Eight-axis mechanical arm executing mechanism

Abstract

An eight-axis mechanical arm executing mechanism comprises a bottom plate and a mechanical arm. The mechanical arm is fixedly connected to the bottom plate through screws. Surgical tools can be mounted at the tail ends of the mechanical arms; the eight-shaft mechanical arm executing mechanism comprises eight shafts, the first shaft is a front-back translation shaft, the second shaft to the seventh shaft are equivalent to traditional six-shaft cooperative mechanical arms, and the eighth shaft is a rotation shaft of an end effector. According to the eight-axis mechanical arm executing mechanism, a kinetic model of a mechanical arm can be decoupled more easily, position control based on dynamics can be conducted easily, and force control can be achieved easily, so that mechanical arm control is smoother; each joint of the mechanical arm adopts double encoders for feedback, necessary feedback information is provided for accurate control of the mechanical arm, parameters such as the movement speed and the position of the mechanical arm are obtained through calculation according to read position information, and the accuracy of an operation is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment, and in particular relates to an eight-axis robotic arm actuator that can be applied to a transurethral and transvaginal surgical robot. Background Art

[0002] Currently, collaborative robotic arms, both domestically and internationally, are primarily 6- and 7-axis, general-purpose arms, primarily used in industrial settings. Their workspace design also prioritizes industrial applications. Surgical robotic systems integrate multiple modern high-tech technologies, with the robotic arm being the primary actuator. Due to the specific location of surgical lesions, existing robotic arms on the market cannot meet the workspace requirements of surgical robotic systems. Utility Model Content

[0003] To address these issues, the inventors of this utility model designed an eight-axis robotic arm actuator based on the practical challenges of clinical surgical robotic systems. This mechanism increases the robotic system's workspace, enabling it to drive the end-use surgical tool to any surgical lesion, thereby improving the system's efficiency.

[0004] The eight-axis robotic arm actuator provided in the embodiment of the present utility model can better meet the working space requirements during urological surgery, can drive the end surgical tools to any surgical lesion, and improve the working efficiency of the surgical robot system.

[0005] The eight-axis robotic arm actuator provided in the embodiment of the present utility model adopts a self-developed joint motor module design, which has a stronger load capacity and fully meets the surgical load requirements.

[0006] The eight-axis robotic arm actuator provided by the embodiment of the present invention adopts a seven-axis robotic arm and a linear power module. The linear module is not limited to a synchronous belt linear module, a lead screw linear module and a linear motor.

[0007] The mechanical arm provided in the embodiment of the present invention is designed with torque sensors at each joint, which is more conducive to decoupling the dynamic model of the mechanical arm, facilitating dynamics-based position control, and facilitating force control to make the mechanical arm control smoother.

[0008] The joints of the robotic arm provided in the embodiment of the present invention adopt dual encoder feedback to provide necessary feedback information for the precise control of the robotic arm. By reading the position information, the movement speed, position and other parameters of the robotic arm are calculated, thereby improving the accuracy of the surgery.

[0009] The embodiment of the present invention provides an eight-axis robotic arm actuator, the eight-axis robotic arm actuator 00 includes a base plate 01 and a robotic arm 02; the robotic arm 02 is fixed to the base plate 01 by screws; the end of the robotic arm 02 can be installed with a surgical tool 03;

[0010] The eight-axis robotic arm actuator includes eight axes, wherein the first axis is the front-to-back translation axis, the second to seventh axes are equivalent to the traditional six-axis collaborative robotic arm, and the eighth axis is the end effector rotation axis.

[0011] According to an embodiment of the present invention, for example, the base plate 01 of the eight-axis robotic arm actuator includes a supporting base plate 0104, a rear position sensor 0101, an intermediate position sensor 0102, a first sensor plate 0103, a linear power module 0105, a mounting plate 0106, a synchronous belt 0107, a linear guide rail 0108, a front position sensor 0109, a second sensor plate 0110, a servo motor 0111, a limit block 0112 and a linear power module slider 0113.

[0012] According to an embodiment of the present invention, for example, the support base plate 0104 is a flat plate with threaded holes thereon, which are used to install the linear power module 0105 and the linear guide rail 0108; a groove is also provided on the support base plate 0104, and the linear guide rail 0108 is installed and positioned through the above-mentioned groove.

[0013] According to an embodiment of the present invention, for example, the linear power module 0105 is fixedly mounted on the support base plate 0104, the linear guide rail 0108 is fixedly mounted on the support base plate 0104, and two sets of sliders are arranged on each linear guide rail 0108, wherein each set of linear guide rails includes two sliders, and the linear guide rails 0108 are arranged in two parallel lines, which are mounted on both sides of the linear power module 0105; the linear power module slider 0113 is mounted on the linear power module 0105 and can move back and forth driven by the servo motor 0111.

[0014] According to an embodiment of the present utility model, for example, the first sensing plate 0103 and the second sensing plate 0110 are fixedly mounted on the linear power module slider 0113, and move forward and backward with the linear power module slider 0113; the front position sensor 0109, the rear position sensor 0101 and the intermediate position sensor 0102 are fixed on the profile groove of the linear power module 0105, and the linear power module 0105 has a profile groove, and the position sensor is fixed to the profile groove by screws and profile nuts.

[0015] According to an embodiment of the present invention, for example, the first sensing plate and the second sensing plate cooperate with the position sensor to respectively determine the front limit position, the middle zero position and the rear limit position of the linear power module 0105; the front and rear ends of the linear power module 0105 are also equipped with limit blocks 0112.

[0016] According to an embodiment of the present utility model, for example, the mounting plate 0106 is fixedly connected to the linear power module slider 0113, the four sliders of the two linear guide rails 0108 are fixedly connected to the mounting plate 0106, and the two linear guide rails 0108 increase the stability of the movement; the servo motor 0111 transmits the rotation to the linear power module 0105 through the synchronous belt 0107, and the linear power module 0105 converts the rotation of the servo motor 0111 into linear motion.

[0017] According to one embodiment of the present invention, for example, the robotic arm 02 includes a base 0201, a first joint module 0202, a first arm tube 0203, a second joint module 0204, a second arm tube 0205, a third joint module 0206, a third arm tube 0207, a fourth joint module 0208, a fourth arm tube 0209, a fifth joint module 0210, a fifth arm tube 0211, a sixth joint module 0212, a sixth arm tube 0213, a seventh joint module 0214 and an end flange 0215.

[0018] According to an embodiment of the present invention, for example, the base of the robot arm 02 is fixedly connected to the mounting plate 0106 of the base plate 01, and can move forward and backward under the drive of the servo motor 0111; the joint module 0202 is fixedly connected to the base 0201, the output end of the first joint module 0202 is fixedly connected to the first arm tube 0203; the second joint module 0204 is fixedly connected to the first arm tube 0203, the output end of the second joint module 0204 is fixedly connected to the second arm tube 0205, and the output end of the third joint module 0206 is also fixedly connected to the second arm tube 0205; the third joint module 020 6 is fixedly connected to the third arm tube 0207, and the fourth joint module 0208 is also fixedly connected to the third arm tube 0207; the output end of the fourth joint module 0208 is fixedly connected to the fourth arm tube 0209; the fifth arm tube is fixed with the fifth joint module 0210 and the sixth joint module 0212; the output end of the fifth joint module 0210 is fixedly connected to the fourth arm tube 0209, and the output end of the sixth joint module 0212 is fixedly connected to the sixth arm tube 0213; the sixth arm tube 0213 is also provided with a seventh joint module 0214, and the output end of the seventh joint module 0214 is fixedly connected to the end flange 0215. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a configuration diagram of the eight-axis robotic arm actuator provided by an embodiment of the present utility model.

[0020] Figure 2 This is a simulation result diagram of the vertical swing range of the eight-axis robotic arm actuator provided by an embodiment of the present utility model: +76° to -48° (0°→+76°→-48°→0°).

[0021] Figure 3 This is a simulation result diagram of the horizontal swing range of the eight-axis robotic arm actuator provided by an embodiment of the present utility model: +61.5°~-61.5° (0°→+61.5°→-61.5°→0°).

[0022] Figure 4 This is a simulation result diagram of the upper left and lower right swing range of the eight-axis robotic arm actuator provided by an embodiment of the present utility model: +74° to -60° (0°→+74°→-60°→0°).

[0023] Figure 5 It is a side structural diagram of the eight-axis robotic arm actuator provided by an embodiment of the utility model.

[0024] Figure 6 It is a schematic diagram of the three-dimensional structure of the eight-axis robotic arm actuator provided by an embodiment of the present utility model.

[0025] Figure 7 This is a schematic diagram of the base structure of the eight-axis robotic arm actuator provided by an embodiment of the present utility model.

[0026] Figure 8 This is a schematic diagram of the base plate structure from another angle of the eight-axis robotic arm actuator provided by an embodiment of the present utility model.

[0027] Figure 9 It is a schematic diagram of the structure of the eight-axis robotic arm actuator provided by an embodiment of the present utility model.

[0028] Figure 10 This is an exploded view of the eight-axis robotic arm actuator structure provided by an embodiment of the present utility model. DETAILED DESCRIPTION

[0029] like Figures 1 to 4 As shown in the figure, based on the actual situation of surgical clinical trials, the eight-axis robotic arm configuration increases the robotic arm's workspace while making the robotic arm less bulky. At the same time, the motion curves of the various dynamic components of the eight-axis robotic arm's actuator were plotted through MATLAB simulation. The MATLAB simulation is based on a redundant control method based on the optimization index gradient and the zero-space motion derivative. This redundant control method is an improvement on the gradient projection method.

[0030] The configuration of the eight-axis robot arm is that the first axis is the front-to-back translation axis, the second to seventh axes are equivalent to the traditional six-axis collaborative arm configuration, and the eighth axis is the end effector rotation axis. The first and eighth axes are redundant axes. Figure 1 shown.

[0031] like Figure 5 、 Figure 6 As shown, the eight-axis robotic arm actuator 00 includes a base plate 01 and a robotic arm 02. The robotic arm 02 is fixed to the base plate 01 by screws. The end of the robotic arm 02 can be mounted with a surgical tool 03.

[0032] like Figure 7 、 Figure 8 As shown, the base plate 01 of the eight-axis robotic arm actuator includes a supporting base plate 0104, a rear position sensor 0101, an intermediate position sensor 0102, a first sensor plate 0103, a linear power module 0105, a mounting plate 0106, a synchronous belt 0107, a linear guide rail 0108, a front position sensor 0109, a second sensor plate 0110, a servo motor 0111, a limit block 0112 and a linear power module slider 0113.

[0033] The support base plate 0104 is a flat plate with threaded holes on it, which are used to install the linear power module 0105 and the linear guide rail 0108. At the same time, the support base plate 0104 is also designed with grooves, which are mainly used for installing and positioning the linear guide rail 0108. The linear power module 0105 is fixedly installed on the support base plate 0104, and the linear guide rail 0108 is fixedly installed on the support base plate 0104. Each linear guide rail 0108 is designed with two sets of sliders (each set of linear guide rails includes two sliders). The linear guide rails 0108 are arranged in two parallel lines and are installed on both sides of the linear power module 0105. The linear power slider 0113 is installed on the linear power module 0105 and can move back and forth under the drive of the servo motor 0111. The first sensor plate 0103 and the second sensor plate 0110 are fixedly installed on the linear power module slider 0113 and move back and forth with the linear power module slider 0113. The front position sensor 0109, the rear position sensor 0101 and the middle position sensor 0102 are fixed on the profile slot of the linear power module 0105. The body of the linear power module 0105 is made of an aluminum profile with a profile slot on it. The position sensors are fixed to the profile slot by screws and profile nuts. The first sensing plate and the second sensing plate cooperate with the position sensors to respectively determine the front limit position, the middle zero position and the rear limit position of the linear power module 0105. The front and rear ends of the linear power module 0105 are also installed with limit blocks 0112. The limit blocks 0112 are made of hard rubber material. When the front and rear position sensors fail, they limit the forward or backward movement of the linear power module slider 0113 to increase installation protection. The mounting plate 0106 is fixedly connected to the linear power module slider 0113, and the four sliders of the two linear guide rails 0108 are fixedly connected to the mounting plate 0106. The design of the two linear guide rails 0108 increases the stability of the movement. The servo motor 0111 transmits its rotation to the linear power module 0105 through the synchronous belt 0107, and the linear power module 0105 converts the rotation of the servo motor 0111 into linear motion.

[0034] like Figure 9 、 Figure 10As shown, the robotic arm 02 includes a base 0201, a first joint module 0202, a first arm tube 0203, a second joint module 0204, a second arm tube 0205, a third joint module 0206, a third arm tube 0207, a fourth joint module 0208, a fourth arm tube 0209, a fifth joint module 0210, a fifth arm tube 0211, a sixth joint module 0212, a sixth arm tube 0213, a seventh joint module 0214, and an end flange 0215. The base of the robotic arm 02 is fixedly connected to the mounting plate 0106 of the base plate 01 and can move back and forth driven by the servo motor 0111. The joint module 0202 is fixedly connected to the base 0201, and the output end of the first joint module 0202 is fixedly connected to the first arm tube 0203. The second joint module 0204 is fixedly connected to the first arm tube 0203, the output end of the second joint module 0204 is fixedly connected to the second arm tube 0205, and the output end of the third joint module 0206 is also fixedly connected to the second arm tube 0205. The third joint module 0206 is fixedly connected to the third arm tube 0207, and the fourth joint module 0208 is also fixedly connected to the third arm tube 0207. The output end of the fourth joint module 0208 is fixedly connected to the fourth arm tube 0209. The fifth arm tube is fixed with the fifth joint module 0210 and the sixth joint module 0212. The output end of the fifth joint module 0210 is fixedly connected to the fourth arm tube 0209, and the output end of the sixth joint module 0212 is fixedly connected to the sixth arm tube 0213. The seventh joint module 0214 is also fixed to the sixth arm tube 0213, and the output end of the seventh joint module 0214 is fixedly connected to the end flange 0215. The end flange 0215 is used to install the surgical tool 03.

[0035] Each rotary joint in the robotic arm includes key components such as an encoder, brake, torque motor, harmonic reducer, and torque sensor. The encoder detects the position of the robotic arm joint. When the machine loses power, the brake clamps the motor shaft, immobilizing it and thus keeping the robotic arm stationary. The torque sensor provides force feedback during the surgical procedure.

[0036] The eight-axis robotic arm actuator 00 operates by coupling the base plate 01 and the robotic arm 02 to drive the surgical tool 03 to complete the surgical operation. This coupling between the base plate 01 and the robotic arm 02 increases the working space of the surgical platform with only the robotic arm 02, and can better meet the surgical needs of specialized lesions.

Claims

1. An eight-axis robotic arm actuator, characterized in that: The eight-axis robotic arm actuator (00) comprises a base plate (01) and a robotic arm (02); the robotic arm (02) is fixed to the base plate (01) by screws; and a surgical tool (03) can be installed at the end of the robotic arm (02); The eight-axis robotic arm actuator includes eight axes, wherein the first axis is the front-to-back translation axis, the second to seventh axes are equivalent to the traditional six-axis collaborative robotic arm, and the eighth axis is the end effector rotation axis.

2. The eight-axis robotic arm actuator according to claim 1, characterized in that: The base plate (01) of the eight-axis robot arm actuator includes a supporting base plate (0104), a rear position sensor (0101), an intermediate position sensor (0102), a first sensing plate (0103), a linear power module (0105), a mounting plate (0106), a synchronous belt (0107), a linear guide rail (0108), a front position sensor (0109), a second sensing plate (0110), a servo motor (0111), a limit block (0112) and a linear power module slider (0113).

3. The eight-axis robotic arm actuator according to claim 2, characterized in that: The support base plate (0104) is a flat plate with threaded holes for mounting the linear power module (0105) and the linear guide rail (0108). The support base plate (0104) is also provided with grooves, and the linear guide rail (0108) is mounted and positioned through the grooves.

4. The eight-axis robotic arm actuator according to claim 3, characterized in that: The linear power module (0105) is fixedly mounted on the supporting base plate (0104), and the linear guide rail (0108) is fixedly mounted on the supporting base plate (0104). Two sets of sliders are arranged on each linear guide rail (0108), wherein each set of linear guide rails includes two sliders. The linear guide rails (0108) are arranged in two parallel lines and are mounted on both sides of the linear power module (0105); the linear power module slider (0113) is mounted on the linear power module (0105) and can move forward and backward under the drive of the servo motor (0111).

5. The eight-axis robotic arm actuator according to claim 4, characterized in that: The first sensing piece (0103) and the second sensing piece (0110) are fixedly mounted on the linear power module slider (0113) and move forward and backward along with the linear power module slider (0113); the front position sensor (0109), the rear position sensor (0101) and the intermediate position sensor (0102) are fixed on the profile groove of the linear power module (0105); the linear power module (0105) is provided with a profile groove, and the position sensors are fixed on the profile groove by screws and profile nuts.

6. The eight-axis robotic arm actuator according to claim 5, characterized in that: The first sensing piece and the second sensing piece cooperate with the position sensor to respectively determine the front limit position, the middle zero position and the rear limit position of the linear power module (0105); the front and rear ends of the linear power module (0105) are also equipped with limit blocks (0112).

7. The eight-axis robotic arm actuator according to claim 6, characterized in that: The mounting plate (0106) is fixedly connected to the slider (0113) of the linear power module, and the four sliders of the two linear guide rails (0108) are fixedly connected to the mounting plate (0106). The two linear guide rails (0108) increase the stability of the movement; the servo motor (0111) transmits the rotation to the linear power module (0105) through the synchronous belt (0107), and the linear power module (0105) converts the rotation of the servo motor (0111) into linear motion.

8. The eight-axis robotic arm actuator according to claim 7, characterized in that: The robotic arm (02) includes a base (0201), a first joint module (0202), a first arm tube (0203), a second joint module (0204), a second arm tube (0205), a third joint module (0206), a third arm tube (0207), a fourth joint module (0208), a fourth arm tube (0209), a fifth joint module (0210), a fifth arm tube (0211), a sixth joint module (0212), a sixth arm tube (0213), a seventh joint module (0214) and an end flange (0215).

9. The eight-axis robotic arm actuator according to claim 8, characterized in that: The base of the robot arm (02) is fixedly connected to the mounting plate (0106) of the base plate (01) and can move forward and backward under the drive of the servo motor (0111); the joint module (0202) is fixedly connected to the base (0201), the output end of the first joint module (0202) is fixedly connected to the first arm tube (0203); the second joint module (0204) is fixedly connected to the first arm tube (0203), the output end of the second joint module (0204) is fixedly connected to the second arm tube (0205), and the output end of the third joint module (0206) is also fixedly connected to the second arm tube (0205); the third joint module (0206) is fixedly connected to the third arm tube (0203); 207), the third arm tube (0207) is also fixedly connected to a fourth joint module (0208); the output end of the fourth joint module (0208) is fixedly connected to the fourth arm tube (0209); the fifth arm tube is fixedly provided with a fifth joint module (0210) and a sixth joint module (0212); the output end of the fifth joint module (0210) is fixedly connected to the fourth arm tube (0209), and the output end of the sixth joint module (0212) is fixedly connected to the sixth arm tube (0213); the sixth arm tube (0213) is also provided with a seventh joint module (0214), and the output end of the seventh joint module (0214) is fixedly connected to the end flange (0215).

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