Mechanical arm, band-type brake control device thereof and surgical robot
By designing a control device consisting of multiple joint brake modules and a brake release switch on the surgical robot arm, the problem of complex structure and operation of the robotic arm in emergency situations is solved, enabling fast and safe movement of the robotic arm.
Patent Information
- Application Number
- CN202422625201.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-29
- Publication Date
- 2025-12-12
- Estimated Expiration
- 2034-10-29
AI Technical Summary
Existing surgical robot arms are complex in structure and operation in emergency situations, requiring multiple brake release switches to be pressed separately to unlock the joints.
Design a brake control device for a robotic arm, which uses multiple joint brake modules and a brake release switch. The synchronous unlocking and locking of multiple joints is achieved through a switch detection circuit and a drive circuit.
The structure and operation of the robotic arm have been simplified, improving its portability and ensuring rapid and safe movement in emergency situations.
Smart Images
Figure CN223653926U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to the technical field of clutch control, especially relates to a mechanical arm and clutch control device thereof and surgical robot. BACKGROUND
[0002] The medical mechanical arm is a kind of medical mechanical device, usually includes a plurality of controllable movable joints, is widely used in various medical equipment scenes, and is also an important component of surgical robot.
[0003] When surgical robot performs surgery, the mechanical arm will trigger safety interlocking mechanism in emergency conditions such as communication disconnection and software failure, the mechanical arm is in joint drive drop enable, clutch brake dead state, each joint is locked and fixed, at this time, in order to safely remove the mechanical arm and remove surgical instrument, avoid secondary injury to patient, the clutch of specific joint needs to be unlocked, and the mechanical arm and end instrument are safely moved to patient's body outside.
[0004] The existing surgical robot is usually provided with clutch release switches at multiple joints, when unlocking specific joint, different clutch release switches need to be pressed respectively, therefore, the mechanical arm has the problems of complex structure and operation. UTILITY MODEL CONTENTS
[0005] The utility model aims at providing a clutch control device of mechanical arm, and aims at solving the problems of complex structure and operation of traditional mechanical arm.
[0006] The first aspect of the utility model embodiment provides a clutch control device of mechanical arm, which comprises:
[0007] A plurality of joint clutch modules are arranged in the plurality of joints of the mechanical arm one by one;
[0008] A clutch release module comprises a clutch release switch, the clutch release switch is connected with the plurality of joint clutch modules respectively, and the clutch release switch is used to control the plurality of joint clutch modules to release the plurality of joints.
[0009] Optionally, the clutch control device of the mechanical arm further comprises:
[0010] A clutch switch is connected with the plurality of joint clutch modules respectively, and the clutch switch is used to control the plurality of joint clutch modules to lock the plurality of joints.
[0011] Optionally, the joint clutch module comprises:
[0012] A clutch brake;
[0013] A switch detection circuit is connected with the brake release switch, and is configured to detect a switch state of the brake release switch and output a switch closing signal representing closing of the brake release switch.
[0014] A brake driving circuit is connected with the brake actuator, the switch detection circuit and the brake switch respectively, and is configured to control the brake actuator to release the joint based on the switch closing signal, and control the brake actuator to lock the joint based on an output signal of the brake switch.
[0015] Optionally, the brake release module further comprises a first resistor.
[0016] The brake release switch and the first resistor form a series loop.
[0017] Optionally, the switch detection circuit comprises a second resistor, a third resistor and a signal amplifier.
[0018] A first end of the second resistor is connected with a first signal end of the brake driving circuit through the signal amplifier, a first end of the third resistor is connected with a second signal end of the brake driving circuit, the first end of the second resistor and the first end of the third resistor are further connected to two ends of the brake release switch respectively, a second end of the second resistor is connected with a positive voltage end, and a second end of the third resistor is grounded.
[0019] Optionally, the brake driving circuit comprises a power supply module, a master control chip, an AND gate and an OR gate.
[0020] A first signal input end of the AND gate, a first signal input end of the master control chip and the brake switch are connected, a second input end of the AND gate is connected with a first signal output end of the master control chip, an output end of the AND gate is connected with a first signal input end of the OR gate, a second input end of the OR gate is connected with a second signal output end of the master control chip, an output end of the OR gate is connected with a control end of the power supply module, an output end of the power supply module is connected with a power supply end of the brake actuator, a third signal output end of the master control chip is connected with an enable end of the brake actuator, and a second signal input end of the master control chip is connected with a signal output end of the switch detection circuit.
[0021] Optionally, the brake release switch and / or the brake switch are arranged on corresponding joints of the plurality of joints.
[0022] Optionally, the brake control device of the mechanical arm further comprises a connector, the connector comprises a first connection interface, a plurality of second connection interfaces and a connection line connecting the first connection interface and the second connection interfaces.
[0023] The first connecting interface is connected to both ends of the brake release switch, and each second connecting interface is connected to a switch detection circuit.
[0024] The second aspect of the embodiment of the utility model provides a kind of mechanical arm, including multiple joints connected in sequence and the brake control device of the mechanical arm as described above.
[0025] The third aspect of the embodiment of the utility model provides a kind of surgical robot, including the mechanical arm as described above.
[0026] The beneficial effects of the embodiment of the utility model compared with prior art are: the brake control device described above includes brake release module, multiple joint brake modules are arranged in multiple joints, brake release module includes brake release switch, in each joint brake locking state, when brake release switch is triggered, joint brake module in each joint detects switch action, and multiple joints are unlocked and released, one brake release switch is used to unlock multiple joints, multiple brake release switches do not need to be set, and multiple brake release switches do not need to be operated one by one, the structure of mechanical arm and control mode are simplified, and the control portability of mechanical arm is improved. DRAWINGS
[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.
[0028] Figure 1 The structural schematic diagram of the mechanical arm provided by the embodiment of the utility model is shown in the figure.
[0029] Figure 2 The first kind of module schematic diagram of the mechanical arm provided by the embodiment of the utility model is shown in the figure.
[0030] Figure 3 The second kind of module schematic diagram of the mechanical arm provided by the embodiment of the utility model is shown in the figure.
[0031] Figure 4 The third kind of module schematic diagram of the mechanical arm provided by the embodiment of the utility model is shown in the figure.
[0032] Figure 5 The fourth kind of module schematic diagram of the mechanical arm provided by the embodiment of the utility model is shown in the figure.
[0033] Figure 6 The fifth kind of module schematic diagram of the mechanical arm provided by the embodiment of the utility model is shown in the figure.
[0034] Figure 7The first circuit schematic diagram of the clutch holding release module is provided for the embodiment of the utility model.
[0035] Figure 8 The first circuit schematic diagram of the switch detection circuit is provided for the embodiment of the utility model.
[0036] Figure 9 The second circuit schematic diagram of the clutch holding release module is provided for the embodiment of the utility model.
[0037] Figure 10 The third circuit schematic diagram of the clutch holding release module is provided for the embodiment of the utility model.
[0038] Figure 11 The second circuit schematic diagram of the switch detection circuit is provided for the embodiment of the utility model.
[0039] Figure 12 The circuit schematic diagram of the clutch holding driving circuit is provided for the embodiment of the utility model.
[0040] In the drawing, various reference signs are as follows:
[0041] 100, joint; 110, joint clutch module; 10, clutch holding release module; 20, clutch holding switch; 111, switch detection circuit; 112, clutch holding driving circuit; 113, clutch holding brake; 11, clutch holding release switch; 101, first connecting interface; 102, second connecting interface; 1121, power module;
[0042] L1, first connecting line; L2, second connecting line; L3, third connecting line; L4, fourth connecting line; SW, normally open switch; R1, first resistor; R2, second resistor; R3, third resistor; VCC, positive voltage terminal; U1, signal amplifier; AND1, AND gate; OR1, OR gate; U2, main control chip; IO1, first signal terminal of clutch holding driving circuit; IO2, second signal terminal of clutch holding driving circuit. DETAILED DESCRIPTION
[0043] In order to make the technical problems, technical solutions and beneficial effects of the utility model clearer and more apparent, the utility model is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model and do not limit the utility model.
[0044] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.
[0045] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.
[0046] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.
[0047] The first aspect of the embodiment of the present application proposes a brake control device for a mechanical arm, as shown in Figure 1 and Figure 2 The mechanical arm includes a plurality of joints 100 connected in sequence, a joint brake module 110 is arranged in the joint 100, the joint brake module 110 can include a brake brake module for braking the joint 100, a motor is arranged in the joint 100, the joint 100 is driven by the motor to move in a predetermined direction, in the case of emergency such as communication disconnection, software failure, etc. of the mechanical arm, the motor is braked by the joint brake module 110, and then the joint 100 is locked, so as to avoid the joint 100 from moving due to inertia, thereby protecting the safety of the equipment and personnel.
[0048] The joint brake module 110 triggers the brake mode when the power signal and the enable signal are not received at the same time, and the motor and the corresponding joint 100 are braked and locked, and switches to the unlocking release mode when the power signal and the enable signal are received at the same time, and the motor and the corresponding joint 100 are unlocked and released. The joint brake module 110 can be composed of a controller, a brake and the like.
[0049] In order to realize the unlocking release of the mechanical arm in the brake state, in the embodiment, the brake control device for the mechanical arm comprises:
[0050] A plurality of joint brake modules 110 are arranged in the plurality of joints 100 of the mechanical arm one by one;
[0051] The brake release module 10 comprises a brake release switch 11, the brake release switch 11 is connected with the plurality of joint brake modules 110 respectively, and the brake release switch 11 is used to control the plurality of joint brake modules 110 to act to release the plurality of joints 100.
[0052] In this embodiment, joint brake modules 110 can be arranged in all joints 100 of the robot arm according to requirements, or arranged in a plurality of joints 100, and when the joints 100 are locked by the joint brake modules 110 and need to be unlocked, the joints 100 with the joint brake modules 110 are unlocked.
[0053] When the robot arm is in an emergency situation such as communication disconnection or software failure, the joint brake modules 110 switch to the brake mode according to the received brake control signal, the joint brake modules 110 lock the motors connected thereto, and then lock the joints 100, so that the robot arm is fixed at the current posture.
[0054] In order to ensure the safety of the equipment or the patient and the subsequent manual surgical intervention, the brake release switch 11 of the brake release module 10 can be pressed at this time, the brake release switch 11 switches to the first switch state, the joint brake modules 110 in the plurality of joints 100 detect that the brake release switch 11 switches to the first switch state, the joint brake modules 110 unlock the motors of the plurality of joints 100, and then unlock and release the plurality of joints 100, the unlocked joints 100 are in a state that can be dragged, and the robot arm can be dragged to a safe area by medical staff.
[0055] After the robot arm is dragged to the safe area, the brake release switch 11 can be released or pressed again, the brake release switch 11 switches to the second switch state, the joint brake modules 110 in the plurality of joints 100 detect that the brake release switch 11 switches to the second switch state, and the joint brake modules 110 lock the motors of the plurality of joints 100, and then lock the joints 100.
[0056] By using one brake release switch 11 to control a plurality of joint brake modules 110 to unlock a plurality of joints 100, it is not necessary to set a plurality of brake release switches 11, and it is not necessary to operate a plurality of brake release switches 11 one by one, thereby simplifying the structure and operation mode of the robot arm and improving the operation portability of the robot arm.
[0057] The brake release switch 11 can be arranged at a corresponding position of the robot arm, can be arranged at a control part of the robot arm, and can also be arranged on the joint 100 as shown in FIG. 8, and is specifically set according to operation requirements. Figure 1
[0058] Further, in order to realize brake control when the robot arm is in an emergency situation such as communication disconnection or software failure, in an optional embodiment, as shown in FIG. 9, the brake control device further includes: Figure 3
[0059] The brake switch 20 is connected with the plurality of joint brake modules 110 respectively, and is used to control the plurality of joint brake modules 110 to act to lock the plurality of joints 100.
[0060] In the embodiment, the brake switch 20 is connected with each joint brake module 110 and controls each joint brake module 110 to work at the same time. The brake switch 20 can be switched to different switch states based on different triggering actions, and outputs a brake control signal to the joint brake module 110 to drive each joint brake module 110 to brake to lock each joint 100, or stop outputting the brake control signal, and the joint brake module 110 does not work.
[0061] When the robot arm is in an emergency situation such as communication disconnection or software failure, the brake switch 20 is pressed down, the brake switch 20 outputs a brake control signal to the joint brake module 110, the joint brake module 110 is switched to a brake mode, and the motor of each joint 100 and the plurality of joints 100 of the robot arm are locked.
[0062] When the robot arm communication recovers to normal and the software is normal and effective, the brake switch 20 can be pressed again. The brake switch 20 stops outputting the brake control signal to the joint brake module 110, the joint brake module 110 exits the work, the joint drive module in the robot arm is switched to work, each joint 100 of the robot arm recovers to the active state, and moves according to the preset angle and orientation under the driving of the joint drive module and the motor, and completes the surgical work.
[0063] Correspondingly, the brake switch 20 can be arranged at the corresponding control part of the robot arm or the joint 100. In order to facilitate the brake locking and / or brake releasing, in an optional embodiment, the brake release switch 11 and / or the brake switch 20 are arranged on the corresponding same or different joints 100 in the plurality of joints 100, so as to facilitate the medical staff to control the brake release switch 11 and / or the brake switch 20 when dragging the robot arm.
[0064] The brake switch 20 can be an emergency key or other control button. In an optional embodiment, the brake switch 20 is a safety torque off button.
[0065] The joint brake module 110 can adopt a corresponding detection module, a brake module, etc. In an optional embodiment, as shown in FIG. 11, the joint brake module 110 includes: Figure 4
[0066] A brake actuator 113;
[0067] A switch detection circuit 111 connected with the brake release switch 11, and used to detect the switch state of the brake release switch 11 and output a switch closing signal representing the closing of the brake release switch 11;
[0068] The brake driving circuit 112 is connected with the brake brake 113, the switch detection circuit 111 and the brake switch 20 respectively. The brake driving circuit 112 controls the brake brake 113 to release the joint 100 based on the switch-on signal, and controls the brake brake 113 to lock the joint based on the output signal of the brake switch 20.
[0069] In the embodiment, when the emergency situation such as communication disconnection, software failure, etc. occurs in the mechanical arm, the brake switch 20 is pressed, the brake switch 20 outputs the brake control signal to the brake driving circuit 112, the brake driving circuit 112 stops outputting the power supply signal and the enable signal to the brake brake 113, the brake brake 113 is switched to the brake mode, and the brake brake 113 locks the motor of each joint 100 and locks the plurality of joints 100 of the mechanical arm, so that the mechanical arm is fixed at the current posture.
[0070] In order to ensure the safety of the equipment or the patient and the subsequent manual operation intervention, at this time, the brake release switch 11 can be pressed, the brake release switch 11 is closed, the switch detection circuit 111 of each joint detects that the brake release switch 11 is closed, and outputs the switch-on signal, which can be a high-level signal or a low-level signal. After receiving the switch-on signal, the brake driving circuit 112 outputs the power supply signal and the enable signal to the brake brake 113, turns on the brake brake 113 of the joint 100, unlocks the motor of the joint 100, and releases the joint 100. The joint 100 is in a state that can be dragged, and the mechanical arm can be dragged to a safe area by medical staff.
[0071] After the mechanical arm is dragged to the safe area, the brake release switch 11 can be released or pressed again. The brake release switch 11 is switched to open circuit, the switch detection circuit 111 in each joint 100 detects that the brake release switch 11 is switched to open circuit state, and outputs the switch-off signal. After receiving the switch-off signal, the brake driving circuit 112 stops outputting the power supply signal and the enable signal to the brake brake 113, turns off the brake brake 113 of the joint 100, and locks the motor of the joint 100, thereby locking the joint 100.
[0072] One brake release switch 11 is used to unlock a plurality of brake brakes 113 and a plurality of joints 100, without the need to set a plurality of brake release switches 11 and operate a plurality of brake release switches 11 one by one. The structure and operation mode of the mechanical arm are simplified, and the operation portability of the mechanical arm is improved.
[0073] The two ends of the brake release switch 11 and / or the brake switch 20 can be connected to the brake module 110 of each joint through the connection lines, for example, the first end of the brake release switch 11 can be grounded, and the other end is connected to each brake module 110 through a connection line, or the two ends of the brake release switch 11 are respectively connected to each brake module 110 through connection lines. The specific connection mode can be set according to the requirements.
[0074] In an optional embodiment, as shown in Figure 5 The two ends of the brake release switch 11 are respectively connected to each switch detection circuit 111 through the connection lines, that is, the brake control device further includes a first connection line L1 and a second connection line L2, the first connection line L1 and the second connection line L2 are arranged in each joint 100 and are respectively connected to the plurality of switch detection circuits 111, the first connection line L1 is further connected to the first end of the brake release switch 11, and the second connection line L2 is further connected to the second end of the brake release switch 11.
[0075] The first connection line L1 and the second connection line L2 constitute a signal bus and are arranged in each joint 100. The first connection line L1 and the second connection line L2 arranged in each joint 100 can be provided with corresponding interfaces, welding points, connectors and the like. For example, the first connection line L1 arranged in the joint 100 is provided with a first interface P1, and the second connection line L2 arranged in the joint 100 is provided with a second interface P2. The first interface and the second interface are connected to the switch detection circuit 111 of the joint 100 through a signal line or a connector. The first connection line L1 and the second connection line L2 form a signal loop with the brake release switch 11. The switch detection circuit 111 detects the switch state of the brake release switch 11 through the connection structure and the connection line, and outputs a switch closing signal to the brake drive circuit 112 in the joint 100 where the switch detection circuit 111 is located, so as to trigger the brake drive circuit 112 to control the brake actuator 113 to switch to the brake release mode.
[0076] By adopting the first connection line L1 and the second connection line L2, only two signal lines are required in each joint 100 of the mechanical arm to realize the connection release function of each joint 100, and the structure of the mechanical arm is simplified.
[0077] The switch detection circuit 111 can also detect the disconnection of the first connection line L1 and the second connection line L2 according to the signals transmitted by the first connection line L1 and the second connection line L2. When the switch detection circuit 111 does not detect the transmitted switch closing signal, it indicates that the connection line in the joint 100 or the connection line at the front end is disconnected. The switch detection circuit 111 can output another level signal to the brake drive circuit 112. The brake drive circuit 112 can also be connected to an indicator to indicate the disconnection state of the current connection line.
[0078] In another alternative embodiment, as shown in Figure 6 The brake release control device further comprises a plurality of third connection lines L3 and a plurality of fourth connection lines L4, which are arranged in the joint 100. The first end of a third connection line L3 and the first end of a fourth connection line L4 are respectively connected to a switch detection circuit 111. The second end of each third connection line L3 is further connected to the first end of the brake release switch 11. The second end of each fourth connection line L4 is further connected to the second end of the brake release switch 11.
[0079] In this embodiment, the first end of the brake release switch 11 is connected to a plurality of third connection lines L3, and the second end of the brake release switch 11 is connected to a plurality of fourth connection lines L4. Each switch detection circuit 111 is connected to both ends of the brake release switch 11 through a third connection line L3 and a fourth connection line L4, respectively, and detects the switch state of the brake release switch 11. When the brake release switch switches the switch state, it outputs different switch signals to the brake release driving circuit 112 in the joint 100 where it is located, thereby triggering the brake release driving circuit 112 to control the brake release switch 113 to switch to the brake release mode.
[0080] By using a plurality of third connection lines L3 and a plurality of fourth connection lines L4, the switch detection circuit 111 in each joint 100 can independently detect the switch state of the brake release switch 11. When the third connection line L3 and the fourth connection line L4 connected to the switch detection circuit 111 of other joints 100 are in an abnormal state, such as a broken line, it is not affected by the state of the other connection lines, thereby improving the accuracy of its own switch detection and the reliability of the brake release of the brake release switch 113.
[0081] The switch detection circuit 111 can also perform line break detection according to the signals transmitted by the connected third connection line L3 and fourth connection line L4. When the switch detection circuit 111 does not detect the transmitted switch closed signal, it indicates that the third connection line L3 and / or the fourth connection line L4 between its own joint 100 and the brake release switch 11 has a broken line. The switch detection circuit 111 can output another level signal to the brake release driving circuit 112. The brake release driving circuit 112 can also be connected to an indicator to indicate the broken line state of the current connection line.
[0082] The brake release module 10 can independently set the brake release switch 11, and can also set the corresponding interface, auxiliary components, etc. The switch detection circuit 111 can be provided with a corresponding comparator, level conversion circuit, etc.
[0083] As shown in Figure 7 and Figure 8 In an alternative embodiment, the brake release module 10 further comprises a first resistor R1;
[0084] The brake release switch 11 and the first resistor R1 form a series circuit.
[0085] The switch detection circuit 111 includes a second resistor R2, a third resistor R3, and a signal amplifier U1.
[0086] The first end of the second resistor R2 is connected to the first signal end IO1 of the brake drive circuit 112 through the signal amplifier U1, the first end of the third resistor R3 is connected to the second signal end IO2 of the brake drive circuit 112, and the first ends of the second resistor R2 and the third resistor R3 are also respectively connected to the two ends of the brake release switch 11. The second end of the second resistor R2 is connected to the positive voltage end VCC, and the second end of the third resistor R3 is grounded.
[0087] In this embodiment, the brake release switch 11 can be a normally open switch SW, the signal amplifier U1 is used to amplify the voltage at the first end of the second resistor R2 and output to the brake drive circuit 112, and the two ends of the brake release switch 11 are connected to the first ends of the second resistor R2 and the third resistor R3 through the connecting lines. When the brake release switch 11 is closed, the second resistor R2 and the third resistor R3 form a voltage divider circuit, the first end of the second resistor R2 outputs a first voltage signal, for example, 0.3V, and the brake drive circuit 112 determines that the brake release switch 11 is pressed and closed when receiving the first voltage signal amplified by the signal amplifier U1. When the current brake brake 113 is in the brake mode, the brake drive circuit 112 outputs an enable signal and a power signal to drive the brake brake 113 to switch to the brake release mode and unlock and release the corresponding motor and joint 100.
[0088] When the brake release switch 11 is opened, the second resistor R2, the first resistor R1, and the third resistor R3 form a voltage divider circuit, the voltage at the first end of the second resistor R2 rises, the second end of the second resistor R2 outputs a second voltage signal, for example, 3.3V, and the brake drive circuit 112 determines that the brake release switch 11 is not pressed when receiving the second voltage signal amplified by the signal amplifier U1. In the current brake mode, the brake drive circuit 112 continues to maintain the brake brake 113 in the brake mode.
[0089] Correspondingly, when the connection line between the switch detection circuit 111 and the brake release switch 11 is disconnected, the positive voltage of the positive voltage end VCC of the second end of the second resistor R2 is directly output to the first signal end of the brake release driving circuit 112 through the signal amplifier U1, and the ground signal of the second end of the third resistor R3 is directly output to the second signal end of the brake release driving circuit 112. When the brake release driving circuit 112 receives the positive voltage and the ground signal, it can be determined that the connection line between the switch detection circuit 111 and the brake release switch 11 is disconnected, and the indicator can be triggered to issue corresponding indication information.
[0090] Further, in order to facilitate signal wiring and connection, as shown in Figure 9 to Figure 11 Optionally, the brake release control device of the mechanical arm further comprises a connector, the connector comprising a first connection interface 101 and a plurality of second connection interfaces 102, and a connection line connecting the first connection interface 101 and the second connection interface 102.
[0091] The first connection interface 101 is connected to both ends of the brake release switch 11, and each second connection interface 102 is connected to a switch detection circuit 111.
[0092] When the brake release switch 11 is connected to each switch detection circuit 111 through the first connection line L1 and the second connection line L2, as shown in Figure 9 The brake release module 10 can be configured with a first connection interface 101 connected to both ends of the brake release switch 11, and the first connection interface 101 is further connected to the first connection line L1 and the second connection line L2, respectively, as shown in Figure 11 Each joint 100 is provided with a second connection interface 102 connected to the first connection line L1 and the second connection line L2 through the connection structure, and the second connection interface 102 is connected to the first end of the second resistor R2 and the first end of the third resistor R3 of the switch detection circuit 111. By providing the connector, the connector can be directly inserted into each joint 100 when the brake release control device is installed, improving the installation convenience of the brake release control device.
[0093] When the brake release switch 11 is connected to a plurality of switch detection circuits 111 through a plurality of third connection lines L3 and fourth connection lines L4, as shown in Figure 10 The brake release module 10 can be configured with a plurality of first connection interfaces 101, each first connection interface 101 being connected to a third connection line L3 and a fourth connection line L4, as shown in Figure 11As shown, the switch detection circuit 111 of each joint 100 is provided with a second connection interface 102, a third connection line L3 and a fourth connection line L4 are connected to the second connection interface 102 of each joint 100, the second connection interface 102 is connected to the first end of the second resistor R2 and the first end of the third resistor R3 of the switch detection circuit 111, by setting the connector, when installing the brake control device, the connector can be directly inserted in each joint 100, improving the installation convenience of the brake control device.
[0094] The brake driving circuit 112 can select different controllers, power modules, etc. based on the output signal mode. In an optional embodiment, as shown in the figure, Figure 12 As shown, the brake driving circuit includes a power module 1121, a master control chip U2, an AND gate AND1 and an OR gate OR1.
[0095] The first signal input end of the AND gate AND1, the first signal input end of the master control chip U2 and the brake switch 20 are connected, the second input end of the AND gate AND1 and the first signal output end of the master control chip U2 are connected, the output end of the AND gate AND1 and the first signal input end of the OR gate OR1 are connected, the second input end of the OR gate OR1 and the second signal output end of the master control chip U2 are connected, the output end of the OR gate OR1 and the control end of the power module 1121 are connected, the output end of the power module 1121 and the power end of the brake brake 113 are connected, the third signal output end of the master control chip U2 and the enable end of the brake brake 113 are connected, and the second signal input end of the master control chip U2 and the signal output end of the switch detection circuit 111 are connected.
[0096] In this embodiment, when the robot arm is in an emergency situation such as communication disconnection, software failure, etc., the brake switch 20 is pressed, the brake switch 20 outputs the brake control signal to the master control chip U2 and the AND gate AND1, the AND gate AND1 outputs the brake control signal to the OR gate OR1, and the brake control signal output by the OR gate OR1 controls the power module 1121 to be turned off, the power module 1121 cuts off the power supply of the brake brake 113, at the same time, the master control chip U2 detects the brake control signal and cuts off the output of the enable signal to the brake brake 113, the brake brake 113 switches to the brake mode and locks the motor of each joint 100 and locks the multiple joints 100 of the robot arm.
[0097] And when the mechanical arm communication is restored to normal, the software is normal and effective, the brake switch 20 can be pressed again to pop up, the brake switch 20 stops outputting the brake control signal to the AND gate AND1, the AND gate AND1 and the OR gate OR1 output the start signal to control the power module 1121 to start, the power module 1121 provides the power signal to the brake brake 113, at the same time, the master control chip U2 outputs the enable signal to the brake brake 113 when it does not detect the brake control signal, the brake brake 113 exits the work, the joint drive module in the mechanical arm switches the work, and each joint 100 of the mechanical arm restores the active state and moves according to the preset angle and orientation under the driving of the joint drive module and the motor, thereby completing the surgical work.
[0098] In the brake locking state, in order to ensure the safety of the equipment or the patient and the subsequent manual surgical intervention, the brake release switch 11 of the brake release module can be pressed down at this time, the brake release switch 11 is switched to the closed state, the switch detection circuit 111 in each joint 100 detects that the brake release switch 11 is switched to the closed state and outputs the switch closed signal, the master control chip U2 outputs the start signal to the power module 1121 through the AND gate AND1 and the OR gate OR1 after receiving the brake release signal, the power module 1121 is powered on and provides the power signal to the brake brake 113, at the same time, the master control chip U2 outputs the enable signal to the brake brake 113, the brake brake 113 of the joint 100 is started, the brake brake 113 of the joint 100 unlocks the motor of the joint 100, the joint 100 is unlocked and released, and the joint 100 is in a state that can be dragged, so that the mechanical arm can be dragged to a safe area by medical staff.
[0099] After the mechanical arm is dragged to the safe area, the brake release switch 11 can be released or pressed again, the brake release switch 11 is switched to the open state, the switch detection circuit 111 in each joint 100 detects that the brake release switch 11 is switched to the open state and outputs the switch open signal, the master control chip U2 outputs the off signal to the AND gate AND1 and the OR gate OR1 after receiving the switch open signal, and controls the power module 1121 to stop outputting the power signal, at the same time, the master control chip U2 stops outputting the enable signal, the brake brake 113 of the joint 100 is closed, the brake brake 113 of the joint 100 locks the motor of the joint 100, and then locks the joint 100.
[0100] The beneficial effects of the embodiment of the utility model compared with prior art are that: the above-mentioned clutch control device includes clutch release module 10, joint clutch module 110 arranged in joint 100, in the state of clutch brake 113 clutch locking each joint 100, clutch release switch 11 can be triggered, switch detection circuit 111 in each joint 100 detects switch action and outputs corresponding switch closed circuit signal, joint clutch module 110 unlocks and releases joint 100, adopts one clutch release switch 11 to unlock multiple joints 100, does not need to set multiple clutch release switches 11, also does not need to operate multiple clutch release switches 11 one by one, simplifies the structure and control mode of mechanical arm, improves the control portability of mechanical arm.
[0101] The utility model also proposes a kind of mechanical arm, as shown in Figure 1 And Figure 2 The utility model discloses a kind of mechanical arm, as shown in
[0102] The utility model also proposes a kind of surgical robot, the surgical robot includes mechanical arm, the specific structure of the mechanical arm refers to the above embodiment, since the surgical robot adopts all technical solutions of the above all embodiments, therefore at least have all beneficial effects brought by the technical scheme of the above embodiment, here will not be repeated.
[0103] The above-mentioned embodiment is only used to illustrate the technical scheme of the utility model, and is not limited thereto; although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical scheme recorded in the foregoing each embodiment, or equivalent replacement is carried out to part of technical features; and these modifications or replacements do not make the essence of corresponding technical scheme deviate from the spirit and scope of the technical scheme of each embodiment of the utility model, and should be included in the protection scope of the utility model.
Claims
1. A brake control device for a robotic arm, characterized in that, include: Multiple joint brake modules (110) are respectively installed in multiple joints (100) of the robotic arm; Brake release module (10), the brake release module (10) includes brake release switch (11), the brake release switch (11) is connected to multiple joint brake modules (110) respectively, the brake release switch (11) is used to control the multiple joint brake modules (110) to release multiple joints (100).
2. The mechanical arm brake control device according to claim 1, wherein The brake control device of the robotic arm also includes: A brake switch (20) is connected to a plurality of the joint brake modules (110) respectively. The brake switch (20) is used to control the operation of the plurality of joint brake modules (110) to brake and lock the plurality of joints (100).
3. The holding brake control device of a robot arm according to claim 2, wherein The joint brake module (110) includes: Holding brake (113); A switch detection circuit (111) is connected to the brake release switch (11). The switch detection circuit (111) is used to detect the switch state of the brake release switch (11) and output a switch closing signal indicating that the brake release switch (11) is closed. The brake drive circuit (112) is connected to the brake (113), the switch detection circuit (111), and the brake switch (20) respectively. The brake drive circuit (112) controls the brake (113) to unlock and release the joint (100) based on the switch closing signal, and controls the brake (113) to lock the joint (100) based on the output signal of the brake switch (20).
4. The holding brake control device of a robot arm according to claim 1, wherein The brake release module (10) also includes a first resistor (R1); The brake release switch (11) and the first resistor (R1) form a series circuit.
5. The holding brake control device of a robot arm according to claim 3, wherein The switch detection circuit (111) includes a second resistor (R2), a third resistor (R3), and a signal amplifier (U1); The first end of the second resistor (R2) is connected to the first signal terminal (IO1) of the brake drive circuit (112) through the signal amplifier (U1), the first end of the third resistor (R3) is connected to the second signal terminal (IO2) of the brake drive circuit (112), the first ends of the second resistor (R2) and the first ends of the third resistor (R3) are also respectively connected to the two ends of the brake release switch (11), the second end of the second resistor (R2) is connected to the positive voltage terminal (VCC), and the second end of the third resistor (R3) is grounded.
6. The holding brake control device of a robot arm according to claim 3, wherein The brake drive circuit (112) includes a power module (1121), a main control chip (U2), an AND gate (AND1), and an OR gate (OR1); The first signal input end of the AND gate (AND1), the first signal input end of the master chip (U2) and the brake switch (20) are connected, the second input end of the AND gate (AND1) is connected with the first signal output end of the master chip (U2), the output end of the AND gate (AND1) is connected with the first signal input end of the OR gate (OR1), the second input end of the OR gate (OR1) is connected with the second signal output end of the master chip (U2), the output end of the OR gate (OR1) is connected with the control end of the power module (1121), the output end of the power module (1121) is connected with the power end of the brake actuator (113), the third signal output end of the master chip (U2) is connected with the enable end of the brake actuator (113), and the second signal input end of the master chip (U2) is connected with the signal output end of the switch detection circuit (111).
7. The holding brake control device of a robot arm according to claim 2, wherein The brake release switch (11) and / or the brake switch (20) are arranged on the corresponding joint (100) of the plurality of joints (100).
8. The holding brake control device of a robot arm according to claim 3, wherein The brake control device of the mechanical arm further comprises a connector, the connector comprising a first connection interface (101) and a plurality of second connection interfaces (102) and a connection line connecting the first connection interface (101) and the second connection interface (102); The first connection interface (101) is connected with both ends of the brake release switch (11), and each second connection interface (102) is connected with a switch detection circuit (111) respectively.
9. A robot arm, characterized in that The brake control device of the mechanical arm comprises a plurality of joints (100) connected in sequence and the brake control device of the mechanical arm as claimed in any one of claims 1-8.
10. A surgical robot, characterised in that, The mechanical arm as claimed in claim 9.