An end effector for a robotic arm

Abstract

This utility model discloses an end effector for a robotic arm, comprising a fixed end and a detachable end. The fixed end includes a push-pull controller and a rotation controller; the detachable end is located below the fixed end. The push-pull controller drives a threaded rod and a nut to move via a first motor, achieving horizontal push-pull operation; the rotation controller drives a drive wheel to engage with a friction wheel via a second motor, achieving efficient rotation operation. The detachable end allows for quick installation and removal via positioning ribs and guide grooves. This utility model has a compact structure and is easy to assemble and disassemble, and can be widely used in medical, industrial automation, and precision operation fields.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, and in particular to an end effector for robotic arms, belonging to the field of medical devices. Background Technology

[0002] Currently, robotic arms are widely used in industrial automation, medical equipment, and other fields, especially in precision operations and complex environments. However, existing robotic arm end effectors have the following problems:

[0003] Insufficient multi-degree-of-freedom motion: Existing end-effectors typically design their push-pull and rotation modules separately, operating independently without systematic integration, resulting in limited degrees of freedom. Traditional devices struggle to ensure efficient push-pull linkage when performing rotational motion, lacking operational flexibility and adaptability, and failing to meet the demands of complex scenarios for multi-degree-of-freedom motion.

[0004] Complex disassembly and assembly operations: In scenarios requiring frequent tool head changes or cleaning of end-effectors, existing devices often employ bolt fixation or complex snap-fit ​​designs. Especially in the medical field, endoscopic end-effectors need to be quickly disassembled, cleaned, and disinfected before and after surgery, but existing structures often make it difficult to complete disassembly and assembly quickly, which not only increases surgical preparation time but also affects equipment efficiency.

[0005] Insufficient control precision: The drive modules for push-pull and rotation in existing end-effectors have significant shortcomings in precision control. Traditional devices typically rely on low-precision motors and transmission components, resulting in large positioning errors in push-pull movements and insufficient flexibility in rotation angle control, thus limiting their application in high-precision tasks (such as microsurgery or complex welding).

[0006] Poor operational stability: In long-term operation or high-load working environments, existing terminal devices are prone to problems such as component wear, jamming, or drive failure due to unreasonable material selection or poor design. This not only affects the stability and service life of the equipment, but may also lead to operational interruptions, which can have serious consequences, especially in the medical field.

[0007] Application CN117357266A discloses a flexible endoscopic surgical robot system, including a flexible endoscope and surgical instruments. The flexible endoscope is equipped with a drive module, which is configured to provide axial movement, rotation, and bending freedom of the endoscope insertion portion. The drive end of the surgical instruments is coupled to the drive module of the endoscope, enabling the surgical instruments to move and rotate axially with the endoscope. This invention, by coupling the drive end of the surgical instruments to the drive module of the endoscope, achieves axial movement and rotation of the surgical instruments along with the endoscope. Summary of the Invention

[0008] The purpose of this invention is to provide an end effector for a robotic arm that combines a push-pull controller and a rotation controller to solve the problems of limited functionality, inconvenient assembly and disassembly, and insufficient precision in the prior art.

[0009] To achieve the above objectives, this utility model provides an end effector for a robotic arm, comprising:

[0010] Fixed end: includes push-pull controller and rotation controller;

[0011] Detachable end: Located below the fixed end.

[0012] The push-pull controller includes: a first motor, a threaded rod connected to the first motor, a nut disposed on the threaded rod, and a first movable column connected to the nut;

[0013] The rotary controller includes: a second motor, a push-pull rod connected to the second motor, a drive wheel that is in contact with the push-pull rod, and a friction wheel disposed below the drive wheel;

[0014] The detachable end includes: a driven wheel below the friction wheel, a driven gear coaxially connected to the driven wheel, a main gear meshing with the driven gear; a scope sheath fixedly connected to the main gear, a concave ring fixedly connected to the scope sheath; a second movable post connected to the concave ring, and the second movable post being connected to the first movable post.

[0015] As a preferred embodiment, the bottom of the fixed end is provided with a positioning rib; the upper part of the detachable end is provided with a guide groove, and the positioning rib and the guide groove are engaged.

[0016] As a preferred method, the friction wheel is connected to the cam handle, which controls the degree of contact between the friction wheel and the drive wheel.

[0017] As a preferred embodiment, the fixed end also includes a linear guide rail, through which the first motor drives the nut and the first moving column to move horizontally.

[0018] As a preferred method, the first motor is a servo motor with a control accuracy of ±0.1 degrees; it can accurately control the rotation angle of the threaded rod, thereby achieving a displacement accuracy of ±0.5 mm for the first moving column.

[0019] As a preferred method, both the drive wheel and the friction wheel have anti-slip grooves on their contact surfaces. The depth of the anti-slip grooves is 0.3 mm, achieving a friction coefficient of 0.8 to ensure the stability of power transmission. The 0.3 mm depth of the anti-slip grooves prevents insufficient friction due to being too shallow, and also avoids compromising the overall structural strength of the wheels due to being too deep. The friction coefficient of 0.8 effectively prevents slippage between the drive wheel and the friction wheel, ensuring stable transmission of rotational power and making the device more reliable during operation.

[0020] As a preferred method, the endoscope sheath is equipped with an illumination device and an image acquisition device. The illumination device provides an intensity of 500 lux, and the image acquisition device has a resolution of no less than 1920×1080 pixels, enabling real-time acquisition of internal image information. The 500 lux illumination intensity provides sufficient light for image acquisition, resulting in clear and bright images. The 1920×1080 pixel resolution is full HD, meeting the needs for clear observation and analysis of internal conditions, and is suitable for scenarios requiring high-definition images, such as industrial inspection and medical examinations.

[0021] As a preferred method, an elastic connection is used between the concave ring and the second moving column. The elastic element has an elastic modulus of 5000 N / m, which can buffer the impact force generated during the pushing and pulling process. An elastic element with an elastic modulus of 5000 N / m provides moderate elasticity, effectively buffering the impact force generated during pushing and pulling to protect the device components from damage, without causing instability in the device's operation due to excessive elasticity. This elastic connection method is suitable for working scenarios that require a certain degree of absorption of impact energy.

[0022] As a preferred approach, the surfaces of both the positioning ribs and guide grooves undergo wear-resistant treatment, with the wear-resistant layer achieving a hardness of 60 HRC to extend the service life of the positioning and guiding structures. A hardness of 60 HRC falls within the relatively high hardness range, providing excellent wear resistance to the surfaces of the positioning ribs and guide grooves. During long-term use, this effectively resists wear, ensuring the accuracy and stability of the positioning and guiding structures, thereby extending the overall service life of the device.

[0023] As a preferred method, the cam handle is equipped with an angle scale with an accuracy of ±1 degree, allowing the operator to precisely adjust the contact of the friction wheel according to the scale. This ±1 degree accuracy enables the operator to adjust the contact of the friction wheel with relative precision. In actual operation, the operator can accurately control the contact between the friction wheel and the driving and driven wheels by observing the scale markings, based on specific work requirements, to achieve the best power transmission effect.

[0024] In practical application, the first motor drives the threaded rod to rotate axially, while the nut moves horizontally. Guided by the linear guide rail, this causes the first moving column to move horizontally. The first moving column is connected to a detachable second moving column. The horizontal movement of the second moving column simultaneously causes the concave ring to move horizontally. Since the concave ring and the endoscope sheath are fixedly connected, the doctor can ultimately control the advance and retreat of the endoscope according to the actual situation. The second motor drives the push-pull rod to perform a push-pull action. Because the driving wheel and the push-pull rod are in contact, the movement of the push-pull rod will drive the rotation of the driving wheel. When the friction wheel is in contact with the driving wheel, the friction wheel will also rotate, thereby driving the rotation of the driven wheel. Since the driven gear and the driven wheel are coaxially fixed and mesh with the main gear, the power is transmitted to the endoscope sheath through the main gear, realizing the rotational movement of the endoscope. Through the above structural design, this invention has the following advantages:

[0025] Multifunctionality: Enables multi-degree-of-freedom movements such as pushing, pulling, and rotating, adapting to complex work requirements;

[0026] Easy to install and disassemble: The design of guide grooves and positioning ribs enables quick installation and disassembly;

[0027] High-precision control: The push-pull and rotation controllers work together to improve positioning accuracy and stability. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0029] Figure 2 This is a structural diagram of the push-pull controller;

[0030] Figure 3 This is a structural diagram of the rotation controller;

[0031] Figure 4 This is a schematic diagram of the detachable end structure;

[0032] Figure 5 This is a schematic diagram of the connection structure between the guide groove and the positioning rib.

[0033] Figure 6 This is a schematic diagram of rotational power transmission.

[0034] Figure label:

[0035] 1. Fixed end; 2. Detachable end; 111. First motor; 112. Threaded rod; 113. Nut; 114. First moving column; 115. Linear guide rail; 116. Positioning rib; 121. Second motor; 122. Push-pull rod; 123. Driving wheel; 124. Friction wheel; 125. Cam handle; 211. Driven wheel; 212. Driven gear; 213. Main gear; 214. Sightglass sheath; 215. Concave ring; 216. Second moving column; 217. Guide groove. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Example 1

[0037] like Figure 1 As shown, this embodiment provides an end effector for a robotic arm that enables high-precision push-pull and rotational linkage operations. It features a modular design, ease of assembly and disassembly, and high control precision. This device is suitable for assisting medical surgical operations, particularly for the precise control and rapid assembly / disassembly requirements in endoscopic surgery scenarios.

[0038] like Figure 2 As shown, the push-pull controller is driven by a first motor. The first motor is connected to a threaded rod, on which a nut is mounted. The nut moves horizontally via threaded transmission. The nut is connected to a first moving column, and its precise linear motion is ensured by a linear guide rail. The function of the push-pull controller is to transmit horizontal push-pull force through the first moving column, providing power for the feeding and retraction of the endoscope sheath.

[0039] like Figure 3 As shown, the rotation controller includes a second motor and a push-pull rod. The second motor drives the push-pull rod to move axially, and the push-pull rod engages with the driving wheel, thereby causing the driving wheel to rotate. When the friction wheel engages with the driving wheel, the rotational force is transmitted to the driven wheel through the friction wheel, realizing the rotational action of the subsequent device.

[0040] The friction wheel is connected to a cam handle. By rotating the cam handle, the contact degree between the friction wheel and the drive wheel can be adjusted, thereby controlling the transmission efficiency of the rotational driving force. This design meets the operational requirements of different torques and speeds.

[0041] like Figure 4 and Figure 6 As shown, a driven wheel is connected below the friction wheel. The driven wheel is fixed coaxially with the driven gear and drives the main gear to rotate through gear meshing. The main gear is connected to the endoscope sheath, enabling the endoscope sheath to rotate around its own axis, thereby achieving 360° continuous rotation of the endoscope.

[0042] The main gear is connected to the endoscope sheath via a fixed assembly, and the endoscope sheath is fixedly connected to the concave ring. The concave ring is connected to the second moving column. When the first moving column moves horizontally, the endoscope sheath moves horizontally forward or backward through the transmission of the concave ring and the second moving column.

[0043] See Figure 5The fixed end has a positioning rib at the bottom, and the detachable end has a guide groove at the top. During installation, the two parts are snapped together by aligning them with the guide groove to complete the connection, ensuring the stability and alignment accuracy of the device. During disassembly, the detachable end can be quickly removed by gently pulling the buckle for easy replacement or cleaning.

[0044] Usage steps:

[0045] Connect the fixed end to the end of the robotic arm via a flange;

[0046] Align the guide groove on the detachable end with the positioning rib on the fixed end, and gently press them together to complete the connection;

[0047] Start the system and calibrate the push-pull and rotation functions of the device to ensure smooth movement;

[0048] Start the first motor, the threaded rod rotates and drives the nut to move axially, pushing the first moving column to move horizontally;

[0049] The first moving column connects to the second moving column, transmitting horizontal pushing and pulling force to the endoscope sheath to realize the feeding or retraction of the endoscope.

[0050] The second motor is started, and the push-pull rod drives the drive wheel to rotate. When the friction wheel contacts the drive wheel, the rotational force is transmitted to the driven wheel, which drives the endoscope sheath to rotate through the gear set;

[0051] The cam handle can adjust the contact between the friction wheel and the drive wheel, thereby controlling the rotation speed.

[0052] When the endoscope sheath needs to be cleaned or replaced, press the latch to unlock the device and remove the detachable end.

[0053] Specific application scenarios:

[0054] In endoscopic surgery, this device can achieve the feeding and withdrawal of the endoscope through high-precision push-pull control. Combined with the 360° rotation function, it makes the surgical field more flexible and adapts to the observation and treatment needs of complex lesions.

[0055] This device can be mounted on an industrial robotic arm for end-effector manipulation of precision inspection equipment. Through the coordinated movements of pushing, pulling, and rotating, it can perform comprehensive inspections of the interior of pipes or complex structures, improving inspection efficiency.

[0056] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An end effector for a robotic arm, characterized in that, include: A fixed end and a detachable end disposed below the fixed end; The fixed end includes a push-pull controller and a rotation controller; The push-pull controller includes: a first motor (111), a threaded rod (112) connected to the first motor (111), a nut (113) disposed on the threaded rod (112), and a first moving column (114) connected to the nut; The rotation controller includes: a second motor (121), a push-pull rod (122) connected to the second motor (121), a drive wheel (123) that is in contact with the push-pull rod (122), and a friction wheel (124) disposed below the drive wheel (123); The detachable end includes a driven wheel (211) disposed below the friction wheel (124), a driven gear (212) coaxially connected to the driven wheel (211), a main gear (213) meshing with the driven gear, a scope sheath (214) fixedly connected to the main gear (213), a concave ring (215) fixedly connected to the scope sheath (214), and a second moving post (216) connected to the concave ring (215), wherein the second moving post (216) is connected to the first moving post (114).

2. The end effector for a robotic arm according to claim 1, characterized in that, The fixed end (1) is provided with a positioning rib (116) at the bottom, and the detachable end is provided with a guide groove (217) at the top. The positioning rib (116) and the guide groove (217) are engaged.

3. The end effector for a robotic arm according to claim 1, characterized in that, The friction wheel (124) is connected to the cam handle (125), and the cam handle (125) can control the degree of contact between the friction wheel (124) and the driving wheel (123) and between the friction wheel (124) and the driven wheel (211).

4. The end effector for a robotic arm according to claim 1, characterized in that, The fixed end (1) also includes a linear guide rail (115), and the first motor (111) drives the nut (113) and the first moving column (114) to move horizontally through the linear guide rail (115).

5. The end effector for a robotic arm according to claim 1, characterized in that, The first motor (111) is a servo motor with a control accuracy of ±0.1 degrees and the displacement accuracy of the first moving column (114) is ±0.5 millimeters.

6. The end effector for a robotic arm according to claim 1, characterized in that, The contact surfaces of the drive wheel (123) and the friction wheel (124) are provided with anti-slip textures, the depth of which is 0.3 mm and the coefficient of friction is 0.

8.

7. The end effector for a robotic arm according to claim 1, characterized in that, The endoscope sheath (214) is equipped with an illumination device and an image acquisition device. The illumination device has a light intensity of ≥500 lux and the image acquisition device has a resolution of ≥1920*1080 pixels.

8. An end effector for a robotic arm according to claim 1, characterized in that, The concave ring (215) and the second movable column (216) are elastically connected, and the elastic modulus of the elastic element is 5000 N / m.

9. An end effector for a robotic arm according to claim 2, characterized in that, The surfaces of the positioning rib (116) and the guide groove (217) are both treated with wear resistance, and the hardness of the wear resistance layer is 60HRC.

10. An end effector for a robotic arm according to claim 3, characterized in that, The cam handle (125) is provided with an angle scale mark with a scale accuracy of ±1 degree.

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