Multi-degree-of-freedom platform transmission device

Abstract

The utility model discloses a multi-degree-of-freedom platform transmission device, which comprises a main frame, a plurality of transmission shafts, a plurality of transmission shafts and a plurality of transmission shafts, the main frame comprises a base plate and a base column, the base plate is connected to one end of the base column, the side edge of the base plate is provided with a plurality of notches, the base column is provided with a plurality of mounting surfaces, and the plurality of notches and the plurality of mounting surfaces are arranged in a staggered manner; the base is assembled at the other end of the base column; the motion platform comprises a plurality of mechanical arm groups, and the plurality of mechanical arm groups are distributed in the plurality of notches; the plurality of transmission assemblies are distributed on the plurality of mounting surfaces, each transmission assembly is connected to the adjacent mechanical arm group, and the plurality of mechanical arm groups and the plurality of transmission assemblies are arranged in a staggered manner; and the plurality of motor assemblies are arranged on the base, and the plurality of motor assemblies are respectively coupled to the plurality of transmission assemblies. Therefore, the multi-degree-of-freedom platform transmission device does not interfere with each other during assembly and disassembly, maintenance is facilitated, and the stability of the structure is enhanced.

Description

Technical Field

[0001] The utility model relates to a transmission device, in particular to a multi-freedom platform transmission device. Background Art

[0002] Medical devices, such as surgical drills, typically include an axial motor, a parallel manipulator, and a coupling. The parallel manipulator supports both the surgical tool and the axial motor. The axial motor is configured to generate the mechanical force used to manipulate the surgical tool, while the coupling transmits the mechanical force generated by the axial motor to the surgical tool.

[0003] In existing technology, the assembly of multiple components, including the axial motor, parallel manipulator, and coupling, begins by first attaching the axial motor and coupling to a metal frame. The coupling's linear guide rod is then passed through a hole in a base plate, and the metal frame is then secured with screws parallel to the linear guide rod to complete the medical device. Therefore, if a component breaks and requires repair or replacement, the entire system must be disassembled, making it difficult to maintain.

[0004] In addition, existing medical devices have problems with poor assembly quality, and the friction force at the driving end is difficult to adjust, making it easy to loosen during operation, resulting in insufficient stability and affecting operational accuracy. Utility Model Content

[0005] In view of the deficiencies in the prior art, the present invention provides a multi-degree-of-freedom platform transmission device to solve the problems of the complex assembly methods and insufficient stability of the existing medical devices.

[0006] In order to solve the above-mentioned technical problems, one of the technical solutions adopted by the present invention is to provide a multi-degree-of-freedom platform transmission device, which includes: a main frame, including a base plate and a base column, the base plate is connected to one end of the base column, the side of the base plate has multiple recesses, the base column has multiple mounting surfaces, and the multiple recesses and the multiple mounting surfaces are staggered; a base, assembled at the other end of the base column; a motion platform, including multiple robotic arm groups, and the multiple robotic arm groups are distributed in the multiple recesses; multiple transmission components, and the multiple transmission components are distributed on the multiple mounting surfaces, each transmission component is connected to an adjacent robotic arm group, and the multiple robotic arm groups and the multiple transmission components are staggered; and multiple motor components are arranged on the base, and the multiple motor components are respectively coupled to the multiple transmission components.

[0007] Preferably, each of the transmission components includes: a fixed frame fixed to one of the multiple mounting surfaces of the base column; a first transmission group arranged on the fixed frame, the first transmission group including a screw and a nut movably arranged on the screw; a second transmission group arranged on the fixed frame, the second transmission group including a slide rail and a slide movably arranged on the slide rail; a first connecting member arranged on the nut; and a second connecting member including a first connecting part and a second connecting part, the first connecting part is connected to the first connecting member, one side of the second connecting part is connected to the slide, and the other side of the second connecting part is connected to the adjacent robotic arm group.

[0008] Preferably, the screw rod is parallel to the slide rail.

[0009] Preferably, the fixing frame includes a first side wall, a second side wall and a third side wall, the third side wall is connected between the first side wall and the second side wall, the first side wall and the second side wall each form a recess having a through hole, and the fixing frame is fixed to one of the multiple mounting surfaces through the third side wall.

[0010] Preferably, the transmission assembly further includes two side covers and two thrust bearings, the two thrust bearings are respectively arranged at the two ends of the screw, each side cover has an opening, the two side covers are respectively arranged in the two recesses, and the two openings correspond to the two through holes respectively; wherein, each end of the screw and the thrust bearing arranged at the end are arranged in the corresponding through hole and the opening.

[0011] Preferably, the transmission assembly further comprises at least two gaskets, and one of the at least two gaskets is arranged between one of the two recesses and the corresponding side cover.

[0012] Preferably, the multi-degree-of-freedom platform transmission device also includes a plurality of gear sets, which are respectively coupled to the plurality of motor assemblies and the plurality of transmission assemblies, each of the gear sets includes a driving wheel and a driven wheel, the driving wheel is connected to a drive shaft of each of the motor assemblies, and the driven wheel is connected to the screw and meshes with the driving wheel.

[0013] Preferably, the motion platform also includes a base platform, and multiple robotic arm groups are connected to the base platform, each of the robotic arm groups includes a first arm, a second arm and an arm connector, one end of the first arm has a first U-shaped joint, the other end of the first arm is connected to the adjacent transmission assembly, one end of the second arm has a second U-shaped joint, and the arm connector is connected between the first U-shaped joint and the second U-shaped joint.

[0014] Preferably, each of the robotic arm groups also includes two rotating shafts and four ball bearings, the arm connecting member includes two connecting holes, the first U-shaped joint has two first through holes, and the second U-shaped joint has two second through holes; wherein, the four ball bearings are respectively arranged in the two first through holes and the two second through holes, wherein one of the rotating shafts passes through one of the two connecting holes and connects the two ball bearings respectively located in the two first through holes, and the other rotating shaft passes through the other connecting hole of the two connecting holes and connects the other two ball bearings respectively located in the two second through holes.

[0015] Preferably, the extension directions of the two rotating shafts are perpendicular to each other.

[0016] Preferably, each of the robotic arm groups further includes four gaskets, and the four gaskets are respectively arranged between the arm connector and the four ball bearings.

[0017] Preferably, each of the robotic arm groups further includes two limiting columns, the first U-shaped joint and the second U-shaped joint each include a limiting hole, the two limiting columns are respectively arranged in the two limiting holes, and the upper and lower sides of the arm connecting member respectively abut against the two limiting columns.

[0018] Preferably, the other end of the second arm of each of the robotic arm groups has a ball joint, the base platform includes a plurality of spherical grooves, and the ball joint is disposed in one of the plurality of spherical grooves.

[0019] One of the benefits of the present invention is that the multi-DOF platform transmission device provided by the present invention can utilize a main frame having a staggered arrangement of multiple recesses and mounting surfaces, allowing the multiple robotic arm assemblies of the motion platform to be positioned within the multiple recesses, while the multiple transmission components are positioned on the multiple mounting surfaces. This allows the multiple robotic arm assemblies and multiple transmission components to form a staggered configuration. During assembly and disassembly, the robotic arm assemblies and transmission components do not interfere with each other, facilitating maintenance and enhancing structural stability.

[0020] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings are only for reference and illustration and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of a multi-degree-of-freedom platform transmission device according to an embodiment of the present invention.

[0022] Figure 2This is an exploded schematic diagram of a multi-degree-of-freedom platform transmission device according to an embodiment of the present invention.

[0023] Figure 3 Schematic diagram of the main frame and base of an embodiment of the present utility model.

[0024] Figure 4 This is a schematic diagram of the transmission assembly and the motor assembly of an embodiment of the present invention being arranged on the main frame and the base.

[0025] Figure 5 This is a schematic diagram of the first arm of the robotic arm assembly according to an embodiment of the present invention being assembled to the transmission assembly.

[0026] Figure 6 Schematic diagram of a transmission assembly according to an embodiment of the present invention.

[0027] Figure 7 This is an exploded schematic diagram of the transmission assembly of an embodiment of the present utility model.

[0028] Figure 8 Schematic diagram of a fixed frame of a transmission assembly according to an embodiment of the present invention.

[0029] Figure 9 This is a schematic diagram of a transmission assembly according to an embodiment of the present invention being assembled on a fixture.

[0030] Figure 10 This is a first schematic diagram of the transmission assembly according to an embodiment of the present invention being calibrated on a fixture.

[0031] Figure 11 This is a second schematic diagram of the transmission assembly according to an embodiment of the present invention being calibrated on a fixture.

[0032] Figure 12 This is a third schematic diagram of the transmission assembly according to an embodiment of the present invention being calibrated on a fixture.

[0033] Figure 13 This is an exploded schematic diagram of the robotic arm assembly according to an embodiment of the present invention.

[0034] Figure 14 This is a schematic diagram of the robotic arm assembly according to an embodiment of the present invention assembled on the base platform. DETAILED DESCRIPTION

[0035] The following is an explanation of the implementation of the "multi-degree-of-freedom platform transmission device" disclosed in the present invention through specific specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of the present invention. In addition, it should be noted in advance that the drawings of the present invention are only simple schematic illustrations and are not depictions based on actual dimensions. The following implementation methods will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0036] It should be understood that although terms such as "first," "second," and "third" may be used herein to describe various components, these components should not be limited by these terms. These terms are primarily used to distinguish one component from another. In addition, the term "or" used herein may include any one or more combinations of the associated listed items, depending on the actual situation.

[0037] Example

[0038] See Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a multi-degree-of-freedom platform transmission device D, which can be applied to medical devices, such as surgical drilling machines. The multi-degree-of-freedom platform transmission device D includes a main frame 1, a base 2, a motion platform 3, multiple transmission components 4, and multiple motor components 5.

[0039] See Figure 3 As shown, the main frame 1 includes a base plate 11 and a base column 12. The base plate 11 is connected to one end of the base column 12, and the base 2 is assembled to the other end of the base column 12. The side of the base plate 11 has a plurality of recesses 110, and the base column 12 has a plurality of mounting surfaces 121. Specifically, the side wall of the base column 12 is provided with a plurality of partition ribs 122, and the partition ribs 122 are used to divide the side wall into a plurality of mounting surfaces 121. The plurality of recesses 110 and the plurality of mounting surfaces 121 are staggered. The motion platform 3 includes a plurality of robotic arm groups 31, and the plurality of robotic arm groups 31 are distributed in the plurality of recesses 110. The plurality of transmission components 4 are distributed on the plurality of mounting surfaces 121.

[0040] Multiple motor assemblies 5 are disposed on the base 2 and are respectively coupled to the multiple transmission assemblies 4. Specifically, each motor assembly 5 has multiple fixing holes 50, and the base 2 has multiple screw holes 21 corresponding to the multiple fixing holes 50. Therefore, the motor assembly 5 can be secured to the base 2 by inserting multiple screws R through the multiple screw holes 21 and locking them in the multiple fixing holes 50.

[0041] like Figure 1 and Figure 2 As shown, since the plurality of recesses 110 and the plurality of mounting surfaces 121 are staggered, the plurality of robotic arm assemblies 31 and the plurality of transmission assemblies 4 disposed on the recesses 110 and the mounting surfaces 121 are also staggered, and each transmission assembly 4 is connected to an adjacent robotic arm assembly 31. For example, in the present invention, the base column 12 has six mounting surfaces 121, so the number of robotic arm assemblies 31, transmission assemblies 4, and motor assemblies 5 is six.

[0042] like Figure 4 and Figure 5 As shown, one transmission assembly 4 is used as an example. The transmission assembly 4 includes a fixed frame 41, a first transmission group 42, and a second transmission group 43. The first transmission group 42 and the second transmission group 43 are arranged side by side on the fixed frame 41. The first transmission group 42 includes a screw 421 and a nut 422 movably mounted on the screw 421. The second transmission group 43 includes a slide rail 431 and a slide platform 432 movably mounted on the slide rail 431.

[0043] The multi-degree-of-freedom platform transmission device D further includes a plurality of gear sets 6. The plurality of gear sets 6 are coupled to the plurality of motor assemblies 5 and the plurality of transmission assemblies 4. Specifically, each gear set 6 is coupled between one of the motor assemblies 5 and one of the transmission assemblies 4. Each gear set 6 includes a driving wheel 61 and a driven wheel 62. The driving wheel 61 is connected to the drive shaft 51 of the motor assembly 5. The drive shaft 51 passes through the through hole 20 of the base 2 and is connected to the driving wheel 61 (see FIG. 2 ). Figure 4 The driven wheel 62 is connected to the screw 421 of the first transmission group 42 and meshes with the driving wheel 61.

[0044] Continue reading Figure 5 The transmission assembly 4 further includes a first connecting member 44 and a second connecting member 45. The first connecting member 44 is disposed on the nut 422, and the second connecting member 45 includes a first connecting portion 451 and a second connecting portion 452. The first connecting portion 451 is connected to the first connecting member 44. For example, a protrusion ( Figure 5 (not shown), and the first connecting member 44 has a groove 441 on the side facing the first connecting portion 451. The first connecting portion 451 has a plurality of screw holes 450. The first connecting member 44 has a plurality of screw holes 440, which correspond to the plurality of screw holes 450. When the first connecting portion 451 is connected to the first connecting member 44, the protrusion is inserted into the groove 441 to play a limiting effect, and then a plurality of screws ( Figure 5 (not shown) are respectively penetrated with a plurality of screw holes 450 and a plurality of screw holes 440 to lock the second connecting member 45 to the first connecting member 44.

[0045] Continue reading Figure 5 , the second connecting portion 452 is connected to the slide 432. For example, the second connecting portion 452 and the slide 432 have corresponding multiple screw holes (ie, screw holes 450 and screw holes 430). Figure 5 A plurality of screw holes 450 and a plurality of screw holes 430 are respectively provided through the second connecting portion 452 to lock the second connecting portion 452 to the slide 432, and further to lock the second connecting portion 452 to the first connecting member 44. In other words, the second connecting member 45 is fixed to both the first connecting member 44 and the slide 432, so that the first connecting member 44 and the slide 432 move together.

[0046] See Figures 6 to 8 As shown, the fixed frame 41 of the transmission assembly 4 is a rectangular frame, which includes a first side wall 411, a second side wall 412 and a third side wall 413. The third side wall 413 is connected between the first side wall 411 and the second side wall 412. The first side wall 411 and the second side wall 412 each form a recess C, and the recess C has a through hole V and a plurality of screw holes V0 located around the through hole V. In addition, the first side wall 411 of the fixed frame 41 has a plurality of fixing holes 410. The base plate 11 of the main frame 1 has a plurality of screw holes 111 corresponding to the plurality of fixed frames 41. For example, the number of the fixing holes 410 and the screw holes 111 are both 12. The fixed frame 41 is abutted against the mounting surface 121 of the base column 12 (see Figure 4 ), and is locked on the main frame 1 by means of a plurality of screws (not shown) passing through the plurality of screw holes 111 and the plurality of fixing holes 410, so that the transmission assembly 4 is fixed on the main frame 1.

[0047] like Figure 7 As shown, the transmission assembly 4 also includes two side covers 46 (divided into a first side cover 46A and a second side cover 46B), two thrust bearings 47 and at least two gaskets 48. Specifically, the two thrust bearings 47 are respectively arranged in the two through holes V, and are respectively connected to the two end portions 4211 of the screw 421. The thrust bearings 47 can increase the axial load-bearing capacity of the second transmission group 43. Each side cover 46 has an opening 460 and a plurality of through holes 461 located around the opening 460. The two openings 460 of the two side covers 46 correspond to the two through holes V, respectively, and the plurality of through holes 461 correspond to the plurality of screw holes V0, respectively. The two side covers 46 are respectively arranged in the two recesses C, and are screwed together using a plurality of screws ( Figure 7 The screw rod 421 (not shown) is secured to the fixed frame 41 by passing through multiple through-holes 461 and multiple screw holes V0. Furthermore, each end 4211 of the screw rod 421, after being connected to the corresponding thrust bearing 47, further extends into the corresponding opening 460. At least two washers 48 are disposed between one of the recesses C and the corresponding side cover 46. The washers 48 can adjust for axial clearance caused by machining tolerances or assembly errors.

[0048] In the present invention, through-hole V is elliptical. This elliptical shape allows for a certain degree of assembly tolerance, ensuring that slight deviation or tilting of the screw 421 during assembly does not cause excessive friction between the thrust bearing 47 and through-hole V. Furthermore, through-hole 461 of the side cover 46 is also elliptical. This allows for slight deviation during assembly of the side cover 46 within the recess C, ensuring that through-hole 461 of the side cover 46 remains aligned with screw hole V0 in the recess C, allowing the screw to smoothly pass through through-hole 461 and be locked securely in screw hole V0.

[0049] See Figures 9 to 12 As shown, when assembling the transmission assembly 4, a calibration fixture 7 is used to perform calibration to ensure that the first transmission group 42 and the second transmission group 43 are parallel to each other. The calibration fixture 7 includes a U-shaped auxiliary member 71 and a flat plate 72. The calibration of the transmission assembly 4 includes at least the following steps (steps S1 to S3 can be seen in Figure 9 and Figure 10 , steps S4 to S6 can be found in Figure 11 and Figure 12 ):

[0050] Step S1: Place the transmission assembly 4 on the flat plate 72 so that the fixed frame 41, the first transmission group 42 and the second transmission group 43 can all rest on the surface of the flat plate 72.

[0051] Step S2: Install the U-shaped auxiliary member 71 between the first transmission group 42 and the second transmission group 43, and fix the U-shaped auxiliary member 71 on the flat plate 72.

[0052] The U-shaped auxiliary member 71 can provide lateral force to ensure that the fixing frame 41 , the first transmission assembly 42 and the second transmission assembly 43 can completely rest on the surface of the flat plate 72 to maintain parallelism.

[0053] The plate 72 has through-holes 720, and the bottoms of the two ends 711 of the U-shaped auxiliary member 71 have screw holes (not shown) corresponding to the through-holes 720. Therefore, multiple screws can be passed through the through-holes 720 and fastened into the screw holes to secure the U-shaped auxiliary member 71 to the plate 72.

[0054] Step S3: Tighten the plurality of screws R1 to R6 that secure the second connecting member 45 to the first transmission assembly 42 and the second transmission assembly 43 in sequence. Specifically, the tightening order is screw R1, screw R2, screw R3, screw R4, screw R5, and screw R6.

[0055] Step S4: Lock the second side cover 46B in one of the recesses C and tighten the screws R7 to R10 in sequence. Specifically, the tightening order is screw R7, screw R8, screw R9, and screw R10. Figure 11 and Figure 12 The U-shaped auxiliary member 71 is omitted.

[0056] Step S5: disposing at least one gasket 48 between the first side cover 46A and the fixing frame 41 to adjust the gap height between the first side cover 46A and the fixing frame 41.

[0057] Step S6: After adjusting the height by placing a spacer between the first side cover 46A and the mounting frame 41, secure the first side cover 46A to one of the recesses C and sequentially tighten the screws R11 through R14. Specifically, the tightening order is screws R11, R12, R13, and R14. After screws R1 through R14 are tightened, remove the U-shaped auxiliary member 71 and the plate 72.

[0058] By first securing one side cover (second side cover 46B) and then the other side cover (first side cover 46A), the assembly of the first and second transmission groups 42, 43 to the fixed frame 41 minimizes any backlash errors that may occur during assembly. Furthermore, screws R11 through R14 are tightened to a fixed torque to prevent loosening due to vibration during operation, thereby extending the life of the device. If excessive friction is detected after tightening, the first side cover 46A can be removed and replaced with a gasket 48 of a different thickness.

[0059] See Figure 1 、 Figure 5 、 Figure 13 and Figure 14 As shown, the motion platform 3 also includes a base platform 32 (such as Figure 1 (As shown in FIG. 1 ). Multiple robotic arm assemblies 31 are connected to a base platform 32. Each robotic arm assembly 31 includes a first arm 311, a second arm 312, and an arm connector 313. The first end 3111 of the first arm 311 has a first U-shaped joint 311U, and the second end 3112 of the first arm 311 is connected to an adjacent transmission assembly 4.

[0060] Further, if Figure 5 and Figure 13As shown, the second end 3112 of the first arm 311 has a notch N and two screw holes V1 extending through the notch N. The shape of the second connecting portion 452 of the second connecting member 45 corresponds to the contour of the notch N. Therefore, the first arm 311 can be mounted on the second connecting portion 452 of the second connecting member 45 through the notch N, and further secured to the transmission assembly 4 by screws passing through the two screw holes V1. Thus, the motor assembly 5 can drive the nut 422 in the first transmission assembly 42 to move along the screw 421 via the gear assembly 6, and drive the slide 432 in the adjacent second transmission assembly 43 to move along the slide rail 431 via the second connecting member 45. Since the first arm 311 is also connected to the second connecting member 45, the second transmission assembly 43 drives the robotic arm assembly 31 to extend or bend, thereby allowing the base platform 32 to perform multi-degree-of-freedom motion.

[0061] The first end 3121 of the second arm 312 has a second U-shaped joint 312U, and the second end 3122 of the second arm 312 has a ball joint 312B. The base platform 32 has a plurality of spherical slots 320 corresponding to the plurality of ball joints 312B. Each robot arm assembly 31 can be mounted in a corresponding spherical slot 320 via the ball joint 312B of the second arm 312. Specifically, the base platform 32 includes a base 321 and a plurality of auxiliary fixing members 322. The auxiliary fixing members 322 can be assembled or disassembled from the base 321. To install the second arm 312 on the base platform 32, the auxiliary fixing members 322 are first removed from the base 321. The ball joint 312B of the second arm 312 is then positioned in the spherical slot 320. The auxiliary fixing members 322 are then assembled to the base 321 to complete the installation process.

[0062] It should be noted that the ball joint 312B is mounted rather than fixed within the spherical slot 320. In other words, the second arm 312 is able to rotate freely. The multi-degree-of-freedom platform transmission device D of the present invention uses the ball joint 312B to replace the RRR rotary joint commonly used in the prior art. This significantly reduces the structural footprint and eliminates the singularity points created when the RRR rotary joints are aligned, thereby increasing the operating range of the multi-degree-of-freedom platform transmission device D. Furthermore, the present invention allows for the optional placement of spacers (not shown) of varying thicknesses between the base 321 and the auxiliary fixing member 322 to adjust the gap between the base 321 and the auxiliary fixing member 322, thereby preventing excessive clamping force on the ball joint 312B within the spherical slot 320, which could affect the smooth rotation of the second arm 312.

[0063] The arm connector 313 connects between the first U-shaped joint 311U and the second U-shaped joint 312U. Specifically, the arm connector 313 includes two connecting holes 3131, which face different directions (i.e., the axes of the two connecting holes 3131 are different). Each robotic arm assembly 31 also includes two rotating shafts 314, four ball bearings 315, and four washers 316. The first U-shaped joint 311U has two first through holes TH1, and the second U-shaped joint has two second through holes TH2. During assembly, the four ball bearings 315 are respectively positioned in the two first through holes TH1 and the two second through holes TH2. The four washers 316 are respectively positioned between the arm connector 313 and the four ball bearings 315.

[0064] For example, in the embodiment of the present invention, the arm connector 313 is an eccentric universal joint, the ball bearing 315 is a flangeless ball bearing, and the washer 316 is a plastic lubricating washer. Figure 13 As shown, the assembly of the first U-shaped joint 311U and the arm connector 313 is used as an example. During assembly, two ball bearings 315 are clamped against the middle arm connector 313, and two washers 316 are arranged to ensure that there is no axial clearance between the first U-shaped joint 311U and the arm connector 313 in a direction parallel to the rotation axis 314.

[0065] Two rotating shafts 314 pass through the two connecting holes 3131, extending perpendicularly to each other. One rotating shaft 314 connects to two ball bearings 315 and two washers 316 located in the two first through holes TH1. The other rotating shaft 314 connects to the other two ball bearings 315 and two washers 316 located in the other two second through holes TH2. Thus, the arm connector 313 connects the first arm 311 and the second arm 312 through the arrangement of the rotating shafts 314, ball bearings 315, and washers 316.

[0066] In addition, each robot arm assembly 31 may further include two limiting posts 317, and the first U-shaped joint 311U and the second U-shaped joint 312U each include a limiting hole LH. Figure 13 For example, only one limiting hole LH and one limiting post 317 are shown. Limiting post 317 is disposed in limiting hole LH, with head 3171 exposed. When arm connector 313 connects first arm 311 and second arm 312, arm connector 313 abuts against head 3171 of limiting post 317. In the present invention, limiting post 317 is an elastic support member that provides a force when arm connector 313 abuts against the limiting post, ensuring that there is no radial clearance between first U-shaped joint 311U and arm connector 313 in a direction parallel to rotation axis 314.

[0067] Advantageous Effects of the Embodiments

[0068] The multi-DOF platform transmission device D provided by this utility model utilizes a main frame with multiple recesses and mounting surfaces arranged in a staggered configuration. This allows the motion platform's multiple arm assemblies to be positioned within the recesses, while the multiple transmission components are positioned on the mounting surfaces. This allows the multiple arm assemblies and transmission components to form a staggered configuration. During assembly and disassembly, the arm assemblies and transmission components can be assembled and disassembled without interference, facilitating maintenance and enhancing structural stability.

[0069] Furthermore, in the present invention, multiple transmission assemblies 4 are fixed to the base plate 11, multiple robotic arm assemblies 31 are connected to the multiple transmission assemblies 4, and multiple motor assemblies 5 are fixed to the base 2. Combined with the structural design of the staggered arrangement of the multiple robotic arm assemblies 31 and the multiple transmission assemblies 4, each component will not be interfered with by other components during disassembly and assembly. For example, when disassembling the motor assembly 5, only the screws connecting the base 2 and the motor assembly 5 need to be removed; when disassembling the motion platform 3, only the screws connecting the first arm 311 and the second connecting member 45 need to be removed; and when disassembling the transmission assembly 4, only the screws connecting the base plate 11 of the main frame 1 and the fixed frame 41 need to be removed.

[0070] Furthermore, if Figure 1 and Figure 2 As shown, the screw holes used to connect the components mentioned above are fully exposed and unobstructed by other structures. Compared to existing platform transmission devices used in medical applications, the multi-degree-of-freedom platform transmission device D of the present invention is relatively easy to assemble and disassemble. If a single component is damaged, it can be directly removed and replaced without disassembling the entire device.

[0071] The contents disclosed above are only preferred feasible embodiments of the present invention and do not limit the scope of protection of the claims of the present invention. Therefore, all equivalent technical changes made using the contents of the description and drawings of the present invention are included in the scope of protection of the claims of the present invention.

Claims

1. A multi-degree-of-freedom platform transmission device, characterized in that: The multi-degree-of-freedom platform transmission device comprises: A main frame, comprising a base plate and a base column, wherein the base plate is connected to one end of the base column, the side of the base plate has a plurality of notches, the base column has a plurality of mounting surfaces, and the plurality of notches and the plurality of mounting surfaces are arranged in a staggered manner; A base, assembled at the other end of the base column; A motion platform, comprising a plurality of mechanical arm groups, wherein the plurality of mechanical arm groups are distributed in the plurality of recesses; A plurality of transmission components, wherein the plurality of transmission components are distributed on the plurality of mounting surfaces, each of the transmission components is connected to an adjacent mechanical arm group, and the plurality of mechanical arm groups and the plurality of transmission components are staggered; and A plurality of motor components are disposed on the base, and the plurality of motor components are respectively coupled to the plurality of transmission components.

2. The multi-degree-of-freedom platform transmission device according to claim 1, characterized in that: Each of the transmission components comprises: a fixed frame fixed to one of the plurality of mounting surfaces of the base column; a first transmission group, disposed on the fixed frame, the first transmission group comprising a screw rod and a nut movably disposed on the screw rod; a second transmission group, disposed on the fixed frame, the second transmission group comprising a slide rail and a slide table movably disposed on the slide rail; a first connecting member, disposed on the nut; and A second connecting member includes a first connecting portion and a second connecting portion, wherein the first connecting portion is connected to the first connecting member, one side of the second connecting portion is connected to the slide, and the other side of the second connecting portion is connected to the adjacent robotic arm group.

3. The multi-degree-of-freedom platform transmission device according to claim 2, characterized in that: The screw rod is parallel to the slide rail.

4. The multi-degree-of-freedom platform transmission device according to claim 2, characterized in that: The fixed frame includes a first side wall, a second side wall and a third side wall, the third side wall is connected between the first side wall and the second side wall, the first side wall and the second side wall each form a recess having a through hole, and the fixed frame is fixed to one of the plurality of mounting surfaces through the third side wall.

5. The multi-degree-of-freedom platform transmission device according to claim 4, characterized in that: The transmission assembly also includes two side covers and two thrust bearings, the two thrust bearings are respectively arranged at the two ends of the screw rod, each of the side covers has an opening, the two side covers are respectively arranged at the two recesses, and the two openings correspond to the two through holes respectively; wherein each of the ends of the screw rod and the thrust bearing arranged at the ends are arranged in the corresponding through holes and the openings.

6. The multi-degree-of-freedom platform transmission device according to claim 5, characterized in that: The transmission assembly further comprises at least two gaskets, wherein one of the at least two gaskets is disposed between one of the two recesses and the corresponding side cover.

7. The multi-degree-of-freedom platform transmission device according to claim 5, characterized in that: The multi-degree-of-freedom platform transmission device also includes a plurality of gear sets, which are respectively coupled to the plurality of motor components and the plurality of transmission components. Each of the gear sets includes a driving wheel and a driven wheel. The driving wheel is connected to a driving shaft of each of the motor components, and the driven wheel is connected to the screw rod and meshes with the driving wheel.

8. The multi-degree-of-freedom platform transmission device according to claim 1, characterized in that: The motion platform also includes a base platform, and multiple robotic arm groups are connected to the base platform. Each of the robotic arm groups includes a first arm, a second arm and an arm connector. One end of the first arm has a first U-shaped joint, and the other end of the first arm is connected to the adjacent transmission assembly. One end of the second arm has a second U-shaped joint, and the arm connector is connected between the first U-shaped joint and the second U-shaped joint.

9. The multi-degree-of-freedom platform transmission device according to claim 8, characterized in that: Each of the robotic arm groups also includes two rotating shafts and four ball bearings, the arm connecting piece includes two connecting holes, the first U-shaped joint has two first through holes, and the second U-shaped joint has two second through holes; wherein the four ball bearings are respectively arranged in the two first through holes and the two second through holes, wherein one of the rotating shafts passes through one of the two connecting holes and connects the two ball bearings respectively located in the two first through holes, and the other rotating shaft passes through the other connecting hole of the two connecting holes and connects the other two ball bearings respectively located in the two second through holes.

10. The multi-degree-of-freedom platform transmission device according to claim 9, characterized in that: The extending directions of the two rotating shafts are perpendicular to each other.

11. The multi-degree-of-freedom platform transmission device according to claim 9, characterized in that: Each of the mechanical arm groups further includes four gaskets, which are respectively arranged between the arm connecting member and the four ball bearings.

12. The multi-degree-of-freedom platform transmission device according to claim 9, characterized in that: Each of the mechanical arm groups also includes two limiting columns, the first U-shaped joint and the second U-shaped joint each include a limiting hole, the two limiting columns are respectively arranged in the two limiting holes, and the upper and lower sides of the arm connecting member are respectively against the two limiting columns.

13. The multi-degree-of-freedom platform transmission device according to claim 8, characterized in that: The other end of the second arm of each of the robot arm groups has a ball joint, the base platform includes a plurality of spherical grooves, and the ball joint is disposed in one of the plurality of spherical grooves.

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