Tail end clamping mechanism, robot main manipulator and surgical robot

Abstract

The utility model is suitable for the technical field of medical instruments, and provides a tail end clamping mechanism, a robot main manipulator and a surgical robotic.The tail end clamping mechanism comprises a base, a clamping piece, a connecting rod, a sliding rod, a first resistance part, a second resistance part and a distance detection assembly, the sliding rod is arranged on the base in a sliding mode in the axial direction and has a first position and a second position, and the distance detection assembly is arranged between the first position and the second position; the first resistance piece is used for providing first resistance for the sliding rod between the first position and the second position, and the second resistance piece is used for providing second resistance for the sliding rod between the third position and the second position. The problem that the spring is compressed abnormally and asymmetrically in the circumferential direction is avoided; the distance detection assembly can detect the moving distance of the sliding rod and directly corresponds to the opening and closing angle of the clamping piece, the conversion relation is simpler, and the conversion result is more accurate; the detection of the opening and closing angle of the clamping piece and the realization of the two-section force simultaneously utilize the axial movement of the sliding rod, so that the structure and the occupied space of the tail end clamping mechanism are simplified.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and particularly to an end clamping mechanism, a robot master manipulator, and a surgical robot. Background Art

[0002] With the continuous development of medical technology, minimally invasive surgeries performed using modern medical devices such as laparoscopes and thoracoscopes and related equipment inside the human body cavity are increasingly replacing traditional surgical methods. Minimally invasive surgeries have advantages such as small trauma, mild pain, and quick recovery. Moreover, the use of modern medical devices also allows doctors to remotely control and provides more advantageous surgical operation accuracy.

[0003] Generally speaking, a surgical robot includes a robot master manipulator and slave operating arms. The robot master manipulator receives the operation signals of the doctor and converts the signals into action signals of the slave operating arms. Thus, the slave operating arms perform corresponding surgical actions.

[0004] Specifically, the robot master manipulator includes a wrist joint, an arm joint, and an end clamping mechanism. The end clamping mechanism is arranged on the wrist joint. During the surgery, the doctor directly operates the end clamping mechanism, and the actions of the end clamping mechanism are transmitted to the slave operating arms through the detection and conversion of the wrist joint.

[0005] The end clamping mechanism is used to provide the doctor with the most direct operation tactile feedback to feedback different states of the surgical operation to the doctor. Generally, as shown in Figure 13 During the opening and closing process of the clamping piece 002', it is necessary to simulate two-stage force sensations of the end instrument clamping. During the closing stage starting from the maximum opening and closing angle (this is the first stage), the doctor feels the first-stage clamping force; when closing to a small angle (the angle between the two clamping pieces 002' is about 8° - 10°), the doctor feels the second-stage clamping force with an obvious mutation, which will prompt the doctor that the clamping piece 002' is about to clamp, that is, the end instrument is about to clamp.

[0006] Currently, most two-stage clamping forces adopt two springs 001' with different lengths and stiffness properties (only one of them is shown in the figure); the mutually approaching ends of the two clamping pieces 002' achieve synchronous motion coupling through gear meshing. However, the radial positions of the above two springs 001' are not constrained. Due to the clearance in gear meshing, the two clamping pieces 002' do not move completely symmetrically, resulting in possible inconsistent compression lengths of the two springs 001' multiple times. The spring 001' is arranged along the arc direction and is compressed in the arc direction, which is an abnormal motion state of the spring 001', and will cause a significant reduction in the service life of the spring 001'.

[0007] In addition, for the detection of the opening and closing angle of the clamping piece 002’, a magnet 003’ is mostly installed on the clamping piece 002’ and a Hall detection element is installed on the base. The clamping piece 002’ rotates around the axis, and the magnet 003’ moves around the axis with the clamping piece 002’, moving away from and approaching the Hall detection plate, causing a change in the magnetic field intensity signal detected by the Hall detection plate. In this process, when the magnet 003’ approaches the Hall detection, it moves around the axis, and the magnetic field intensity changes non-linearly. Therefore, the rotation angle of the clamping piece 002’ cannot be directly mapped, and an algorithm or other calibration tooling is required for angle calibration, and the process is relatively complex. The structure for detecting the opening and closing angle and the structure of the two-section force of the spring 001’ are usually two separate structures, and the overall structure of the end clamping mechanism is further complicated. Summary of the Invention

[0008] The purpose of the embodiments of the present application is to provide an end clamping mechanism, aiming to solve the technical problems such as abnormal compression, asymmetric compression, and complex opening and closing angle detection in the existing end clamping mechanism.

[0009] The embodiments of the present application are implemented as follows. An end clamping mechanism includes:

[0010] A base having an axis, and a first mounting end is formed at one end of its axis;

[0011] A plurality of clamping pieces, one end of which is hinged to the base;

[0012] A plurality of connecting rods, one end of which is hinged to the clamping piece;

[0013] A sliding rod is slidably disposed in the base along the axis and is hinged to the other end of each connecting rod; on the sliding path of the sliding rod, the sliding rod has a first position, a second position, and a third position between the first position and the second position relative to the base. When the sliding rod is in the first position, the plurality of clamping pieces have the maximum angle with the axis, and when the sliding rod is in the second position, the plurality of clamping pieces have the minimum angle with the axis;

[0014] A first resistance member is disposed on the sliding path of the sliding rod for providing a first resistance to the sliding rod between the first position and the second position;

[0015] A second resistance member is disposed on the sliding path of the sliding rod for providing a second resistance to the sliding rod between the third position and the second position;

[0016] A distance detection assembly includes an induction member and a detected member, one of the detected member and the induction member is disposed on the sliding rod, and the other is disposed on the first mounting end.

[0017] In one embodiment, the base further includes a first fixed baffle near the first mounting end. One end of the sliding rod close to the clamping piece is provided with a pressing plate, and the sliding rod slidably passes through the first fixed baffle;

[0018] Wherein, the first resistance member is arranged between the first fixed baffle and the pressing plate.

[0019] In one embodiment, the base further includes a second fixed baffle fixedly arranged on the base, and a sliding baffle slidably arranged axially between the first fixed baffle and the second fixed baffle; a first through hole for the sliding rod to slidably pass through is provided on the sliding baffle, a second through hole for the sliding rod to slidably pass through is provided on the second fixed baffle, the size of the second through hole is configured to allow the pressing plate to pass through but block the sliding baffle, the size of the first through hole is configured to block the pressing plate from passing through, and wherein, the second resistance member is arranged between the first fixed baffle and the sliding baffle.

[0020] In one embodiment, the first resistance member and the second resistance member respectively include at least one of a compression spring, a damping member and a magnetic assembly.

[0021] In one embodiment, the first resistance member and the second resistance member are respectively compression springs and are nested with each other, and the size of the first through hole is configured to allow the first resistance member to pass through.

[0022] In one embodiment, the second resistance member is a compression spring, and the compression spring is pre-compressed between the first fixed baffle and the sliding baffle.

[0023] In one embodiment, a plurality of guide rods are fixedly connected between the first fixed baffle and the second fixed baffle, the plurality of guide rods are spaced apart, and the sliding baffle is slidably connected with the guide rods.

[0024] In one embodiment, the sensing member is a Hall magnetic sensor, and the sensed member is a third magnet.

[0025] Another object of the present application is to provide a robot master manipulator, which includes a wrist joint and an arm joint, and the wrist joint includes the end clamping mechanism as described in the above embodiments.

[0026] Another object of the present application is to provide a surgical robot, which includes the robot master manipulator as described in the foregoing embodiments, and a slave operating arm controlled by the robot master manipulator.

[0027] The beneficial effects of the end clamping mechanism, the surgical robot master manipulator and the surgical robot provided by the embodiments of the present application are as follows:

[0028] In this end clamping mechanism, the opening and closing of the clamping piece is converted into the linear movement of the sliding rod through a connecting rod. The first resistance member and the second resistance member provide resistance to the sliding of the sliding rod in different stages, avoiding the problems of abnormal compression and asymmetric compression of the spring along the circumferential direction. Moreover, during the axial movement of the sliding rod, the distance detection component can detect the moving distance of the sliding rod, and this moving distance can directly correspond to the opening and closing angle of the clamping piece. The conversion relationship can be simpler and the conversion result can be more accurate. In addition, the detection of the opening and closing angle of the clamping piece and the realization of the two-stage force both utilize the axial movement of the sliding rod, which can simplify the structure and space occupation of this end clamping mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0030] Figure 1 is a schematic structural diagram of a robot main operating hand provided by an embodiment of the present application;

[0031] Figure 2 is a schematic structural diagram of an end clamping mechanism provided by an embodiment of the present application;

[0032] Figure 3 is an axial sectional structural diagram of an end clamping mechanism provided by an embodiment of the present application, where the sliding rod is in the first position;

[0033] Figure 4 is Figure 3 an enlarged schematic diagram of a partial structure of the shown end clamping mechanism;

[0034] Figure 5 is an axial sectional structural diagram of an end clamping mechanism provided by an embodiment of the present application, where the sliding rod is in the second position;

[0035] Figure 6 is Figure 7 an enlarged schematic diagram of a partial structure of the shown end clamping mechanism;

[0036] Figure 7 is a schematic connection diagram of a first spring and a sliding rod in an end clamping mechanism provided by an embodiment of the present application;

[0037] Figure 8 is a schematic connection diagram of a second spring and a sliding baffle in an end clamping mechanism provided by an embodiment of the present application;

[0038] Figure 9It is a schematic axial sectional structure diagram of the end clamping mechanism provided by another embodiment of the present application, wherein the sliding rod is in the first position;

[0039] Figure 10 is Figure 9 an enlarged schematic diagram of a partial structure of the shown end clamping mechanism;

[0040] Figure 11 It is a schematic axial sectional structure diagram of the end clamping mechanism provided by another embodiment of the present application, wherein the sliding rod is in the first position;

[0041] Figure 12 is Figure 11 an enlarged schematic diagram of a partial structure of the shown end clamping mechanism;

[0042] Figure 13 It is a schematic structure diagram of the end clamping mechanism of the prior art.

[0043] The meanings of the marks in the figure are as follows:

[0044] 001’ - spring, 003’ - magnet;

[0045] 300 - robot main operating hand, 200 - wrist joint;

[0046] 100 - end clamping mechanism;

[0047] 1 - base, 10 - first mounting end, 11 - axial space, 12 - first fixed baffle, 120 - third through hole, 13 - second fixed baffle, 130 - second through hole, 14 - sliding baffle, 140 - first through hole, 141 - second limiting groove, 142 - guiding hole, 15 - guiding rod;

[0048] 002’, 2 - clamping piece;

[0049] 3 - connecting rod;

[0050] 4 - sliding rod, 41 - second mounting end, 42 - pressing plate, 420 - first limiting groove;

[0051] 5 - first resistance member, 51 - first spring, 53 - first magnet, 54 - second magnet;

[0052] 6 - second resistance member, 62 - second spring;

[0053] 7 - distance detection component, 71 - sensing member, 72 - sensed member;

[0054] 8 - sliding switch;

[0055] 91 - first pin shaft, 92 - second pin shaft, 93 - third pin shaft. Detailed implementation manners

[0056] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0057] When an element is referred to as being "disposed on" another element, it can be directly on the other element or there can be a central element therebetween. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be a central element at the same time.

[0058] In addition, in the present application, descriptions such as "first" and "second" are only for descriptive purposes and cannot be construed as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" can explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs. The terms used herein in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0060] In order to illustrate the technical solutions described in the present application, the following will be described in detail with reference to specific drawings and embodiments.

[0061] The embodiments of the present application first provide a surgical robot, which includes a robot master manipulator 300 (please refer to Figure 1 ) and a slave manipulator that are communicatively connected to each other. Among them, the robot master manipulator 300 is used to send control commands to the slave manipulator according to the operations of the doctor to control the slave manipulator. The slave manipulator is used to respond to the control commands sent by the robot master manipulator 300 and perform corresponding surgical operations.

[0062] The robot master manipulator 300 and the slave manipulator can be placed in one space.

[0063] Alternatively, the main robotic manipulator 300 and the slave manipulator arm can be placed in different spaces. Even the main robotic manipulator 300 and the slave manipulator arm can be far apart. For example, in different operating rooms or different cities.

[0064] Data communication can be carried out between the main robotic manipulator 300 and the slave manipulator arm in a wired manner or in a wireless manner.

[0065] Please refer to Figure 1 As shown, the main robotic manipulator 300 includes a wrist joint 200 and an arm joint. The wrist joint 200 includes an end clamping mechanism 100.

[0066] Specifically, please refer to Figure 2 As shown, the end clamping mechanism 100 includes a base 1, a plurality of clamping pieces 2, a plurality of connecting rods 3, and a sliding rod 4. Please refer to Figure 3 and Figure 4 As shown, it further includes a first resistance member 5, a second resistance member 6, and a distance detection component 7. The base 1 is the supporting part of the entire end clamping mechanism 100 and has an axis. The sliding rod 4 is slidably disposed on the base 1 along the axis, specifically inside the base 1. One end of each clamping piece 2 is respectively hinged to the base 1, one end of each connecting rod 3 is hinged to the clamping piece 2, and the other end of each connecting rod 3 is hinged to the sliding rod 4. When each clamping piece 2 rotates relative to the base 1, the connecting rod 3 deflects accordingly and drives the sliding rod 4 to slide along the axis of the base 1. That is, the opening and closing of the clamping piece 2 are converted into the axial movement of the sliding rod 4.

[0067] On the sliding path of the sliding rod 4, the sliding rod 4 has a first position, a second position, and a third position located between the first position and the second position. Among them, when the sliding rod 4 is in the first position, the plurality of clamping pieces 2 have the maximum angle with the axis of the base 1, that is, with the central axis of the sliding rod 4. When the sliding rod 4 is in the second position, the plurality of clamping pieces 2 have the minimum angle with the central axis of the sliding rod 4.

[0068] The first resistance member 5 is disposed on the sliding path of the sliding rod 4 and is used to provide a first resistance to the sliding rod 4 between the first position and the second position. The second resistance member 6 is disposed on the sliding path of the sliding rod 4 and is used to provide a second resistance to the sliding rod 4 between the third position and the second position.

[0069] In this way, during the closing process of the clamping piece 2, the doctor first feels the first resistance. At the third position and later, the doctor will feel the superimposed force of the first resistance and the second resistance. Therefore, during the process of the doctor operating the clamping piece 2 to close, it will be felt that the entire closing process is divided into two sections of force, that is, the process from the first position to the third position and the process from the third position to the second position. The doctor can feel significantly different resistances, so that a more accurate force feedback can be provided for the doctor's closing operation.

[0070] As Figure 2 shown, one end of the base 1 in the axial direction forms a first mounting end 10. The distance detection assembly 7 includes an inductor 71 and an inducted member 72. One of the inducted member 72 and the inductor 71 is disposed on the sliding rod 4, and the other is disposed on the first mounting end 10. During the process of the sliding rod 4 sliding along the axial direction of the base 1, the inductor 71 can sense the change in the distance between it and the inducted member 72, and further, the position of the sliding rod 4 can be reflected.

[0071] In the end clamping mechanism 100 provided by the embodiment of the present application, the opening and closing of the clamping piece 2 is converted into the linear movement of the sliding rod 4 through the hinge of the connecting rod 3. The first resistance member 5 and the second resistance member 6 provide resistance for the sliding of the sliding rod 4 in different stages, avoiding the problems of abnormal compression and asymmetric compression of the spring along the circumferential direction; and, during the axial movement of the sliding rod 4, the distance detection assembly 7 can detect the moving distance of the sliding rod 4, and this moving distance can directly correspond to the opening and closing angle of the clamping piece 2, and the conversion relationship can be simpler and the conversion result can be more accurate; in addition, the detection of the opening and closing angle of the clamping piece 2 and the realization of the two-stage force utilize the axial movement of the sliding rod 4 at the same time, which can simplify the structure and space occupation of the end clamping mechanism 100.

[0072] The first position is the position where the sliding rod 4 is located when the clamping piece 2 does not perform the clamping movement, that is, the initial position of the sliding rod 4, and the second position is the position where the sliding rod 4 is located when the clamping piece 2 clamps to the limit, that is, the termination position of the sliding rod 4.

[0073] It can be understood that the sliding rod 4 is a rigid object with a certain axial length. For each point on it, there are a first position, a second position and a third position. In the present application, the position on the sliding rod 4 that interacts with the first resistance member 5 is defined as the reference position. The first position is the position of the reference position relative to the base 1 when the sliding rod 4 is in the initial position, the second position is the position of the reference position relative to the base 1 when the sliding rod 4 is in the termination position, and the third position is the position of the reference position relative to the base 1 when the reference position starts to interact with the second resistance member 6.

[0074] Please refer to Figure 2 and Figure 3 shown, the end clamping mechanism 100 includes a first pin shaft 91 disposed on the base 1. The axial direction of the first pin shaft 91 is perpendicular to the axial direction of the base 1. The clamping piece 2 is rotationally connected to the base 1 through the first pin shaft 91 to allow the clamping piece 2 to rotate relative to the base 1.

[0075] Please refer to Figure 2 and Figure 3As shown, the end clamping mechanism 100 includes a second pin shaft 92 disposed on the clamping piece 2. The axial direction of the second pin shaft 92 is perpendicular to the axial direction of the base 1. The clamping piece 2 is rotatably connected to the connecting rod 3 through the second pin shaft 92 to allow the connecting rod 3 to rotate relative to the clamping piece 2.

[0076] Please refer to Figure 3 As shown, the end clamping mechanism 100 includes a third pin shaft 93 disposed on the connecting rod 3. The axial direction of the third pin shaft 93 is perpendicular to the axial direction of the base 1. The other end of the connecting rod 3 is rotatably connected to the sliding rod 4 through the third pin shaft 93 to allow the connecting rod 3 to rotate relative to the sliding rod 4.

[0077] As Figure 3 、 Figure 4 and Figure 7 As shown, a pressing plate 42 is provided at one end of the sliding rod 4 close to the clamping piece 2. One side surface of the pressing plate 42 facing the first mounting end 10 is used to act on the first resistance member 5 and the second resistance member 6. Therefore, one side surface of the pressing plate 42 facing the first mounting end 10 can be used as the above-mentioned reference position.

[0078] An axial space 11 for slidably mounting the sliding rod 4 is provided inside the base 1. Refer to Figure 3 As shown, and two laterally opposite openings (not shown), the laterally opposite openings are in communication with the axial space 11. At least a part of the clamping piece 2 and the connecting rod 3 protrude from the laterally opposite openings.

[0079] Please refer to Figure 3 and Figure 4 As shown, the base 1 further includes a first fixed baffle 12 close to the first mounting end 10. A third through hole 120 is provided on the first fixed baffle 12. The sliding rod 4 slidably passes through the first fixed baffle 12 through the third through hole 120.

[0080] As Figure 3 and Figure 4 As shown, the first resistance member 5 is a compression spring, specifically the first spring 51. The first spring 51 is sleeved on the sliding rod 4, and one end of the first spring 51 abuts against the first fixed baffle 12 and the other end abuts against the pressing plate 42. The first fixed baffle 12 is fixedly arranged inside the base 1 and is located at a position corresponding to a preset distance on the side away from the first position where the sliding rod 4 moves. So that when the sliding rod 4 is in the second position, a reserved space is provided for the first resistance member 5 and the second resistance member 6. Therefore, when the sliding rod 4 moves from the first position to the second position, the first spring 51 is compressed, and the first spring 51 provides the first resistance for the sliding rod 4 between the first position and the second position.

[0081] When the slide bar 4 is in the first position, the first spring 51 can be arranged between the pressure plate 42 and the first fixed baffle 12 in a freely extended state; or, when the slide bar 4 is in the first position, the first spring 51 can be pre-compressed between the pressure plate 42 and the first fixed baffle 12, that is, the free length of the first spring 51 is greater than the distance between the first position and the second position.

[0082] As Figure 7 shown, a first limiting groove 420 for fixedly installing the first spring 51 is provided on the surface of the pressure plate 42 facing the first mounting end 10.

[0083] Please refer to Figure 3 and Figure 4 shown, the base 1 further includes a second fixed baffle 13 and a sliding baffle 14 slidably arranged axially between the first fixed baffle 12 and the second fixed baffle 13. Among them, the second fixed baffle 13 is located inside the base 1 and at a position corresponding to the third position where the slide bar 4 moves. Figure 4 In, a first through hole 140 for the slide bar 4 to slide through is provided on the sliding baffle 14, and a second through hole 130 for the slide bar 4 to slide through is provided on the second fixed baffle 13. Moreover, the size of the second through hole 130 is configured to allow the pressure plate 42 to pass through but block the sliding baffle 14, and the size of the first through hole 140 is configured to block the pressure plate 42 from passing through.

[0084] The second resistance member 6 is a compression spring, specifically a second spring 62, which is arranged between the second fixed baffle 13 and the sliding baffle 14. After the pressure plate 42 reaches the third position, the pressure plate 42 can pass through the second through hole 130 of the second fixed baffle 13, but cannot pass through the second through hole 130 on the sliding baffle 14. Therefore, when the slide bar 4 continues to move from the third position to the second position, the pressure plate 42 will push the sliding baffle 14 to slide together and compress the second spring 62. Thus, in the process from the third position to the second position, a second resistance is provided. Of course, during this process, the first resistance member 5 still provides the first resistance simultaneously.

[0085] Among them, in an optional embodiment, the second spring 62 is pre-compressed between the second fixed baffle 13 and the sliding baffle 14, or rather, the free length of the second spring 62 is greater than the distance between the second position and the third position. The purpose of such a design is that at the third position, the second spring 62 pre-stores a certain amount of compression and elastic force. When the slide bar 4 continues to move after the third position, the sum of the resistances received by the slide bar 4 will undergo an obvious mutation, thereby providing a more obvious feedback signal to the doctor.

[0086] As Figure 8 shown, a second limiting groove 141 for fixedly installing the second spring 62 is provided on the sliding baffle 14.

[0087] Please refer toFigure 4 and Figure 6 As shown in Figure 6 , in one embodiment, the first spring 51 is sleeved on the sliding rod 4, and the second spring 62 is sleeved on the first spring 51. Among them, the size of the first through hole 140 on the sliding baffle 14 is configured to allow the first spring 51 to pass through. The compression of the first spring 51 and the compression of the second spring 62 do not affect each other.

[0088] In one embodiment, the stiffness coefficient of the second spring 62 is greater than that of the first spring 51. In this way, the second spring 62 can provide a greater second resistance. Thus, during the process of the sliding rod 4 moving from the third position to the second position, the doctor can feel a greater overall resistance. Especially when the clamping piece 2 is about to clamp, the resistance will be the greatest, which can provide a clearer prompt for the doctor and facilitate the doctor's surgical operations such as suturing and cutting.

[0089] In other alternative embodiments, the second resistance member 6 can be a damping member, so that the movement of the sliding baffle 14 has a damping to achieve the effect equivalent to the second resistance.

[0090] In other alternative embodiments, the first resistance member 5 can also be a damping member, so that the movement of the sliding rod 4 starting from the first position has a damping to achieve the effect equivalent to the first resistance.

[0091] Please refer to Figure 5 and Figure 6 As shown in Figure 6 , a plurality of guide rods 15 are fixedly connected between the first fixed baffle 12 and the second fixed baffle 13. The plurality of guide rods 15 are spaced apart in the circumferential direction, that is, spaced apart around the sliding rod 4. The sliding baffle 14 is slidably connected to the guide rods 15, and the guide rods 15 provide guidance for the movement of the sliding baffle 14.

[0092] Among them, please refer to Figure 8 in combination. Figure 8 As shown, a plurality of guide holes 142 are provided on the sliding baffle 14, and the guide rods 15 are slidably inserted into the guide holes 142.

[0093] In addition, please refer to Figure 2 . Figure 2 As shown, in one embodiment, the end clamping mechanism 100 further includes a sliding switch 8. The sliding switch 8 is disposed on the base 1 and is mainly used to achieve master-slave connection. For example, when the doctor needs to connect the robot master manipulator 300 and the slave operating arm, the sliding switch 8 is toggled to a position. When it is necessary to disconnect the connection between the robot master manipulator 300 and the slave operating arm, the sliding switch 8 is toggled to another position.

[0094] In some embodiments, the first resistance member 5 or the second resistance member 6 can also be implemented by a pair of magnetic members with the same-sex magnetic poles facing each other to provide different resistances.

[0095] Please refer to in combinationFigure 9 and Figure 10 , as well as Figure 11 and Figure 12 As shown, an embodiment is provided in which the first resistance member 5 is implemented by paired magnetic members.

[0096] As Figure 10 and Figure 12 As shown, the first resistance member 5 includes a first magnet 53 and a second magnet 54. The first magnet 53 is disposed on the sliding rod 4, specifically on the surface of the pressing plate 42 facing the first mounting end 10. The second magnet 54 is disposed on the first fixed baffle 12, and the first magnet 53 and the second magnet 54 repel each other. Therefore, when the sliding rod 4 moves from the first position to the second position, the repulsive force between the first magnet 53 and the second magnet 54 can serve as the first resistance.

[0097] Among them, as Figure 10 and Figure 12 As shown, the size of the second through hole 130 on the second fixed baffle 13 is configured to allow the first magnet 53 to pass through.

[0098] In one embodiment, referring to Figure 10 and Figure 12 As shown, a second mounting end 41 is formed on one side of the sliding rod 4 facing the first mounting end 10, and the second mounting end 41 is used to mount the above-mentioned sensing member 71 or the sensed member 72.

[0099] The form of the second mounting end 41 is not limited. For example, a groove may be provided on the second mounting end 41, and the sensing member 71 or the sensed member 72 is disposed in the groove. Alternatively, mounting structures such as buckles are provided on the second mounting end 41.

[0100] In one embodiment, the sensing member 71 is a Hall magnetic sensor, and the sensed member 72 is a third magnet. During the process of the sliding rod 4 sliding towards the second position, the distance between the third magnet and the Hall sensor decreases. Thus, the Hall sensor can sense the magnetic field change of the third magnet, and further, the Hall sensor can give a corresponding distance change signal.

[0101] Moreover, the third magnet approaches the Hall magnetic sensor along a straight line, and its magnetic field intensity changes linearly. Through geometric relationships, the opening and closing angle of the clamping piece 2 can be converted.

[0102] In an alternative embodiment, the Hall magnetic sensor is disposed at the first mounting end 10 of the base 1, and the third magnet is disposed at the second mounting end 41.

[0103] The Hall sensor is a unipolar Hall element and can only detect the magnetic field intensity of a single pole (such as the S pole or the N pole).

[0104] Among them, the third magnet can be arranged with a different magnetic pole facing the second magnet 54, and the third magnet and the second magnet 54 are arranged to attract each other; then, the third magnet and the first magnet 53 are arranged with the same magnetic poles facing each other, that is, there is a mutually repulsive arrangement between the third magnet and the first magnet 53.

[0105] The purpose of this setting is as follows. Taking the Hall sensor for detecting the magnetic field strength of the N pole as an example, the S pole of the first magnet 53 faces the Hall sensor, and the magnetic field strength of this S pole can be shielded by the Hall sensor. If the distance between the first magnet 53 and the Hall sensor exceeds the detection range of the Hall sensor, the magnetic field of the first magnet 53 can be ignored.

[0106] In addition, since the second magnet 54 is fixedly arranged relative to the Hall sensor, the magnetic field strength generated by it is a constant value, denoted as a constant, and will not affect the detection of the changing magnetic field of the third magnet by the Hall sensor; if the distance between the second magnet 54 and the Hall sensor exceeds the detection range of the Hall sensor, the magnetic field strength of the second magnet 54 can be ignored.

[0107] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An end clamping mechanism (100), characterized in that: include: The base (1) has an axial direction, and one axial end thereof forms a first mounting end (10); A plurality of clamping pieces (2), one end of which is hinged to the base (1); A plurality of connecting rods (3), one end of which is hinged to the clamping piece (2); A slide bar (4) is arranged in the base (1) to slide along the axial direction and is hinged to the other end of each connecting rod (3); on the sliding path of the slide bar (4), the slide bar (4) has a first position, a second position, and a third position located between the first position and the second position relative to the base (1); when the slide bar (4) is in the first position, a plurality of the clamping pieces (2) have a maximum angle with the axial direction; when the slide bar (4) is in the second position, a plurality of the clamping pieces (2) have a minimum angle with the axial direction; A first resistance member (5) is provided on the sliding path of the sliding rod (4) and is used to provide a first resistance to the sliding rod (4) between the first position and the second position; A second resistance member (6) is provided on the sliding path of the sliding rod (4) and is used to provide a second resistance to the sliding rod (4) between the third position and the second position; The distance detection component (7) comprises a sensing component (71) and a sensed component (72), wherein one of the sensed component (72) and the sensing component (71) is arranged on the slide bar (4), and the other is arranged on the first mounting end (10).

2. The end clamping mechanism (100) according to claim 1, characterized in that: The base (1) further comprises a first fixed baffle (12) close to the first mounting end (10); a pressing plate (42) is provided at one end of the slide bar (4) close to the clamping sheet (2), and the slide bar (4) slides through the first fixed baffle (12); Wherein, the first resistance member (5) is arranged between the first fixed baffle plate (12) and the pressure plate (42).

3. The end clamping mechanism (100) according to claim 2, characterized in that: The base (1) also includes a second fixed baffle (13) fixedly arranged on the base (1), and a sliding baffle (14) axially slidably arranged between the first fixed baffle (12) and the second fixed baffle (13); the sliding baffle (14) is provided with a first through hole (140) for the sliding rod (4) to slide through, and the second fixed baffle (13) is provided with a second through hole (130) for the sliding rod (4) to slide through, the size of the second through hole (130) is configured to allow the pressure plate (42) to pass through but block the sliding baffle (14), and the size of the first through hole (140) is configured to block the pressure plate (42) from passing through, wherein the second resistance member (6) is arranged between the first fixed baffle (12) and the sliding baffle (14).

4. The end clamping mechanism (100) according to claim 3, characterized in that: The first resistance member (5) and the second resistance member (6) respectively comprise at least one of a compression spring, a damping member and a magnetic component.

5. The end clamping mechanism (100) according to claim 4, characterized in that: The first resistance member (5) and the second resistance member (6) are respectively compression springs and are arranged to be nested with each other. The size of the first through hole (140) is configured to allow the first resistance member (5) to pass through.

6. The end clamping mechanism (100) according to claim 4, characterized in that: The second resistance member (6) is a compression spring, and the compression spring is pre-compressed between the first fixed baffle (12) and the sliding baffle (14).

7. The end clamping mechanism (100) according to claim 3, characterized in that: A plurality of guide rods (15) are fixedly connected between the first fixed baffle (12) and the second fixed baffle (13), the plurality of guide rods (15) are distributed at intervals, and the sliding baffle (14) is slidably connected to the guide rods (15).

8. The end clamping mechanism (100) according to any one of claims 1 to 7, characterized in that: The sensing element (71) is a Hall magnetic sensor, and the sensed element (72) is a third magnet.

9. A robot main operator (300), characterized in that: The invention comprises a wrist joint (200) and an arm joint, wherein the wrist joint (200) comprises an end clamping mechanism (100) according to any one of claims 1 to 8.

10. A surgical robot, characterized in that: It comprises the robot master manipulator (300) as claimed in claim 9, and a slave manipulator arm controlled by the robot master manipulator (300).

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