Robot end tracer

Abstract

The utility model discloses a robot tail end tracer and a quick connection method, and relates to the field of surgical robot auxiliary equipment, the robot tail end tracer comprises a multi-surface structure, one end of the multi-surface structure is connected with the tail end of a mechanical arm, the multi-surface structure is provided with a plurality of planes, and each plane is provided with a fixing part and an inductive switch; a positioning signal receiving end is arranged on one side of the tracer support, a connecting part is arranged on the other side of the tracer support, the connecting part is detachably connected with the fixing part, a triggering part is arranged on the other side of the tracer support, when the tracer support is connected with one plane, the inductive switch is activated and generates an inductive signal, and the inductive signals generated by all the planes are different; according to the tracer, the multi-face structure is arranged, the tracer support is installed on the plane within the visual angle, when the tracer support is connected with the plane, the plane where the tracer support is installed can be determined, the position relation between the positioning signal receiving end and the tail end of the mechanical arm can be conveniently determined, and operation control over the mechanical arm can be achieved.

Description

Technical Field

[0001] The utility model belongs to the field of surgical robot auxiliary equipment, and more specifically, relates to a robot terminal tracer. Background Art

[0002] In order to ensure the correct movement of the robot, it is necessary to install an optical tracer at the end of the robot arm and calibrate the positional relationship between the tracer and the end of the robot arm. However, the tracer has a limited viewing angle, so the tracer is not visible in some positions of the robot arm. This requires that the position of the tracer be transferred from the invisible area to the visible area during the operation of the robot arm, which will cause the positional relationship between the tracer and the end of the robot arm to change, and the relative position of the tracer needs to be recalibrated, resulting in an increase in the workload, thereby affecting the work efficiency of the robot arm. Utility Model Content

[0003] The purpose of the utility model is to provide a robot end tracer in view of the deficiencies in the prior art. A multi-faceted structure is arranged in the tracer to ensure that at least one plane is within the visual angle range. By installing the tracer bracket on this plane, the end of the robot arm can be located through the positioning signal receiving end. When the tracer bracket is connected to the plane, the induction switch can also generate its own proprietary induction signal, which can quickly determine on which plane the tracer bracket is installed, facilitate determination of the positional relationship between the positioning signal receiving end and the end of the robot arm, and realize operation control of the robot arm.

[0004] In order to achieve the above object, the utility model provides a robot end tracer, comprising:

[0005] A multi-faceted structure, one end of which is connected to the end of the robot arm, the periphery of the multi-faceted structure is provided with at least three planes, each of which is provided with at least three fixing parts and at least one induction switch;

[0006] A tracer bracket is provided with at least three positioning signal receiving ends on one side, a connecting part corresponding to the fixing part is provided on the other side of the tracer bracket, and the connecting part and the fixing part are detachably connected. A trigger part is provided on the other side of the tracer bracket. When the tracer bracket is connected to one of the planes, the induction switch is activated by the trigger part and generates an induction signal, and the induction signals generated by the induction switches on each of the planes after activation are different.

[0007] Optionally, the fixing portion is a magnet cylinder, the connecting portion is a groove, all the grooves of the tracer bracket are on the same plane, and the bottom surface of the groove is made of martensitic stainless steel.

[0008] Optionally, the positioning signal receiving end is an infrared reflective ball, and the infrared reflective ball is arranged in alignment with the groove.

[0009] Optionally, the inner wall of the groove is conical.

[0010] Optionally, one end of the magnet cylinder is embedded in the interior of the multi-faceted structure, and the other end of the magnet cylinder protrudes out of the plane.

[0011] Optionally, the connecting parts are connected by a connecting rod, and the triggering part is arranged on the connecting rod.

[0012] Optionally, the induction switch is a metal proximity switch, the trigger portion is a notch structure, the trigger portion is concave toward one side of the tracer bracket, and when the tracer bracket is connected to one of the planes, the gap between the notch structure and the metal proximity switch is no more than 3 mm.

[0013] Optionally, a different mark is provided on each of the planes.

[0014] Optionally, each of the induction switches is respectively connected in series with a resistor, and all the resistors are connected to an output harness at the end of the robotic arm. A current detection port is provided on the output harness, and the current detection port is controlled by a current limiting chip.

[0015] The utility model also provides a robot end tracer quick connection method, using the robot end tracer according to the above claim, the method comprises:

[0016] Install the multi-faceted structure on the end of the robotic arm and cover it with a disinfection film;

[0017] After the posture of the robotic arm is adjusted, the tracer bracket is connected to one of the planes of the multi-faceted structure;

[0018] The induction switch is activated by the trigger unit, and the induction signal generated by the induction switch is used to determine on which plane the tracer bracket is installed, and to determine the positional relationship between the tracer bracket and the end of the robotic arm;

[0019] The mechanical arm is operated and controlled according to the feedback data from the positioning signal receiving end.

[0020] The multi-faceted structure includes seven planes connected in sequence.

[0021] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present invention.

[0023] Figure 1 A schematic structural diagram of a robot end tracer according to an embodiment of the utility model is shown.

[0024] Figure 2 A schematic diagram of the inner structure of a tracer bracket according to an embodiment of the utility model is shown.

[0025] Figure 3 A schematic diagram of the outer structure of a tracer bracket according to an embodiment of the utility model is shown.

[0026] Description of reference numerals:

[0027] 1. Multi-faceted structure; 2. Plane; 3. Tracer bracket; 4. Magnet cylinder; 5. Groove; 6. Infrared reflective ball; 7. Metal proximity switch; 8. Notch structure; 9. Marking; 10. Connecting rod. DETAILED DESCRIPTION

[0028] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0029] The utility model provides a robot end tracer, comprising:

[0030] A multi-faceted structure, one end of which is connected to the end of the robot arm, the periphery of the multi-faceted structure is provided with at least three planes, and each plane is provided with at least three fixing parts and at least one induction switch;

[0031] The tracer bracket is provided with at least three positioning signal receiving ends on one side, and a connecting part corresponding to the fixing part is provided on the other side of the tracer bracket, and the connecting part and the fixing part are detachably connected. A trigger part is provided on the other side of the tracer bracket. When the tracer bracket is connected to a plane, the induction switch is activated by the trigger part and generates an induction signal. The induction signals generated by the induction switches on each plane after activation are different.

[0032] Specifically, the tracer is used to locate the end of the robot arm in robotic surgery, so as to facilitate precise control of the end of the robot arm. Since the end of the robot arm will flip or move during the operation, the tracer on the end of the robot arm may not be within the scanning area of ​​the tracker. Therefore, the end of the robot arm is connected to a multi-faceted structure, and a plurality of planes are arranged on the periphery of the multi-faceted structure. In this way, no matter how the end of the robot arm rotates, there will always be a plane facing the tracker. In this way, the tracer bracket can be installed on this plane, and the connection part on the tracer is correspondingly connected to the fixing part, so that the tracer can be correctly installed. At the same time, the trigger part of the tracer activates the induction switch, and the induction switch generates a unique induction signal, so that it can be determined which plane the tracer bracket is connected to, thereby determining the relative position relationship between the positioning signal receiving end and the end of the robot arm. In this way, the tracker can determine the position of the end of the robot arm through this position relationship and the position of the positioning signal receiving end obtained, without the need to re-establish the coordinate system for the positioning signal receiving end, thereby improving work efficiency. All the fixing parts and induction switches arranged on each plane cannot be arranged on the same straight line, and the distances between them cannot be the same. It is necessary to ensure that there is only one way to connect the tracer bracket to the plane.

[0033] Optionally, the fixing portion is a magnet cylinder, the connecting portion is a groove, all the grooves of the tracer bracket are on the same plane, and the bottom surface of the groove is made of martensitic stainless steel.

[0034] Specifically, the fixing part is set to be cylindrical and made of magnetic material, and the connecting part is provided with a groove, so that when the tracer bracket is connected to the multi-faceted structure, the magnet cylinder can be inserted into the groove and adsorbed to each other; since at least three magnet cylinders are arranged on the multi-faceted structure, the shape and position of the tracer bracket can be completely fixed, ensuring that the positional relationship of the tracer bracket connected to the multi-faceted structure is the same each time, as long as the positional relationship between each plane and the end of the robotic arm, and the positional relationship between each positioning signal receiving end and the plane are determined in advance, the tracer bracket can be installed on the plane, and the positional relationship between the tracer bracket and the end of the robotic arm can be determined without repositioning the tracer bracket.

[0035] In one embodiment, the fixing portion and the connecting portion are connected and fixed by a snap-fit ​​relationship.

[0036] Optionally, the positioning signal receiving end is an infrared reflective ball, and the infrared reflective ball is arranged in alignment with the groove.

[0037] Specifically, the positioning signal receiving end is set to an infrared reflective ball, and the center of the infrared reflective ball is colinear with the axis of the groove. In this way, after the tracer bracket is fixed by the connection between the fixing part and the connecting part, the center of the infrared reflective ball falls on the axis of the fixing part, ensuring that the setting position of the infrared reflective ball is the same each time the tracer bracket is installed in the multi-faceted structure.

[0038] Optionally, the inner wall of the groove is conical.

[0039] Specifically, the cross-sectional area of ​​the groove gradually decreases from the open end to the closed end, and the open end of the groove is larger than the cross-sectional area of ​​the magnet cylinder, which facilitates the installation of the tracer bracket. When the magnet cylinder completely adsorbs the tracer bracket into place, the magnet cylinder is centrally connected to the bottom surface of the groove to ensure that the connection position of the tracer bracket is correct, and the positional relationship between the positioning signal receiving end and the end of the robotic arm corresponds to the positional relationship between the fixing part and the end of the robotic arm.

[0040] Optionally, one end of the magnet cylinder is embedded in the interior of the multi-faceted structure, and the other end of the magnet cylinder protrudes out of the plane.

[0041] Specifically, one end of the magnet cylinder is fixed on the plane by embedding, while the other end protrudes outside the plane. In this way, when the groove serving as the connecting part is buckled on the magnet cylinder, the bottom surface of the groove is completely fitted with the end surface of the magnet cylinder, and the bottom surface of the groove and the end surface of the magnet cylinder have the same area, so the tracer bracket will not be displaced on the plane.

[0042] Optionally, the connecting parts are connected by a connecting rod, and the triggering part is arranged on the connecting rod.

[0043] Optionally, the induction switch is a metal proximity switch, the triggering part is a notch structure, the triggering part is concave toward one side of the tracer bracket, and when the tracer bracket is connected to a plane, the gap between the notch structure and the metal proximity switch is no more than 3 mm.

[0044] Specifically, adjacent connecting parts are connected through connecting rods to form a whole, thus forming the main structure of the tracer bracket, the positioning signal receiving end is arranged on the outside of the whole, the groove and the trigger part are arranged on the inside of the whole, and the whole formed by the connecting rod is neither a regular polygon nor a symmetrical polygon, so the installation method of the tracer bracket on the plane can be determined by the position of the groove. When the tracer bracket is installed on a certain plane, the notch structure corresponds to the technical proximity switch, and the vertical distance between the bottom surface of the notch structure and the metal proximity switch is less than 3mm, thereby activating the metal proximity switch, so that the induction signal emitted by the metal proximity switch can identify on which plane the tracer bracket is installed.

[0045] Optionally, a different mark is set on each plane.

[0046] Specifically, a mark is provided on each plane of the multi-faceted structure, so that when the tracer bracket is connected to a plane, an induction signal is generated through the induction switch, and the installation position of the tracer bracket is determined by the unique induction signal and confirmed by the mark on the plane, which is convenient for manual confirmation and avoids malfunction of the tracer.

[0047] Optionally, each induction switch is respectively connected in series with a resistor, and all the resistors are connected to an output harness at the end of the robotic arm. A current detection port is provided on the output harness, and the current detection port is controlled by a current limiting chip.

[0048] Specifically, the induction switches of each plane on the multi-faceted structure are respectively connected to a resistor. Since the voltage applied to the tracer bracket is the same, when a tracer bracket is connected to a certain plane, a fixed voltage is applied to the corresponding resistor, which will generate a corresponding current. The current detection port can automatically determine on which plane the tracer bracket is installed; in addition, when in addition to the plane to which the tracer bracket is connected, the induction switches of other planes are activated, it is impossible to determine on which plane the tracer bracket is actually installed, and it indicates that the tracer at the end of the robot is faulty. The currents generated by the two induction switches are incorporated into the output wiring harness and are recognized by the current limiting chip, which can remind the robot that the tracer at the end of the robot is faulty.

[0049] In one embodiment, when the output terminal voltage at the end of the robotic arm is 24V, 7 planes are arranged on the multi-faceted structure, and the inductive switches on each plane are respectively connected to a resistor, and the resistance values ​​of the resistors are 6kΩ, 4kΩ, 3kΩ, 2.4kΩ, 2kΩ, 1.7kΩ, and 1.5kΩ, respectively. In this way, when the voltage is applied to each resistor, the current generated is 4mA, 6mA, 8mA, 10mA, 12mA, 14mA, and 16mA, respectively. In this way, the current detection port at the end of the robotic arm can be used to automatically determine on which plane the tracer bracket is installed; in order to prevent the inductive switches on multiple planes from generating current at the same time, resulting in the inability to determine the installation position of the tracer bracket, a current limiting chip with a maximum value of 20mA is set on the output wiring harness.

[0050] The utility model also provides a robot end tracer quick connection method, using the robot end tracer according to the above claim, the method comprises:

[0051] Install the multi-faceted structure on the end of the robotic arm and cover it with a disinfection film;

[0052] After the posture of the robot arm is adjusted, the tracer bracket is connected to a plane of the multi-faceted structure;

[0053] The induction switch is activated by the trigger unit, and the induction signal generated by the induction switch is used to determine the plane on which the tracer bracket is installed, and to determine the positional relationship between the tracer bracket and the end of the robotic arm;

[0054] The robot arm is operated and controlled according to the feedback data from the positioning signal receiving end.

[0055] Specifically, when the robot end tracer is connected, the multi-faceted structure is first connected to the end of the robot arm in place, and a disinfection film is put on to ensure that the positional relationship between the fixed part of each plane on the multi-faceted structure and the end of the robot arm is fixed. When the robot arm is in the posture adjustment working area, the tracer bracket can be installed on the plane facing the tracker side, and fixed by the corresponding connection between the connecting part and the fixed part. In this way, the tracer bracket can be correctly installed on the plane. When the tracer bracket and the plane are in place, the trigger part will activate the sensing switch, and the sensing switch will send out a sensing signal. Since this sensing signal can only be sent by the sensing switch of this plane, the plane on which the tracer bracket is installed can be automatically identified through the sensing signal. Since the positional relationship between the fixed part on the plane and the end of the robot arm has been determined in advance, the positional relationship between the positioning signal receiving end and the end of the robot arm can be quickly confirmed. Finally, the position of the positioning signal receiving end is obtained by the tracker, and the position of the end of the robot arm can be obtained, so that the movement of the robot arm can be controlled.

[0056] Example

[0057] like Figures 1 to 3 As shown, the utility model provides a robot end tracer, comprising:

[0058] A multi-faceted structure 1, one end of which is connected to the end of the robot arm, and at least three planes 2 are arranged on the periphery of the multi-faceted structure 1, and at least three fixing parts and at least one induction switch are arranged on each plane 2;

[0059] The tracer bracket 3 is provided with at least three positioning signal receiving terminals on one side, and a connecting part corresponding to the fixing part is provided on the other side of the tracer bracket 3, and the connecting part and the fixing part are detachably connected. A triggering part is provided on the other side of the tracer bracket 3. When the tracer bracket 3 is connected to a plane 2, the induction switch is activated by the triggering part and generates an induction signal, and the induction signals generated by the induction switches on each plane 2 after activation are different.

[0060] In this embodiment, the fixing part is a magnet cylinder 4, the connecting part is a groove 5, all the grooves 5 of the tracer bracket 3 are on the same plane, and the bottom surface of the groove 5 is made of martensitic stainless steel.

[0061] In this embodiment, the positioning signal receiving end is an infrared reflective ball 6 , and the infrared reflective ball 6 is arranged in alignment with the groove 5 .

[0062] In this embodiment, the inner wall of the groove 5 is a conical surface.

[0063] In this embodiment, one end of the magnet cylinder 4 is embedded in the interior of the multi-faceted structure, and the other end of the magnet cylinder 4 protrudes from the plane 2 .

[0064] In this embodiment, the connection parts are connected by a connection rod 10 , and the trigger part is arranged on the connection rod 10 .

[0065] In this embodiment, the induction switch is a metal proximity switch 7, and the trigger part is a notch structure 8. The trigger part is concave toward one side of the tracer bracket 3. When the tracer bracket 3 is connected to a plane 2, the gap between the notch structure 8 and the metal proximity switch 7 is no more than 3 mm.

[0066] In this embodiment, different marks 9 are provided on each plane 2 .

[0067] In this embodiment, each induction switch is connected in series with a resistor, and all resistors are connected to the output harness at the end of the robot arm. The output harness is provided with a current detection port, and the current detection port is controlled by a current limiting chip.

[0068] The utility model also provides a robot end tracer quick connection method, using the robot end tracer according to the above claim, the method comprises:

[0069] Install the multi-faceted structure 1 on the end of the robotic arm and cover it with a disinfection film;

[0070] After the posture of the robot arm is adjusted, the tracer bracket 3 is connected to a plane 2 of the multi-faceted structure 1;

[0071] The induction switch is activated by the trigger unit, and the induction signal generated by the induction switch is used to determine on which plane the tracer bracket 3 is installed, and to determine the positional relationship between the tracer bracket 3 and the end of the robotic arm;

[0072] The robot arm is operated and controlled according to the feedback data from the positioning signal receiving end.

[0073] In summary, the robot end tracer installs the multi-faceted structure 1 on the end of the robot arm, installs the tracer bracket 3 on each plane 2 respectively, and records the corresponding sensing signal and the positional relationship between the infrared reflective ball and the end of the robot arm, then removes the tracer bracket 3, moves the end of the robot arm to the surgical position, and then installs the tracer bracket 3 on the plane that can be covered by the transmission signal of the tracker, so that after the groove 5 on the tracer 3 is stably connected with the magnet cylinder 4 of the plane, the metal proximity switch 7 will be activated, so that according to the generated sensing signal, it is automatically identified on which plane it is fixed, and the position of the end of the robot arm can be determined by the position of the infrared reflective ball 6 and the positional relationship between the infrared reflective ball and the end of the robot arm, and the robot arm can be controlled; when the robot arm rotates a certain angle, when the tracker cannot receive the signal of the infrared reflective ball 6, it will continue to move the installation plane of the tracer bracket 3, and it is necessary to reconfirm the positional relationship between the tracer bracket 3 and the end of the robot arm. It is only necessary to automatically determine the plane on which the tracer bracket 3 is installed through the generated sensing signal, and obtain the positional relationship between the two, thereby improving work efficiency.

[0074] The various embodiments of the utility model have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A robot end tracer, characterized in that: include: A multi-faceted structure, one end of which is connected to the end of the robot arm, the periphery of the multi-faceted structure is provided with at least three planes, each of which is provided with at least three fixing parts and at least one induction switch; A tracer bracket is provided with at least three positioning signal receiving ends on one side, a connecting part corresponding to the fixing part is provided on the other side of the tracer bracket, and the connecting part and the fixing part are detachably connected. A trigger part is provided on the other side of the tracer bracket. When the tracer bracket is connected to one of the planes, the induction switch is activated by the trigger part and generates an induction signal, and the induction signals generated by the induction switches on each of the planes after activation are different.

2. The robot end tracer according to claim 1, characterized in that: The fixing part is a magnet cylinder, the connecting part is a groove, all the grooves of the tracer bracket are on the same plane, and the bottom surface of the groove is made of martensitic stainless steel.

3. The robot end tracer according to claim 2, characterized in that: The positioning signal receiving end is an infrared reflective ball, and the infrared reflective ball is arranged in alignment with the groove.

4. The robot end tracer according to claim 2, characterized in that: The inner wall of the groove is conical.

5. The robot end tracer according to claim 2, characterized in that: One end of the magnet cylinder is embedded in the interior of the multi-faceted structure, and the other end of the magnet cylinder protrudes out of the plane.

6. The robot end tracer according to claim 1, characterized in that: The connecting parts are connected by a connecting rod, and the trigger part is arranged on the connecting rod.

7. The robot end tracer according to claim 6, characterized in that: The induction switch is a metal proximity switch, the trigger part is a notch structure, the trigger part is concave toward one side of the tracer bracket, and when the tracer bracket is connected to one of the planes, the gap between the notch structure and the metal proximity switch is no more than 3 mm.

8. The robot end tracer according to claim 1, characterized in that: Different marks are arranged on each of the planes.

9. The robot end tracer according to claim 1, characterized in that: Each of the induction switches is connected in series with a resistor, and all the resistors are connected to the output harness at the end of the robotic arm. The output harness is provided with a current detection port, and the current detection port is controlled by a current limiting chip.

10. The robot end tracer according to claim 1, characterized in that: The multi-faceted structure includes seven planes connected in sequence.

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