, and a connecting member 43. A first linear track 421 is provided on the transmission component 42 along the axis of the rotating body 1. The transmission component 42 is drively connected to the first motor 41, and the first motor 41 can drive the transmission component 42 to rotate around its rotation axis. The rotation axis of the transmission component 42 may coincide with the rotation axis of the rotating body 1. One end of the connecting member 43 is connected to the first linear track 421, and the other end passes through the circulation track 11 and connects to the processing component 2. Specifically, a connecting post may be provided along the first linear track 421. One end of the connecting member 43 may have a connecting hole and be sleeved on the connecting post to slide along the first linear track 421. This connecting post can enhance the stability of the connection between the connecting member 43 and the transmission component 42.

[0118] In other alternative embodiments, the first linear track 421 may not have a connecting post but only a track groove, with one end of the connector 43 directly fitted into the track groove. The fitting structure of the connector 43 and the first linear track 421 is simple and easier to install.

[0119] With the first drive mechanism 4 configured as described above, the transmission component 42 drives the connecting component 43 to rotate, while the connecting component 43 drives the processing component 2 to move along the circulating track 11, thus switching the processing component 2 between the preparation position b and the working position a. Compared with the prior art, this first drive mechanism 4 achieves simultaneous movement of the processing component 2 along both the axial and circumferential directions of the rotating body 1 through a simple structure, which greatly saves the space occupied by the first drive mechanism 4 in the entire drive device.

[0120] Further, see Figure 7 and Figure 9 As shown, the transmission component 42 of the processing device A in this embodiment may include:

[0121] The first roller 422 is connected to the first motor 41, and the first motor 41 can drive the first roller 422 to rotate.

[0122] The first linear track 421 is a groove set on the first roller 422.

[0123] The transmission component 42 may include a first roller 422, and a first linear track 421 is a corresponding groove provided on the first roller 422. The first roller 422 is connected to a first motor 41, and the first motor 41 can drive the first roller 422 to rotate.

[0124] When the first roller 422 rotates, the processing component 2 can be moved along the circulating track 11 via the connector 43. Simultaneously, the connector 43 will reciprocate within the first linear track 421. Specifically, the first roller 422 rotates around the rotation axis of the rotating body 1, and the connector 43, connected to the first linear track 421 of the first roller 422, rotates synchronously with the first roller 422. The connector 43 can also move freely along the first linear track 421 along the axial direction of the rotating body 1. Because the connector 43 passes through the circulating track 11, the circulating track 11 restricts the free movement of the connector 43 along the axial direction of the rotating body 1, and causes the connector 43 to reciprocate along the path of the circulating track 11 on the first linear track 421.

[0125] In an optional embodiment, the transmission component 42 of the processing device A in this embodiment may include a first roller 422 and a second roller, with the second roller sleeved inside the first roller 422, and the first linear track 421 being a groove and a protrusion that are fitted to the inner surface of the first roller 422 and the outer surface of the second roller.

[0126] Implementation Method 4

[0127] This embodiment is a further improvement based on any one of the first to third embodiments. The main improvement is that the structure of the processing device A is further improved in this embodiment.

[0128] Specifically, see Figure 6 and Figure 10 As shown, the circulation track 11 of the processing device A in this embodiment also has:

[0129] The distal position c is located at the far end of the circular track 11 closest to the robotic arm, and is located between the ready position b and the working position a;

[0130] The driver 3 is fixedly positioned, and the processing component 2 is coupled to the driver 3 as it moves from the remote position c to the working position a, and is decoupled from the driver 3 when it leaves the working position a.

[0131] Specifically, a remote position c is provided between the preparation position b and the working position a. At least two remote positions c can be provided, distributed on both sides of the working position a. The remote positions c on the circulation track 11 are farther from the robotic arm than the preparation position b and the working position a. To avoid misalignment or unnecessary collisions between the processing component 2 and the driver 3 during the transition from the preparation position b to the working position a, while the rotating component rotates around the rotating body 1, the processing component 2 is first moved to a position away from the working position a, i.e., the remote position c, along the axis of the rotating body 1. Then, the processing component 2 is moved back to the working position a along the axis of the rotating body 1 and docked with the driver 3. This effectively avoids collisions between the driver 3 and the processing component 2 in the circumferential direction of the rotating body 1 and enables the processing component 2 to dock with the driver 3.

[0132] Because of the setting of the remote position c, in the case of only one working position a, the local shape of the loop track 11 is as follows: Figure 10 As shown, it generally presents a W-shaped form. Based on this, when the circulation track 11 is set as an arc-shaped track, the curvature change from the preparation position b to the remote position c and then to the working position a can be as follows: first, it decreases as the circulation track 11 turns from the working position a to the remote position c; then it increases as it reaches and passes the remote position c, turning to the working position a; finally, it decreases again as it reaches the working position a. In other embodiments, depending on the specific contact between the processing component and the processor, the circulation track 11 can also be designed as a non-arc-shaped track, such as a straight section track with an angle.

[0133] When a remote position c is provided, the processing component 2 can actively approach the driver 3 via the circulation track 11. Therefore, even without a device to drive the driver 3, coupling and decoupling between the processing component 2 and the driver 3 can be achieved. In other words, only one first drive mechanism 4 is needed to achieve the corresponding function. Therefore, this embodiment significantly simplifies the structure of the device, reduces costs, and makes the device more maintainable.

[0134] Implementation Method 5

[0135] This embodiment is a further improvement on any one of the first to fourth embodiments. The main improvement is that the structure of the drive device is further improved in this embodiment.

[0136] Specifically, see Figure 3 and Figure 8 As shown, the processing device A in this embodiment further includes a second driving mechanism 5, which includes:

[0137] The second linear track 51 is set along the axial direction of the rotating body 1;

[0138] The slider 52 is mounted on the second linear track 51, and the driver 3 is connected to the slider 52;

[0139] The drive power source 53 is coupled to the slider 52 and is used to drive the slider 52 to reciprocate along the second linear track 51 so that the driver 3 is coupled or decoupled from the processing component 2.

[0140] The processing device A may include a second drive mechanism 5, which may include a second linear track 51, a slider 52, and a drive power source 53. The second linear track 51 is arranged along the axial direction of the rotating body 1, and the slider 52 is disposed on the second linear track 51 and is capable of moving along the axial direction of the second linear track 51. The driver 3 is connected to the slider 52, and the drive power source 53 is coupled to the slider 52. When the slider 52 needs to drive the driver 3 to couple with the processing component 2, the drive power source 53 can couple with the slider 52 and drive it to move along the second linear track 51. When the driver 3 abuts against the processing component 2 and drives the processing component 2 to work, and when the driver 3 is not working, the drive power source 53 is coupled with the slider 52 to keep it in its current position.

[0141] The motion process of the second drive mechanism 5 can be as follows:

[0142] The driving power source 53 is coupled to the slider 52, providing driving force for its reciprocating motion along the second linear track 51. When the slider 52 moves along the second linear track 51 toward the rotating body 1, the driver 3 is driven by the slider 52 to move toward the rotating body 1 along the axis of the rotating body 1. At this time, if the processing component 2 is in working position a, the driver 3 can move to abut and couple with the processing component 2, and drive the processing component 2 to perform processing operations.

[0143] When the slider 52 moves away from the rotating body 1 along the second linear track 51, the driver 3 is driven by the slider 52 to move away from the rotating body 1 along the axis of the rotating body 1. At this time, the driver 3 disengages from the processing component 2 in working position a, achieving decoupling, and reserving space for the processing component 2 to switch between working position a and ready position b.

[0144] Further, see Figure 8 As shown, the sliding member 52 of the processing device A has a hollow chamber 521, the second linear track 51 is connected to the inside of the chamber 521, and the driving power source 53 is set inside the chamber 521.

[0145] The driving power source 53 is a second motor, and the second linear track 51 is a lead screw; or,

[0146] The driving power source 53 is a pneumatic piston, and the second linear track 51 is a slide rail.

[0147] The slider 52 has a hollow housing 521 that can accommodate the drive power source 53, and the second linear track 51 can be connected inside the housing 521. In an optional embodiment, the second linear track 51 can pass through the slider 52, allowing the slider 52 to move along the axis of the second linear track 51 without being restricted by it.

[0148] In some embodiments, the driving power source 53 may be a second motor, which provides electric driving force for the movement of the slider 52 along the second linear track 51. The second linear track 51 may be a lead screw, and the second motor drives the slider 52 to move along the lead screw. The second drive mechanism 5 using the lead screw device has smooth movement, high transmission efficiency, and is easy to precisely control the movement of the slider 52 on the lead screw.

[0149] In some other embodiments, the drive power source 53 can be a pneumatic piston, and the second linear track 51 can be a slide rail. The pneumatic piston can push the slider 52 to reciprocate along the slide rail. The second drive mechanism 5 using a pneumatic piston is highly safe, will not experience circuit failures, and the output force and operating speed can be adjusted by changing the gas input, making adjustment convenient.

[0150] It is worth mentioning that the technical solution of this embodiment is also applicable to improvements on the technical solution of the fifth embodiment. That is, given the provision of a remote end c, a second driving mechanism 5 can also be provided to further improve the reliability and stability of the coupling and docking. Of course, this will also lead to a corresponding increase in cost. Those skilled in the art can select and adapt the technical solution according to actual needs and application scenarios.

[0151] Implementation Method Six

[0152] This embodiment is largely the same as any one of the first to fourth embodiments, except that a different structure for the processing device A is proposed.

[0153] Specifically, see Figure 11 As shown, the second drive mechanism 5 of the processing device A in this embodiment also includes a spring 6, one end of which is fixed and the other end is connected to the slider 52, so that the slider 52 tends to move away from the working position a;

[0154] The driving power source 53 is an electromagnet, and a magnet (not shown) is provided on the sliding member 52. When the electromagnet is energized, it pushes the sliding member 52 to move towards the working position a.

[0155] The second drive mechanism 5 may also include a spring 6, and the drive power source 53 is an electromagnet, with a permanent magnet on the slider 52. One end of the spring 6 is connected to the slider 52, and the other end is fixedly connected. Specifically, the spring 6 can be fixedly connected to the second linear track 51, causing the slider 52 to tend to move away from the working position a. The drive power source 53 is an electromagnet fixed to the second linear track 51. When the electromagnet is energized, it pushes the slider 52 with the permanent magnet towards the working position a. By changing the current of the electromagnet coil to control the electromagnetic force of the electromagnet, the permanent magnet can generate a repulsive force suitable for pushing out the permanent magnet, so that the slider 52 moves towards the working position a and abuts against the processing component 2 at the working position a. When the current of the electromagnet coil decreases or no current flows, the repulsive force of the electromagnet decreases or disappears, and the slider 52 returns to its original position under the action of the elastic force of the spring 6. At this time, the processing component 2 can switch between the working position a and the ready position b. By using the second drive mechanism 5 as described above, especially the electromagnet, the reliability of the entire processing device A is improved, and problems such as structural damage and unstable operation caused by overload of the second drive mechanism 5 are avoided. Furthermore, the movement process of the sliding member 52 is easy to control and has high control precision.

[0156] Finally, it should be noted that those skilled in the art will understand that many technical details have been presented in the embodiments of this patent to facilitate a better understanding of the invention. However, even without these technical details and various variations and modifications based on the above embodiments, the technical solutions claimed in the claims of this patent can be substantially achieved. Therefore, in practical applications, various changes can be made to the above embodiments in form and detail without departing from the spirit and scope of this patent.

Claims

1. A coupling method for a processing component, applied to a processing device at the head end of a robotic arm, characterized in that, Includes the following steps: The moving processing component is moved along a circular track from a ready position near the proximal end of the robotic arm to a working position near the distal end of the robotic arm. The driver is docked and coupled to the processing component located at the workstation so that the processing component can perform processing tasks.

2. The coupling method for the processing component according to claim 1, characterized in that, The processing component includes a first processing unit and a second processing unit, and the method further includes the following steps: Prior to the step of moving the processing component, the driver is decoupled from the second processing component located at the work station; In the step of moving the processing component, the first processing unit and the second processing unit are moved synchronously, thereby switching the second processing unit on the workstation to the first processing unit.

3. The coupling method for the processing component according to claim 1, characterized in that, In the step of docking and coupling the driver with the processing component located at the workstation, the driver is docked with the processing component located at the workstation by moving the driver.

4. A processing device, which can be disposed at the head end of a robotic arm, characterized in that, include: A rotating body has a circumferential surface, around which a closed circular track is arranged, the circular track corresponding to at least one ready position near the proximal end of the robotic arm and at least one working position near the distal end of the robotic arm. A processing component is disposed on the circulation track, and the processing component can be moved to switch positions between the preparation position and the working position; The driver is capable of being coupled or decoupled from the processing component located at the operating position; The driver is used to drive the processing components coupled thereto, thereby enabling processing operations to be performed.

5. The processing apparatus according to claim 4, characterized in that, The processing component includes a first processing component and a second processing component; When the processing component is moved, the first processing unit and the second processing unit can move synchronously along the loop track, thereby switching the second processing unit on the workstation to the first processing unit.

6. The processing apparatus according to claim 5, characterized in that, The loop track has multiple preparation positions, and the number of processing components in the processing assembly is the same as the total number of preparation positions and working positions, and they are set in a one-to-one correspondence.

7. The processing apparatus according to claim 4, characterized in that, The segments connecting adjacent preparation and working positions of the circular track have an arc shape, and the curvature of the arc changes according to the following rule: from the position of the preparation position to the position of the working position, it first decreases and then increases.

8. The processing apparatus according to claim 4, characterized in that, The rotating body is hollow, and the circulating track penetrates the circumferential surface of the rotating body; The processing device further includes a first drive mechanism, which is connected to the processing component through the rotating body. The first drive mechanism drives the processing component to move along the circular track by rotating about the axis of the rotating body.

9. The processing apparatus according to claim 8, characterized in that, The first driving mechanism includes: First motor; A transmission component is connected to the first motor, and the first motor can drive the transmission component to rotate. The transmission component has a first linear track along the axis of the rotating body. A connector is attached to the first linear track of the transmission component and passes through the circulating track to connect with the processing assembly; When the transmission component rotates, it drives the processing component to move along the circular track through the connector, and the connector adaptably reciprocates within the first linear track.

10. The processing apparatus according to claim 9, characterized in that, The transmission component includes: The first roller is connected to the first motor, and the first motor can drive the first roller to rotate. The first linear track is a groove provided on the first roller; or, The transmission component also includes a second roller, which is sleeved inside the first roller. The first linear track is a groove and a protrusion that are fitted on the inner surface of the first roller and the outer surface of the second roller.

11. The processing apparatus according to claim 4, characterized in that, The circular track also has: The distal position is located at the far end of the circular track closest to the robotic arm, and is located between the ready position and the working position; The driver is fixedly positioned, and the processing component is coupled to the driver as it moves from the remote position to the working position, and decoupled from the driver when it leaves the working position.

12. The processing apparatus according to claim 4, characterized in that, It also includes a second drive mechanism, which includes: The second linear track is arranged along the axial direction of the rotating body; A slider is disposed on the second linear track, and the driver is connected to the slider; A driving power source, coupled to the slider, is used to drive the slider to reciprocate along the second linear track, so that the driver is coupled or decoupled from the processing component.

13. The processing apparatus according to claim 12, characterized in that, The sliding member has a hollow chamber, the second linear track is connected to the inside of the chamber, and the driving power source is set inside the chamber; The driving power source is a second motor, and the second linear track is a lead screw; or... The driving power source is a pneumatic piston, and the second linear track is a slide rail.

14. The processing apparatus according to claim 12, characterized in that, The second drive mechanism also includes a spring, one end of which is fixed and the other end is connected to the slider, so that the slider tends to move away from the working position; The driving power source is an electromagnet, and a permanent magnet is provided on the sliding member. When the electromagnet is energized, it pushes the sliding member to move towards the working position.

15. A medical robot, characterized in that, The medical robot's robotic arm has a processing device as described in any one of claims 4 to 14 at its head end.

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