A tool for measuring the posture of the end of a robot arm, surgical robot

Abstract

The embodiment of the application provides a tool for measuring the posture of a mechanical arm end, a surgical robot, the tool (100) comprising a tool body (101), a first adjusting structure (10), a second adjusting structure (20) and a third adjusting structure (30). The first adjusting structure is connected with the tool body and the mechanical arm end (200), and is used for driving the tool body to rotate around a first axis, so that the tool body is in a first target position around the first axis; the second adjusting structure is connected with the tool body and the mechanical arm end, and is used for driving the tool body to rotate around a second axis, so that the tool body is in a second target position around the second axis; the third adjusting structure is connected with the tool body and the mechanical arm end, and is used for driving the tool body to rotate around a third axis, so that the tool body is in a third target position around the third axis; the first axis, the second axis and the third axis intersect at a point; in the case that the tool body is in the first target position, the second target position and the third target position, the posture of the tool body is consistent with the posture of the mechanical arm end, the accuracy of indirectly obtaining the posture of the mechanical arm end by using the tool body is improved, and the posture precision of the mechanical arm end is improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a tooling for measuring the end effector posture of a robotic arm and a surgical robot. Background Technology

[0002] During surgery, surgical robots need to perform surgical operations in a confined space. The accuracy of the posture measurement of the end effector of the robotic arm directly determines the positioning and movement accuracy of the surgical instruments, which is crucial to ensuring the success and safety of the surgery.

[0003] In related technologies, a common approach is to add a measuring fixture to the end of the robotic arm and use a binocular vision system to capture feature points on the fixture in order to indirectly obtain the posture of the end of the robotic arm.

[0004] However, due to the posture deviation between the measuring fixture and the end effector of the robotic arm, the posture of the end effector obtained by the vision system using the measuring fixture is inconsistent with the actual posture of the end effector, which affects the measurement accuracy of the end effector posture and thus affects the safety and accuracy of the operation. Utility Model Content

[0005] This application provides a fixture and surgical robot for measuring the end effector posture of a robotic arm. The fixture body can be adjusted to make its posture consistent with that of the robotic arm end effector, thereby improving the accuracy of indirectly obtaining the end effector posture of the robotic arm using the fixture body and improving the posture precision of the robotic arm end effector.

[0006] This application provides a fixture for measuring the end effector posture of a robotic arm, comprising: Tooling body; The first adjustment structure is connected to the tooling body and the end of the robotic arm, and is used to drive the tooling body to rotate around the first axis so that the tooling body is in the first target position around the first axis. The second adjustment structure is connected to the tooling body and the end of the robotic arm and is used to drive the tooling body to rotate around the second axis so that the tooling body is in the second target position around the second axis. The third adjustment structure is connected to the tooling body and the end effector of the robotic arm, and is used to drive the tooling body to rotate around the third axis so that the tooling body is in the third target position around the third axis; the first axis, the second axis and the third axis intersect at one point; wherein, when the tooling body is in the first target position, the second target position and the third target position, the posture of the tooling body is consistent with the posture of the end effector of the robotic arm.

[0007] In one feasible implementation, the first adjustment structure includes a first adjustment assembly and a first rotating member. The first rotating member is connected to the tooling body, and the first adjustment assembly is drively connected to the first rotating member. The first adjustment assembly is used to drive the first rotating member to rotate around a first axis, so that the first rotating member drives the tooling body to rotate around the first axis; and / or The second adjustment structure includes a second adjustment assembly and a second rotating member. The second rotating member is connected to the housing of the first adjustment assembly, and the second adjustment assembly is drively connected to the second rotating member. The second adjustment assembly is used to drive the second rotating member to rotate around a second axis, so that the second rotating member drives the first adjustment structure and the tooling body to rotate around the second axis; and / or, The third adjustment structure includes a third adjustment component and a third rotating component. The third rotating component is connected to the housing of the second adjustment component. The third adjustment component is connected to the third rotating component via a transmission connection. The third adjustment component is used to drive the third rotating component to rotate around a third axis, so that the third rotating component drives the second adjustment structure, the first adjustment structure, and the tooling body to rotate around the third axis. The housing of the third adjustment component is connected to the end of the robotic arm.

[0008] In one feasible implementation, the first adjustment component of the first adjustment structure includes a first transmission member and a second transmission member, which are drively connected. The second transmission member is drively connected to a first rotating member. The first transmission member is configured to drive the second transmission member to rotate about a first axis, thereby causing the first rotating member to rotate about the first axis; and / or, The second adjustment component of the second adjustment structure includes a third transmission member and a fourth transmission member, which are drively connected. The fourth transmission member is drively connected to the second rotating member. The third transmission member is configured to drive the fourth transmission member to rotate about a second axis, thereby causing the second rotating member to rotate about the second axis; and / or, The third adjustment component of the third adjustment structure includes a fifth transmission member and a sixth transmission member, which are connected in a transmission manner. The sixth transmission member is connected in a transmission manner to the third rotating member. The fifth transmission member is configured to drive the sixth transmission member to rotate around the third axis, thereby causing the third rotating member to rotate around the third axis.

[0009] In one feasible implementation, a first tooth is formed on a first transmission member of the first adjusting assembly, and a second tooth is formed on a second transmission member. The first tooth and the second tooth mesh to cause the first transmission member to drive the second transmission member to rotate about a first axis; and / or The third transmission member of the second adjustment assembly has a third tooth, and the fourth transmission member has a fourth tooth. The third tooth and the fourth tooth mesh to cause the third transmission member to drive the fourth transmission member to rotate around the second shaft; and / or, The fifth transmission member of the third adjustment assembly has a fifth tooth, and the sixth transmission member has a sixth tooth. The fifth tooth and the sixth tooth mesh with each other so that the fifth transmission member drives the sixth transmission member to rotate around the third axis.

[0010] In one feasible implementation, the first adjustment structure further includes a first locking component, which cooperates with the first adjustment component to lock the first adjustment component when the tooling body is in the first target position; and / or, The second adjustment structure further includes a second locking component, which cooperates with the second adjustment component to lock the second adjustment component when the tooling body is in the second target position; and / or, The third adjustment structure also includes a third locking component, which works in conjunction with the third adjustment component to lock the third adjustment component when the tooling body is in the third target position.

[0011] In one feasible implementation, the first locking component of the first adjustment structure includes a first intermediate member and a first locking member. A first transmission member is configured as a first worm gear, and a second transmission member is configured as a first worm wheel. The first intermediate member is sleeved on the first worm gear. The first locking member passes through the first intermediate member and is used to, when the tooling body is in a first target position, rotate the first locking member to cause the first worm gear to radially abut against the first locking member and the first rotating member; and / or, The second locking component of the second adjustment structure includes a second intermediate member and a second locking member; a third transmission member is configured as a second worm gear; a fourth transmission member is configured as a second worm wheel; the second intermediate member is sleeved on the second worm gear; the second locking member passes through the second intermediate member and is used to, when the tooling body is in the second target position, rotate the second locking member to cause the second worm gear to radially abut against the second locking member and the second rotating member; and / or, The third locking component of the third adjustment structure includes a third intermediate part and a third locking part. The fifth transmission part is configured as a third worm gear, and the sixth transmission part is configured as a third worm wheel. The third intermediate part is sleeved on the third worm gear. The third locking part passes through the third intermediate part and is used to rotate the third locking part when the tooling body is in the third target position, so that the third worm gear radially abuts between the third locking part and the third rotating part.

[0012] In one feasible implementation, the first adjustment assembly further includes a first preload group, which cooperates with the first transmission member to adjust the contact between the first and second transmission members along their meshing direction; and / or, The second adjustment assembly further includes a second preload assembly, which cooperates with the third transmission member to adjust the contact between the third and fourth transmission members in the direction of their meshing; and / or, The third adjustment assembly also includes a third preload group, which cooperates with the fifth transmission component to adjust the contact between the fifth and sixth transmission components in the direction of their meshing.

[0013] In one feasible implementation, the first preload assembly of the first adjustment component includes a first elastic element and a first preload element. A first transmission element is configured as a first worm, and a second transmission element is configured as a first worm wheel. The first elastic element elastically abuts against the first worm and the first preload element along the axial direction of the first worm. The first preload element is movable along the axial direction of the first worm to compress or stretch the first elastic element, such that the first worm and the first worm wheel abut against each other in the direction of their meshing; and / or, The second preload assembly of the second adjustment component includes a second elastic element and a second preload element. A third transmission element is configured as a second worm gear, and a fourth transmission element is configured as a second worm wheel. The second elastic element elastically abuts against the second worm gear and the second preload element along the axial direction of the second worm gear. The second preload element is capable of moving along the axial direction of the second worm gear to compress or stretch the second elastic element, such that the second worm gear and the second worm wheel abut against each other in the direction of their meshing; and / or, The third preload assembly of the third adjustment component includes a third elastic member and a third preload member. The fifth transmission member is configured as a third worm, and the sixth transmission member is configured as a third worm wheel. The third elastic member elastically abuts against the third worm and the third preload member along the axial direction of the third worm. The third preload member can move along the axial direction of the third worm to compress or stretch the third elastic member, so that the third worm and the third worm wheel abut against each other in the direction of their meshing.

[0014] In one feasible implementation, the first adjustment component of the first adjustment structure further includes a first adjusting member, which is drively connected to the first transmission member. The first adjusting member is used to reduce the input first transmission amount by a first preset multiple before transmitting it to the first transmission member; and / or, The second adjustment component of the second adjustment structure further includes a second adjustment member, which is connected to the third transmission member. The second adjustment member is used to reduce the input second transmission amount by a second preset multiple before transmitting it to the third transmission member; and / or The third adjustment component of the third adjustment structure also includes a third adjustment member, which is connected to the fifth transmission member. The third adjustment member is used to reduce the input third transmission amount by a third preset multiple and then transmit it to the fifth transmission member.

[0015] In one feasible implementation, at least one of the first, second, and third adjustment elements is a differential knob.

[0016] This application also provides a surgical robot, including: robotic arm; The aforementioned fixture for measuring the end effector posture of the robotic arm is connected to the end effector of the robotic arm; The measuring device is used to collect the first posture data of the tooling body, process the first posture data to obtain the second posture data of the end effector of the robotic arm, and the second posture data is used to drive the surgical instruments of the surgical robot to perform surgical operations.

[0017] This application provides a fixture for measuring the posture of a robotic arm's end effector. In this surgical robot, by setting a first adjustment structure, a second adjustment structure, and a third adjustment structure, the posture of the fixture body in different directions can be adjusted. This effectively compensates for posture deviations between the fixture body and the robotic arm's end effector caused by installation deviations or manufacturing errors, ensuring that the actual posture of the fixture body matches the actual posture of the robotic arm's end effector. Therefore, by measuring the posture of the fixture body, the actual posture of the robotic arm's end effector can be more accurately reflected, significantly reducing posture errors from indirect measurements and improving the measurement accuracy of the robotic arm's end effector posture. This ensures the accuracy of surgical instrument positioning and movement, enhancing the safety and reliability of surgical operations. Attached Figure Description

[0018] Figure 1 This application provides an embodiment of a tooling for measuring the end effector posture of a robotic arm, illustrating an application scenario. Figure 2 This is a schematic diagram of the structure of a tooling for measuring the end effector posture of a robotic arm, provided in an embodiment of this application. Figure 3 This is a schematic diagram of the first adjustment structure in a tooling for measuring the end-effector posture of a robotic arm, provided in an embodiment of this application. Figure 4 yes Figure 3 A schematic diagram of the first adjustment structure shown from another angle; Figure 5 This is a schematic diagram of the second adjustment structure in a tooling for measuring the end-effector posture of a robotic arm, provided in an embodiment of this application. Figure 6 This is a schematic diagram of the third adjustment structure in a tooling for measuring the end-effector posture of a robotic arm, provided in an embodiment of this application.

[0019] Explanation of reference numerals in the attached figures: 100 - Fixture for measuring the end effector posture of a robotic arm; 101 - Fixture body; 200 - End effector of the robotic arm; 201 - Joint; 10 - First adjustment structure; 11 - First adjustment assembly; 12 - First rotating component; 111 - First transmission component; 13 - First locking assembly; 131 - First intermediate component; 132 - First locking component; 14 - First pre-tensioning assembly; 141 - First pre-tensioning component; 15 - First adjusting component; 20 - Second adjustment structure; 21 - Second adjustment assembly; 22 - Second rotating component; 211 - Third transmission component; 23 - Second locking assembly; 231 - Second intermediate component; 2 32-Second locking element; 24-Second pre-tightening assembly; 241-Second pre-tightening element; 25-Second adjusting element; 30-Third adjusting structure; 31-Third adjusting component; 32-Third rotating element; 311-Fifth transmission element; 33-Third locking component; 331-Third intermediate component; 332-Third locking element; 34-Third pre-tightening assembly; 341-Third pre-tightening element; 35-Third adjusting element; 50-First adapter; 51-First part; 52-Second part; 60-Second adapter; 61-First part; 62-Second part; x-First axis; y-Second axis; z-Third axis. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0021] In the description of the embodiments of this application, it should be noted that the terms "inner" and "outer," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0023] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0024] In the field of medical devices, master-slave surgical robots mainly consist of two parts: a master control unit and a slave operating unit. These two parts work together to complete the surgical procedure. The master control unit has a master control arm. The operator inputs operating commands to the master-slave surgical robot by manipulating the spatial pose of the master control arm's end effector. The master control unit detects and acquires the posture data of the master control arm's end effector and processes the data to generate control commands. The slave operating unit drives its slave robotic arm to move according to the control commands, enabling its mounted surgical instruments to accurately replicate the operating actions of the master control unit, thus completing the surgical procedure.

[0025] In some implementations, an open / close button can be provided at the end of the master control arm, allowing the operator to input control commands to the master-slave surgical robot. Accordingly, the master control arm adjusts the position and orientation of the slave operating end based on the control command, such as the movement and opening / closing of surgical instruments or endoscopes. The end of the master control arm can be understood as the end of the master control unit closest to the operator.

[0026] It should be noted that the opening and closing buttons are only examples of inputting operation commands to the master and slave surgical robots, and the embodiments of this application do not limit the input method of operation commands.

[0027] It is evident that when a surgical robot performs surgical operations in a confined space, the measurement accuracy of the end-effector posture of its main control arm directly determines the positioning and movement accuracy of the surgical instruments at the operating end, which is crucial for ensuring the success and safety of the surgery.

[0028] In related technologies, a common approach is to add a measuring fixture to the end of the main control arm and use a binocular vision system to capture feature points on the fixture in order to indirectly obtain the attitude of the end of the main control arm.

[0029] However, this installation method can lead to installation errors. For example, when the measuring fixture is connected to the robotic arm end effector via threaded fasteners, mechanical deviations such as the hole position tolerance of the threaded holes and the fit clearance between the fasteners and the mounting holes can cause the actual installation position of the measuring fixture to deviate from the ideal position. This positional deviation will cause a posture discrepancy between the posture of the measuring fixture and the posture of the robotic arm end effector, resulting in an error between the robotic arm end effector posture calculated by the vision system and the actual robotic arm end effector posture. This affects the measurement accuracy of the robotic arm end effector posture, thereby impacting the safety and accuracy of the surgery.

[0030] In view of the above problems, this application provides a fixture for measuring the end effector posture of a robotic arm. The fixture body can be adjusted to make its posture consistent with that of the robotic arm end effector, thereby improving the accuracy of indirectly obtaining the end effector posture of the robotic arm using the fixture body and improving the measurement accuracy of the end effector posture of the robotic arm.

[0031] The following describes in detail, with reference to the accompanying drawings, a tooling structure for measuring the end effector posture of a robotic arm according to an embodiment of this application.

[0032] Figure 1 This is a schematic diagram of an application scenario for a tooling used to measure the end effector posture of a robotic arm, provided in an embodiment of this application. Figure 2 This is a schematic diagram of the structure of a tooling for measuring the end effector posture of a robotic arm, provided in an embodiment of this application.

[0033] Reference Figure 1 and Figure 2 As shown in the embodiment of this application, the end effector 200 of the robotic arm has a joint 201, and a tooling 100 (hereinafter referred to as tooling 100) for measuring the posture of the end effector of the robotic arm is disposed on the joint 201. The tooling 100 includes a tooling body 101, which is connected to the end effector 200 of the robotic arm.

[0034] The end of the robotic arm is used to indicate the end of the robotic arm that is closest to the operator and is used to receive instructions input by the operator.

[0035] In some implementations, a measuring device is used to collect first posture data of the tooling body 101, and then the second posture data of the end effector of the robotic arm can be obtained by processing the first posture data. Thus, the posture of the end effector 200 of the robotic arm can be indirectly obtained by collecting the first posture data of the tooling.

[0036] It's easy to understand that the second posture data can be interpreted as the "posture data at the end of the main control arm" mentioned above. Therefore, the main control unit of the surgical robot can process the second posture data to generate control commands. The slave end of the surgical robot then drives its slave arm to move according to the control commands, enabling the surgical instruments on it to accurately replicate the actions of the main control unit, thus achieving the surgical procedure.

[0037] In some examples, the measuring device can be a binocular vision system, and a target is provided on the tooling body 101. Thus, by taking a picture of the target through the binocular vision system, an image containing the target is obtained. By analyzing the image using an algorithm, attitude data that can characterize the attitude of the robotic arm's end effector 200 can be obtained.

[0038] In other examples, the measuring device can be a laser tracker, and a spherical reflector is provided on the tooling body 101. Thus, a laser beam emitted by the laser tracker is projected onto the spherical reflector, which reflects the beam back to the laser tracker. Accordingly, the laser tracker obtains attitude data that characterizes the attitude of the robotic arm's end effector 200 by measuring distance and angle.

[0039] It should be noted that the binocular vision system and target, as well as the laser tracker and spherical reflector mentioned above, are all examples of matching the identified features on the measuring device and the tooling body 101. The two can cooperate with each other to achieve the attitude measurement of the end effector 200 of the robotic arm. This application embodiment does not limit the matching type of the identified features on the measuring device and the tooling body 101.

[0040] In some embodiments, the tooling 100 further includes a first adjustment structure 10, a second adjustment structure 20, and a third adjustment structure 30. These three adjustment structures are connected to the tooling body 101 and the robotic arm end effector 200, respectively. The three adjustment structures are used to adjust the posture of the tooling body 101 in different directions to ensure that the posture of the tooling body 101 is consistent with that of the robotic arm end effector. Therefore, by setting the first adjustment structure 10, the second adjustment structure 20, and the third adjustment structure 30, the posture of the tooling body 101 in different directions can be adjusted, effectively compensating for posture deviations between the tooling body 101 and the robotic arm end effector 200 caused by installation deviations or manufacturing errors, ensuring that the actual posture of the tooling body 101 is consistent with that of the robotic arm end effector 200. Thus, by measuring the posture of the tooling body 101, the actual posture of the robotic arm end effector 200 can be more accurately reflected, significantly reducing posture errors from indirect measurements, improving the measurement accuracy of the robotic arm end effector posture, thereby ensuring the accuracy of surgical instrument positioning and movement, and enhancing the safety and reliability of surgical operations.

[0041] In some embodiments, the first adjustment structure 10 is connected to the tooling body 101 and the end effector 200 of the robotic arm, and is used to drive the tooling body 101 to rotate around the first axis so that the tooling body 101 is in a first target position around the first axis, thereby adjusting the posture of the tooling body 101 around the first axis.

[0042] The direction of the first axis can be referenced to being parallel to Figure 2 The direction indicated by x in this application embodiment does not limit the direction of the first axis.

[0043] Here, the first target position is determined when the attitude of the tooling body 101 is consistent with the attitude of the robotic arm end effector 200, so as to eliminate the attitude deviation of the tooling body 101 and the robotic arm end effector 200 around the first axis.

[0044] In some embodiments, the first adjustment structure 10 is rotatably connected to the end of the robotic arm 200 about a first axis and is connected to the tooling body 101. Thus, by rotating the first adjustment mechanism 10 about the first axis, the tooling body 101 is driven by the first adjustment structure 10 to rotate about the first axis.

[0045] Figure 3 This is a schematic diagram of the first adjustment structure in a tooling for measuring the end-effector posture of a robotic arm, provided in an embodiment of this application.

[0046] like Figure 3 As shown, in some other embodiments, the first adjustment structure 10 may include a first adjustment component 11 and a first rotating component 12. The first rotating component 12 is connected to the tooling body 101. The first adjustment component 11 is connected to the first rotating component 12 in a transmission manner. The first adjustment component 11 is used to drive the first rotating component 12 to rotate around a first axis, so that the first rotating component 12 drives the tooling body 101 to rotate around the first axis x.

[0047] In some examples, the first adjustment component 11 can be a structure that can transmit rotation to the first rotating component 12, such as a gear rack, multi-gear transmission, or worm gear. The embodiments of this application do not limit the type of the first adjustment component 11.

[0048] Figure 4 yes Figure 3 The diagram shows the first adjustment structure from another angle.

[0049] Reference Figure 4 As shown, in some embodiments, the first adjustment component 11 of the first adjustment structure 10 includes a first transmission member 111 and a second transmission member (not shown). The first transmission member 111 and the second transmission member are connected in a transmission manner, and the second transmission member is connected in a transmission manner to the first rotating member 12. The first transmission member 111 is configured to drive the second transmission member to rotate around the first axis x, so as to drive the first rotating member 12 to rotate around the first axis x.

[0050] In the above scheme, when the first transmission member 111 drives the second transmission member to rotate around the first axis x in a first clockwise direction, the second transmission member drives the first rotating member 12 to rotate around the first axis x in a first clockwise direction, thereby driving the tooling body 101 to rotate around the first axis x in a first clockwise direction, so as to adjust the angular position of the tooling body 101 in the first clockwise direction around the first axis x. When the first transmission member 111 drives the second transmission member to rotate around the first axis x in a second clockwise direction, the second transmission member drives the first rotating member 12 to rotate around the first axis x in a second clockwise direction, thereby driving the tooling body 101 to rotate around the first axis x in a second clockwise direction, so as to adjust the angular position of the tooling body 101 in the second clockwise direction around the first axis x. Therefore, by utilizing the cooperation of the first transmission component 111 and the second transmission component, the first rotating component 12 is driven to rotate the tooling body 101 around the first axis x, so as to be in the first target position, thereby adjusting the posture of the tooling body 101 around the first axis x to be consistent with the posture of the robotic arm end 200 around the first axis x' of the robotic arm end 200. Here, the first clockwise direction and the second clockwise direction are opposite clockwise directions around the first axis x.

[0051] In some embodiments, the first transmission member 111 and the second transmission member are driven by gear meshing. Specifically, the first transmission member 111 of the first adjustment assembly 11 has a first tooth (not shown) and the second transmission member has a second tooth (not shown). The first tooth meshes with the second tooth so that the first transmission member 111 drives the second transmission member to rotate around the first axis x.

[0052] In some examples, the first transmission component 111 can be a cylindrical gear, and the second transmission component can be a bevel gear. The bevel gear is coaxially connected to the first rotating component 12 along the first axis x, so that the bevel gear and the first rotating component 12 can rotate together around the first axis x. The cylindrical gear has first teeth distributed circumferentially, which mesh with the second teeth distributed circumferentially on the bevel gear. Through the engagement of the first and second teeth, the cylindrical gear can drive the bevel gear to rotate around the first axis x.

[0053] Furthermore, the first adjustment assembly 11 may also include a first housing, a first drive shaft, and a second drive shaft. A cylindrical gear is rotatably connected to the first housing via the first drive shaft. The second drive shaft is fixed to the first housing along the first axis, and a bevel gear and a first rotating member 12 are sleeved on the second drive shaft, achieving a coaxial connection between the bevel gear and the first rotating member 12. When the cylindrical gear rotates with the first drive shaft, the first tooth of the cylindrical gear engages with the second tooth of the bevel gear, thereby driving the bevel gear to rotate around the first axis x, and subsequently driving the first rotating member 12 to rotate around the first axis x.

[0054] In other examples, the first transmission component 111 can be a first bevel gear, and the second transmission component can be a second bevel gear. The second bevel gear is coaxially connected to the first rotating component 12 along the first axis x, so that the second bevel gear and the first rotating component 12 can rotate together around the first axis x. The first bevel gear has first teeth distributed circumferentially, which mesh with the second teeth distributed circumferentially on the second bevel gear. Through the engagement of the first and second teeth, the first bevel gear can drive the second bevel gear to rotate around the first axis x.

[0055] Furthermore, the first adjustment assembly 11 may also include a first housing, a first drive shaft, and a second drive shaft. A first bevel gear is rotatably connected to the first housing via the first drive shaft. The second drive shaft is fixed to the first housing along the first axis x, and the second bevel gear and the first rotating member 12 are sleeved on the second drive shaft, achieving a coaxial connection between the second bevel gear and the first rotating member 12. When the first bevel gear rotates with the first drive shaft, the first tooth of the first bevel gear engages with the second tooth of the second bevel gear, thereby driving the second bevel gear to rotate around the first axis x, and subsequently driving the first rotating member 12 to rotate around the first axis x.

[0056] In some examples, the first transmission component 111 can be a worm, and the second transmission component can be a worm wheel. The worm wheel and the first rotating component 12 are coaxially connected along the first axis x, so that the worm wheel and the first rotating component 12 can rotate together around the first axis x. The surface of the worm has helical first teeth that mesh with the circumferentially distributed second teeth of the worm wheel. Through the engagement of the first and second teeth, the worm can drive the worm wheel to rotate around the first axis x.

[0057] Furthermore, the first adjustment assembly 11 may also include a first housing and a first drive shaft. A worm gear is rotatably connected to the first housing. The first drive shaft is fixed to the first housing along the first axis x, and the worm wheel and the first rotating member 12 are sleeved on the first drive shaft, achieving a coaxial connection between the worm wheel and the first rotating member 12. When the worm rotates around its own axis, the first tooth of the worm gear engages with the second tooth of the worm wheel, thereby driving the worm wheel to rotate around the first axis x, and subsequently driving the first rotating member 12 to rotate around the first axis x.

[0058] It should be noted that the bevel gears and cylindrical gears, two bevel gears and worm gears given in the embodiments of this application are only examples of the first transmission component and the second transmission component. The embodiments of this application do not limit the implementation of the first transmission component and the second transmission component.

[0059] Reference Figure 4 As shown, in some embodiments, the first adjustment structure 10 further includes a first locking component 13. The first locking component 13 cooperates with the first adjustment component 11 to lock the first adjustment component 11 when the tooling body 101 is in the first target position, so that the first adjustment component 11 cannot continue to drive the first rotating member 12 to rotate.

[0060] Here, "locking the first adjustment component 11" can be understood as: the first adjustment component 11 cannot drive the first rotating component 12 to rotate when it is locked.

[0061] Therefore, the first adjusting component 11 drives the first rotating component 12 to rotate around the first axis x, thereby adjusting the posture of the tooling body 101 around the first axis x. When the tooling body 101 reaches the first target position, the first locking component 13 engages to lock, preventing the tooling body 101 from moving unexpectedly, and also helping to improve the accuracy of detecting the posture of the robotic arm end effector 200 through the tooling body 101.

[0062] In some embodiments, the first rotating member 12 is connected to the first housing. Therefore, the first locking assembly 13 may include a first engaging portion and a second engaging portion respectively disposed on the first rotating member 12 and the first housing. Thus, when the tooling body 101 is in the first target position, the first engaging portion and the second engaging portion are engaged, locking the relative position of the first rotating member 12 with respect to the first housing, thereby achieving the purpose of locking the first adjusting assembly 11.

[0063] Reference Figure 4 As shown, in other embodiments, the first locking component 13 of the first adjustment structure 10 includes a first intermediate component 131 and a first locking component 132. The first transmission component 111 is configured as a first worm gear, and the second transmission component is configured as a first worm wheel. The first intermediate component 131 is sleeved on the first worm gear. The first locking component 132 passes through the first intermediate component 131 and is used to rotate the first locking component 132 when the tooling body 101 is in the first target position, so that the first worm gear radially abuts between the first locking component 132 and the first rotating component 12.

[0064] In the above scheme, when the first worm drives the first worm wheel to rotate around the first axis x, the first worm wheel drives the first rotating component 12 to rotate, thereby adjusting the angular posture of the tooling body 101 around the first axis x. When locking is required, the first locking component 132 is rotated to radially press the first worm, thereby securing the first worm between the first locking component 132 and the first rotating component 12. In this way, the rotation of the first worm can be effectively suppressed, thereby preventing the first worm wheel and the first rotating component 12 from rotating, keeping the tooling body 101 in the first target position. Thus, through the cooperation of the first locking component 13 with the first worm and the first worm wheel, the first adjustment component 11 can be reliably locked after adjusting the angular posture of the tooling body 101 around the first axis x, which helps to improve the accuracy of posture detection.

[0065] In some examples, the first locking member 132 may be a fastener that is threadedly connected to the first intermediate member 131 so as to be movable along the axial direction of the first locking member 132 to lock the first worm gear between the first locking member 132 and the first rotating member 12.

[0066] Reference Figure 4 As shown, in some embodiments, the first adjustment assembly 11 further includes a first preload group 14, which cooperates with the first transmission member 111 to adjust the first transmission member 111 and the second transmission member to abut against each other along their meshing direction, thereby preventing the transmission gap between the first transmission member 111 and the second transmission member during the transmission process, so as to improve the accuracy of the position of the adjustment fixture body 101 around the first axis x.

[0067] Therefore, the first preload assembly 14 keeps the first transmission component 111 and the second transmission component engaged. This eliminates the transmission gap between the first and second transmission components, resulting in a more direct and precise transmission response when the first transmission component 111 drives the second transmission component to rotate, thus avoiding backlash errors. This makes the angle adjustment of the tooling body 101 driven by the first rotating component 12 around the first axis x more accurate and reliable, thereby improving the accuracy of adjusting the tooling body 101 to the first target position.

[0068] In some embodiments, if the first transmission member 111 is a cylindrical gear and the second transmission member is a bevel gear, then the first preload assembly 14 can be coaxially driven with the cylindrical gear. By rotating the first preload assembly 14 along the axis of the cylindrical gear, the cylindrical gear is driven to rotate around its own axis, so that the first tooth of the cylindrical gear abuts against the second tooth of the bevel gear, eliminating the transmission gap between the first tooth and the second tooth.

[0069] In other embodiments, if the first transmission member 111 is a first bevel gear and the second transmission member is a second bevel gear, then the first preload assembly 14 can be coaxially driven with the first bevel gear. By rotating the first preload assembly 14 along the axis of the first bevel gear, the first bevel gear is driven to rotate around its own axis, so that the first tooth of the first bevel gear abuts against the second tooth of the second bevel gear, thereby eliminating the transmission gap between the first tooth and the second tooth.

[0070] In some embodiments, the first preload assembly 14 of the first adjustment assembly 11 includes a first elastic member (not shown) and a first preload member 141. The first transmission member 111 is configured as a first worm, and the second transmission member is configured as a first worm wheel. The first elastic member elastically abuts against the first worm and the first preload member 141 along the axial direction of the first worm. The first preload member 141 is capable of moving along the axial direction of the first worm to compress or stretch the first elastic member, so that the first worm and the first worm wheel abut against each other in the direction of their meshing.

[0071] When the first worm is driven to rotate in a first direction along its own axis, its tooth surface meshes with the tooth surface of the first worm wheel on one side. At this time, the preload provided by the first elastic element forces the first worm to move axially, ensuring that its tooth surface is always in close contact with the transmission side tooth surface of the first worm wheel, thereby eliminating tooth backlash during transmission and enabling precise transmission of rotation.

[0072] When the first worm is driven to rotate in the second direction along its own axis, its meshing surface switches to the other side. The elastic restoring force generated by the first elastic element under the adjustment of the preload element continuously pushes the first worm to follow axially, causing its tooth surface to quickly and tightly engage with the tooth surface of the first worm wheel in the second direction of transmission. This effectively avoids the backlash phenomenon caused by clearance and ensures the immediacy and accuracy of transmission. Here, the first direction and the second direction are relative directions along the axis of the first worm.

[0073] In some examples, the first elastic element can be an elastic structure such as a spring. The first preload 141 can be a threaded fastener that is threadedly connected to the housing of the first adjusting assembly 11 so as to be able to move along its own axis to compress or release the first elastic element, thereby driving the first worm gear to rotate about its own axis.

[0074] Reference Figure 4 As shown, in some embodiments, the first adjustment component 11 of the first adjustment structure 10 further includes a first adjustment member 15, which is connected to the first transmission member 111. The first adjustment member 15 is used to reduce the input first transmission amount by a first preset factor before transmitting it to the first transmission member 111. Thus, when the operator inputs the first transmission amount through the first adjustment member 15, it will be reduced by the first preset factor before being transmitted to the first transmission member 111, thereby enhancing the accuracy of the operator driving the first transmission member 111 through the first adjustment member 15, which is beneficial to improving the accuracy of the posture of the adjustment fixture body 101 around the first axis x.

[0075] In the above scheme, when the operator inputs a first direction to the first adjusting member 15, the first adjusting member 15 reduces the first direction input by a first preset multiple, and then transmits the reduced first direction input to the first transmission member 111. Correspondingly, the first transmission member 111 transmits according to the reduced first direction input, which makes the forward rotation of the first transmission member 111 more subtle and controllable, thereby driving the second transmission member and the first rotating member 12 to drive the tooling body 101 to rotate around the first axis x in the first direction with higher precision, realizing fine adjustment of the tooling body 101 in the first direction angle.

[0076] When the operator inputs a second-direction rotational input to the first adjusting member 15, the first adjusting member 15 also reduces the second-direction input by a first preset multiple, and then transmits the reduced first-direction input to the first transmission member 111. Correspondingly, the second-direction rotation of the first transmission member 111 is also precisely controlled, and then drives the tooling body 101 to make a fine second-direction angle adjustment around the first axis x through the transmission chain.

[0077] It should be noted that the first and second directions are opposite directions, used to describe the relative directions in which a structure can move. They are not absolutely unique directions and need to be understood in the context of a specific structure. This will not be elaborated further below.

[0078] In this way, the first adjusting member 15 reduces motion in both directions, converting the large input from the operator into extremely precise rotational output from the first transmission member 111. This significantly enhances the operator's control precision over the driven motion of the first transmission member 111, reduces the possibility of over-adjustment or mis-adjustment, and thus greatly improves the final accuracy of adjusting the tooling body 101 about the first axis x, ensuring its high consistency with the position 200 of the robotic arm end effector.

[0079] The first preset multiple can be determined according to the actual accuracy requirements, and the embodiments of this application do not limit the first preset multiple.

[0080] In some implementations, the first adjustment element 15 can be a differential knob. In this case, the accuracy level of the first preset multiple can be 0.001, thereby greatly improving the accuracy of adjusting the attitude of the tooling body 101 around the first axis x.

[0081] It should be noted that the differential knob can be set with a scale, so that the first transmission quantity can be quantitatively input.

[0082] Reference Figure 2 As shown in the embodiment of this application, the second adjustment structure 20 is connected to the tooling body 101 and the end effector 200 of the robotic arm, and is used to drive the tooling body 101 to rotate around the second axis so that the tooling body 101 is in the second target position around the second axis, thereby adjusting the posture of the tooling body 101 around the second axis y.

[0083] The direction of the second axis can be referenced to be parallel to Figure 2 The direction indicated by y in this embodiment does not limit the direction of the second axis.

[0084] In some examples, the direction of the second axis y can be perpendicular to the direction of the first axis x.

[0085] Here, the second target position is determined when the attitude of the tooling body 101 is consistent with the attitude of the robotic arm end effector 200, so as to eliminate the attitude deviation of the tooling body 101 and the robotic arm end effector 200 around the second axis.

[0086] In some embodiments, the second adjustment structure 20 is rotatably connected to the end effector 200 of the robotic arm about a second axis and is connected to the tooling body 101. Thus, by rotating the second adjustment structure 20 about the second axis y, the tooling body 101 is driven by the second adjustment structure 20 to rotate about the second axis.

[0087] In some embodiments, a first adjustment structure 10 is used to connect to a first position of the tooling body 101 and a first position of the robotic arm end effector 200; a second adjustment structure 20 is used to connect to a second position of the tooling body 101 and a second position of the robotic arm end effector 200. The tooling body 101 is selectively connected to either the first adjustment structure 10 or the second adjustment structure 20 so that the first adjustment structure 10 or the second adjustment structure 20 adjusts the angle of the tooling body 101 about a first axis x or about a second axis y, respectively.

[0088] In some examples, when it is necessary to adjust the attitude of the tooling body 101 about the second axis y via the second adjustment structure 20, the tooling body 101 can be configured to be separated from the first adjustment structure 10, and connected to the second adjustment structure 20 while maintaining its attitude. Accordingly, the attitude of the tooling body 101 about the second axis y is adjusted via the second adjustment structure 20.

[0089] For example, the tooling body 101 can be magnetically connected to the first adjustment structure 10 or the second adjustment structure 20, thereby achieving selective connection between the tooling body 101 and the first adjustment structure 10 and the second adjustment structure 20.

[0090] Continue to refer to Figure 2 As shown, the second adjustment structure 20 includes a second adjustment component 21 and a second rotating component 22. The second rotating component 22 is connected to the housing of the first adjustment component 11. The second adjustment component 21 is connected to the second rotating component 22 in a transmission manner. The second adjustment component 21 is used to drive the second rotating component 22 to rotate around the second axis y, so that the second rotating component 22 drives the first adjustment structure 10 and the tooling body 101 to rotate around the second axis y.

[0091] In some examples, the second adjustment component 21 can be a structure that can transmit rotation to the second rotating component 22, such as a gear rack, multi-gear transmission, or worm gear. The embodiments of this application do not limit the type of the second adjustment component 21.

[0092] In some embodiments, the second rotating member 22 can be connected to the housing of the first adjusting assembly 11 via the first adapter 50. In other words, the second rotating member 22 is connected to the first adapter 50, and the housing of the first adjusting assembly 11 is connected to the first adapter 50. This allows for greater flexibility in the spatial arrangement of the first adjusting structure 10 and the second adjusting structure 20.

[0093] In some embodiments, the first adapter 50 includes a first portion 51 and a second portion 52 connected at an angle. The housing of the first adjustment structure 10 can be connected to the second portion 52, and the second rotating member 22 can be connected to the first portion 51. Thus, the included angle between the first portion 51 and the second portion 52 is determined according to the layout of the first adjustment structure 10 and the second adjustment structure 20, resulting in high flexibility in structural layout.

[0094] In some examples, the normal of the first part 51 can be aligned with the direction of the second axis y, and the normal of the second part 52 can be aligned with the direction of the first axis x. Accordingly, the first adjustment structure 10 can be positioned in the region of the second part 52 closer to the first part 51, and the second adjustment structure 20 can be positioned in the region of the first part 51 further away from the second part 52.

[0095] Figure 5 This is a schematic diagram of the second adjustment structure in a tooling for measuring the end-effector posture of a robotic arm, provided in an embodiment of this application.

[0096] Please see Figure 5 As shown, in some embodiments, the second adjustment component 21 of the second adjustment structure 20 includes a third transmission member 211 and a fourth transmission member (not shown). The third transmission member 211 and the fourth transmission member are connected in a transmission manner. The fourth transmission member is connected in a transmission manner to the second rotating member 22. The third transmission member 211 is configured to drive the fourth transmission member to rotate about the second axis y, so as to drive the second rotating member 22 to rotate about the second axis y.

[0097] In the above scheme, when the third transmission member 211 drives the fourth transmission member to rotate around the second axis y in a third clockwise direction, the fourth transmission member drives the second rotating member 22 to rotate around the second axis y in a fourth clockwise direction, thereby driving the tooling body 101 to rotate around the second axis y in a fourth clockwise direction, so as to adjust the angular position of the tooling body 101 around the second axis y in a fourth clockwise direction. Therefore, by utilizing the cooperation of the third transmission component 211 and the fourth transmission component, the second rotating component 22 is driven to rotate the tooling body 101 bidirectionally around the second axis y, so as to be in the second target position, thereby adjusting the posture of the tooling body 101 around the second axis y to be consistent with the posture of the robotic arm end effector 200 around the second axis y' of the robotic arm end effector 200. The third clockwise direction and the fourth clockwise direction are opposite clockwise directions around the second axis y.

[0098] In some embodiments, the third transmission member 211 and the fourth transmission member are driven by gear meshing. Specifically, the third transmission member 211 of the second adjustment assembly 21 has a third tooth (not shown), and the fourth transmission member has a fourth tooth (not shown). The third tooth meshes with the fourth tooth so that the third transmission member 211 drives the fourth transmission member to rotate around the second axis y.

[0099] In some embodiments, the technical solutions of the third transmission member 211 and the fourth transmission member can refer to the aforementioned embodiments of the first transmission member 111 and the second transmission member, and will not be repeated here.

[0100] Reference Figure 5 As shown, in some embodiments, the second adjustment structure 20 further includes a second locking component 23, which cooperates with the second adjustment component 21 to lock the second adjustment component 21 when the tooling body 101 is in the second target position, so that the second adjustment component 21 cannot continue to drive the second rotating member 22 to rotate.

[0101] Here, "locking the second adjustment component 21" can be understood as: the second adjustment component 21 cannot drive the second rotating component 22 to rotate when it is locked.

[0102] Therefore, the second adjusting component 21 drives the second rotating component 22 to rotate around the second axis y, thereby adjusting the attitude of the tooling body 101 around the second axis y. When the tooling body 101 reaches the second target position, the second locking component 23 engages to lock and prevent the tooling body 101 from moving unexpectedly. This ensures that the tooling body 101 maintains the second target position throughout the subsequent surgical procedure and also improves the accuracy of detecting the attitude of the robotic arm end effector 200 through the tooling body 101.

[0103] In some embodiments, the technical solution for the cooperation between the second locking component 23 and the second adjusting component 21 can refer to the aforementioned implementation of the cooperation between the first locking component 13 and the first adjusting component 11, and will not be repeated here.

[0104] Reference Figure 5 As shown, in some embodiments, the second locking component 23 of the second adjustment structure 20 includes a second intermediate member 231 and a second locking member 232, a third transmission member 211 configured as a second worm gear, a fourth transmission member configured as a second worm wheel, and the second intermediate member 231 sleeved on the second worm gear; the second locking member 232 passes through the second intermediate member and is used to rotate the second locking member 232 when the tooling body is in the second target position, so that the second worm gear radially abuts between the second locking member 232 and the second rotating member 22.

[0105] In the above scheme, when the second worm drives the second worm wheel to rotate around the second axis y, the second worm wheel drives the second rotating component 22 to rotate, thereby adjusting the angle and posture of the tooling body 101 around the second axis y. When locking is required, the second locking component 232 is rotated to radially press the second worm, thereby securing the second worm between the second locking component 232 and the second rotating component 22. In this way, the rotation of the second worm can be effectively suppressed, thereby preventing the second worm wheel and the second rotating component 22 from rotating, keeping the tooling body 101 in the second target position. Thus, through the cooperation of the second locking component 23 with the second worm and the second worm wheel, the second adjustment component 21 can be reliably locked after adjusting the angle and posture of the tooling body 101 around the second axis y, which is beneficial to improving the accuracy of posture detection.

[0106] Reference Figure 4 As shown, in some embodiments, the second adjustment assembly 21 further includes a second preload group 24, which cooperates with the third transmission member 211 to adjust the contact between the third transmission member 211 and the fourth transmission member in the direction of their meshing, thereby preventing the transmission gap between the third transmission member 211 and the fourth transmission member during the transmission process, so as to improve the accuracy of the position of the adjustment fixture body 101 around the second axis y.

[0107] In some implementations, the technical solution of the second pretension group 24 can refer to the implementation of the first pretension group 14 described above, and will not be repeated here.

[0108] Reference Figure 5 As shown, in some embodiments, the second preload assembly 24 of the second adjustment assembly 21 includes a second elastic member and a second preload member 241, a third transmission member 211 is configured as a second worm, a fourth transmission member is configured as a second worm wheel, the second elastic member elastically abuts against the second worm and the second preload member 241 along the axial direction of the second worm, and the second preload member 241 is capable of moving along the axial direction of the second worm to compress or stretch the second elastic member, so that the second worm and the second worm wheel abut against each other in the direction of their meshing.

[0109] When the second worm is driven to rotate in the first direction along its own axis, its tooth surface meshes with the tooth surface of the second worm wheel on one side. At this time, the preload provided by the second elastic element forces the second worm to move axially, ensuring that its tooth surface is always in close contact with the transmission side tooth surface of the second worm wheel, thereby eliminating tooth backlash during transmission and enabling precise transmission of rotation.

[0110] When the second worm is driven to rotate in the second direction along its own axis, its meshing surface switches to the other side. The elastic restoring force generated by the second elastic element under the adjustment of the preload element continuously pushes the second worm to follow axially, causing its tooth surface to quickly and tightly engage with the tooth surface of the second worm wheel in the second direction of transmission. This effectively avoids the backlash phenomenon caused by clearance and ensures the immediacy and accuracy of transmission. Here, the first direction and the second direction are relative directions along the axis of the second worm.

[0111] Reference Figure 5 As shown, in some embodiments, the second adjustment component 21 of the second adjustment structure 20 further includes a second adjustment member 25, which is connected to the third transmission member 211. The second adjustment member 25 is used to reduce the input second transmission amount by a second preset factor before transmitting it to the third transmission member 211. Therefore, when the operator inputs the second transmission amount through the second adjustment member 25, it is reduced by a second preset factor before being transmitted to the third transmission member 211. This enhances the accuracy of the operator driving the third transmission member 211 through the second adjustment member 25, which is beneficial for improving the accuracy of adjusting the posture of the fixture body 101 around the second axis y.

[0112] The second preset multiple is determined according to the actual accuracy requirements, and the embodiments of this application do not limit the second preset multiple.

[0113] In some implementations, the second adjustment element can be a differential knob, in which case the accuracy level of the second preset multiple can be 0.001, thereby greatly improving the accuracy of adjusting the attitude of the tooling body 101 around the second axis y.

[0114] It should be noted that the differential knob can be set with a scale, so that the second transmission quantity can be quantitatively input.

[0115] Reference Figure 2 As shown in the embodiment of this application, the third adjustment structure 30 is connected to the tooling body 101 and the end effector 200 of the robotic arm, and is used to drive the tooling body 101 to rotate around the third axis so that the tooling body 101 is in the second target position around the third axis, thereby adjusting the posture of the tooling body 101 around the third axis, wherein the directions of the third axis, the second axis and the first axis are relative to a point.

[0116] The direction of the third axis can be referenced to be parallel to Figure 2 The direction indicated by z in this embodiment does not limit the direction of the third axis. It should be noted that the directions of the third axis, the second axis, and the first axis are relative to a single point, so that adjusting the angle and attitude of the tooling body 101 around the corresponding axis by different adjustment structures will not interfere with the angle and attitude of the tooling body 101 around other axes, thus reducing the difficulty of adjusting the attitude of the tooling body 101.

[0117] Here, the third target position is determined when the attitude of the tooling body 101 is consistent with the attitude of the robotic arm end effector 200, so as to eliminate the attitude deviation of the tooling body 101 and the robotic arm end effector 200 around the third axis.

[0118] In some embodiments, the third adjustment structure 30 can be rotatably connected to the end effector 200 of the robotic arm about a third axis z, and is connected to the tooling body 101. Thus, by rotating the third adjustment structure 30 about the third axis z, the tooling body 101 is rotated about the third axis z under the drive of the third adjustment structure 30.

[0119] In some embodiments, a first adjustment structure 10 is used to connect a first position of the tooling body 101 and a first position of the robotic arm end effector 200; a second adjustment structure 20 is used to connect a second position of the tooling body 101 and a second position of the robotic arm end effector 200; and a third adjustment structure 30 is used to connect a third position of the tooling body 101 and a third position of the robotic arm end effector 200. The tooling body 101 is selectively connected to one of the first adjustment structure 10, the second adjustment structure 20, and the third adjustment structure 30, so that the first adjustment structure 10, the second adjustment structure 20, or the third adjustment structure 30 adjusts the angle of the tooling body 101 about a first axis x, a second axis y, or a third axis z, respectively.

[0120] In some examples, when it is necessary to adjust the attitude of the tooling body 101 around the second axis y via the second adjustment structure 20, the tooling body 101 can be configured to be separated from both the first adjustment structure 10 and the third adjustment structure 30, and connected to the second adjustment structure 20 while maintaining its attitude. Accordingly, the attitude of the tooling body 101 around the second axis y is adjusted via the second adjustment structure 20.

[0121] For example, the tooling body 101 can be configured to establish magnetic connections with the first adjustment structure 10, the second adjustment structure 20, or the third adjustment structure 30, thereby achieving selective connection between the tooling body 101 and the first adjustment structure 10, the second adjustment structure 20, or the third adjustment structure 30.

[0122] Continue to refer to Figure 2 As shown, the third adjustment structure 30 includes a third adjustment component 31 and a third rotating component 32. The third rotating component 32 is connected to the housing of the second adjustment component 21. The third adjustment component 31 is connected to the third rotating component 32 in a transmission manner. The third adjustment component 31 is used to drive the third rotating component 32 to rotate around the third axis z, so that the third rotating component 32 drives the second adjustment structure 20, the first adjustment structure 10 and the tooling body 101 to rotate around the third axis z.

[0123] In some examples, the third adjustment component 31 can be a structure that can transmit rotation to the third rotating component 32, such as a gear rack, multi-gear transmission, or worm gear. The embodiments of this application do not limit the type of the third adjustment component 31.

[0124] In some embodiments, the third rotating member 32 and the housing of the second adjusting assembly 21 can be connected via the second adapter 60. In other words, the third rotating member 32 is connected to the second adapter 60, and the housing of the second adjusting assembly 21 is connected to the second adapter 60. This allows for greater flexibility in the spatial arrangement of the second adjusting structure 20 and the third adjusting structure 30.

[0125] In some embodiments, the second adapter 60 includes a first portion 61 and a second portion 62 connected at an angle. The housing of the second adjustment structure 20 can be connected to the first portion 61, and the third rotating member 32 can be connected to the second portion 62. Thus, the included angle between the first portion 61 and the second portion 62 is determined according to the layout of the second adjustment structure 20 and the third adjustment structure 30, resulting in high flexibility in structural layout.

[0126] In some examples, the normal of the first portion 61 of the second adapter 60 may be aligned with the direction of the second axis y, and the normal of the second portion 62 of the second adapter 60 may be aligned with the direction of the third axis z. Accordingly, the second adjustment structure 20 may be positioned in the region of the first portion 61 closer to the second portion 62, and the third adjustment structure 30 may be positioned in the region of the second portion 62 away from the first portion 61.

[0127] Figure 6 This is a schematic diagram of the third adjustment structure in a tooling for measuring the end-effector posture of a robotic arm, provided in an embodiment of this application.

[0128] Please see Figure 6 As shown, in some embodiments, the third adjustment component 31 of the third adjustment structure 30 includes a fifth transmission member 311 and a sixth transmission member (not shown). The fifth transmission member 311 and the sixth transmission member are connected in a transmission manner. The sixth transmission member is connected in a transmission manner to the third rotating member 32. The fifth transmission member 311 is configured to drive the sixth transmission member to rotate around the third axis z, so as to drive the third rotating member 32 to rotate around the third axis z.

[0129] In the above scheme, when the fifth transmission member 311 drives the sixth transmission member to rotate around the third axis z in a fifth clockwise direction, the sixth transmission member drives the third rotating member 32 to rotate around the third axis z in a fifth clockwise direction, thereby driving the tooling body 101 to rotate around the third axis z in a fifth clockwise direction, so as to adjust the angular position of the tooling body 101 around the third axis z in a fifth clockwise direction. When the fifth transmission member 311 drives the sixth transmission member to rotate around the third axis z in a sixth clockwise direction, the sixth transmission member drives the third rotating member 32 to rotate around the third axis z in a sixth clockwise direction, thereby driving the tooling body 101 to rotate around the third axis z in a sixth clockwise direction, so as to adjust the angular position of the tooling body 101 around the third axis z in a sixth clockwise direction. Therefore, by utilizing the cooperation of the fifth transmission component 311 and the sixth transmission component, the third rotating component 32 is driven to rotate the tooling body 101 bidirectionally around the third axis z, so as to be in the third target position, thereby adjusting the attitude of the tooling body 101 around the third axis z to be consistent with the attitude of the robotic arm end effector 200 around the third axis z' of the robotic arm end effector 200. The fifth clockwise direction and the sixth clockwise direction are opposite clockwise directions around the third axis z.

[0130] In some embodiments, the fifth transmission member 311 and the sixth transmission member are driven by gear meshing. Specifically, the fifth transmission member 311 of the third adjustment assembly 31 has a fifth tooth (not shown), and the sixth transmission member has a sixth tooth (not shown). The fifth tooth meshes with the sixth tooth so that the fifth transmission member 311 drives the sixth transmission member to rotate around the third axis z.

[0131] In some embodiments, the technical solutions of the fifth transmission member 311 and the sixth transmission member can refer to the aforementioned embodiments of the first transmission member 111 and the second transmission member, and will not be repeated here.

[0132] Reference Figure 6 As shown, in some embodiments, the third adjustment structure 30 further includes a third locking component 33, which cooperates with the third adjustment component 31 to lock the third adjustment component 31 when the tooling body 101 is in the third target position, so that the third adjustment component 31 cannot continue to drive the third rotating member 32 to rotate.

[0133] Here, "locking the third adjustment component 31" can be understood as: the third adjustment component 31 cannot drive the third rotating component 32 to rotate when it is locked.

[0134] Therefore, the third adjusting component 31 drives the third rotating component 32 to rotate around the third axis z, thereby adjusting the attitude of the tooling body 101 around the third axis z. When the tooling body 101 reaches the third target position, the third locking component 33 engages to lock, preventing the tooling body 101 from moving unexpectedly, which helps to improve the accuracy of detecting the attitude of the robotic arm end effector 200 through the tooling body 101.

[0135] In some embodiments, the technical solution of the cooperation between the third locking component 33 and the third adjusting component 31 can refer to the aforementioned implementation of the cooperation between the first locking component 13 and the first adjusting component 11, and will not be repeated here.

[0136] Reference Figure 6 As shown, in some embodiments, the third locking component 33 of the third adjustment structure 30 includes a third intermediate member 331 and a third locking member 332. The fifth transmission member 311 is configured as a third worm gear, and the sixth transmission member is configured as a third worm wheel. The third intermediate member 331 is sleeved on the third worm gear. The third locking member 332 passes through the third intermediate member 331 and is used to rotate the third locking member 332 when the tooling body 101 is in the third target position, so that the third worm gear radially abuts between the third locking member 332 and the third rotating member 32.

[0137] In the above scheme, when the third worm drives the third worm wheel to rotate around the third axis z, the third worm wheel drives the third rotating component 32 to rotate, thereby adjusting the angle and posture of the tooling body 101 around the third axis z. When locking is required, the third locking component 332 is rotated to radially press the third worm, thereby securing the third worm between the third locking component 332 and the third rotating component 32. In this way, the rotation of the third worm can be effectively suppressed, thereby preventing the third worm wheel and the third rotating component 32 from rotating, keeping the tooling body 101 in the third target position. Thus, through the cooperation of the third locking component 33 with the third worm and the third worm wheel, the third adjustment component 31 can be reliably locked after adjusting the angle and posture of the tooling body 101 around the third axis z, which is beneficial to improving the accuracy of posture detection.

[0138] Reference Figure 6 As shown, in some embodiments, the third adjustment assembly 31 further includes a third preload group 34, which cooperates with the fifth transmission member 311 to adjust the fifth transmission member 311 and the sixth transmission member to abut in the direction of their meshing, thereby preventing the transmission gap between the fifth transmission member 311 and the sixth transmission member during the transmission process, so as to improve the accuracy of the position of the adjustment fixture body 101 around the third axis z.

[0139] In some implementations, the technical solution of the third pretension group 34 can refer to the implementation of the first pretension group 14 described above, and will not be repeated here.

[0140] Reference Figure 6 As shown, in some embodiments, the third preload assembly 34 of the third adjustment assembly 31 includes a third elastic member and a third preload member 341. The fifth transmission member is configured as a third worm, and the sixth transmission member is configured as a third worm wheel. The third elastic member elastically abuts against the third worm and the third preload member 341 along the axial direction of the third worm. The third preload member 341 can move along the axial direction of the third worm to compress or stretch the third elastic member, so that the third worm and the third worm wheel abut against each other in the direction of their meshing.

[0141] When the third worm is driven to rotate in the first direction along its own axis, its tooth surface meshes with the tooth surface of the third worm wheel on one side. At this time, the preload provided by the third elastic element forces the third worm to move axially, ensuring that its tooth surface is always in close contact with the transmission side tooth surface of the third worm wheel, thereby eliminating tooth backlash during transmission and enabling precise transmission of rotation.

[0142] When the third worm is driven to rotate in the third direction along its own axis, its meshing surface switches to the other side. The elastic restoring force generated by the third elastic element under the adjustment of the preload element continuously pushes the third worm to follow axially, causing its tooth surface to quickly and tightly engage with the tooth surface of the third worm wheel in the second direction of transmission. This effectively avoids the backlash phenomenon caused by clearance and ensures the immediacy and accuracy of transmission. Here, the first direction and the second direction are relative directions along the axis of the third worm.

[0143] Reference Figure 6 As shown, in some embodiments, the third adjustment component 31 of the third adjustment structure 30 further includes a third adjustment member 35, which is connected to the fifth transmission member 311. The third adjustment member 35 is used to reduce the input third transmission amount by a third preset factor before transmitting it to the fifth transmission member 311. Therefore, when the operator inputs the third transmission amount through the third adjustment member 35, it is reduced by a third preset factor before being transmitted to the fifth transmission member 311. This enhances the accuracy of the operator driving the fifth transmission member 311 through the third adjustment member 35, which is beneficial for improving the accuracy of adjusting the posture of the fixture body 101 around the third axis z.

[0144] The third preset multiple is determined according to the actual accuracy requirements, and the embodiments of this application do not limit the third preset multiple.

[0145] In some implementations, the third adjustment element can be a differential knob, in which case the accuracy level of the third preset multiple can be 0.001, thereby greatly improving the accuracy of adjusting the attitude of the tooling body 101 around the third axis z.

[0146] It should be noted that the differential knob can be set with a scale, so that the third transmission quantity can be quantitatively input.

[0147] In some embodiments, the geometric center of the tooling body 101 may coincide with the point where the first axis, the second axis, and the third axis intersect.

[0148] In other embodiments, the geometric center of the tooling body 101 may not coincide with the point where it intersects the first, second, and third axes. Since adjusting the angular position of the tooling body 101 around the first axis x, second axis y, and third axis z is equivalent to adjusting the attitude of the tooling body 101, it will not affect the attitude accuracy. Furthermore, this allows for flexible setting of the position of the tooling body 101 to avoid obstruction or collision with surrounding equipment, and facilitates the measurement device in acquiring feature points on the tooling body 101.

[0149] Combined with appendix Figure 2 The working process of the tooling 100 provided in the embodiments of this application is described in general.

[0150] In this embodiment, the housing of the third adjustment component 31 of the third adjustment structure 30 is directly connected to the end effector 200 of the robotic arm, serving as the basis for the tooling 100 to rotate relative to the end effector 200 of the robotic arm.

[0151] In some examples, the housing of the third adjustment component 31 can be fixed to the end of the robotic arm 200 by a threaded connection.

[0152] In some examples, the housing of the third adjustment component 31 can be glued and fixed to the end of the robotic arm 200.

[0153] After actually measuring and calculating the attitude of the tooling 100 and the attitude of the end effector 200, the first target position for adjusting the angle attitude of the tooling 100 around the first axis x, the second target position for adjusting the angle attitude around the second axis y, and the third target position for adjusting the angle attitude around the third axis z are obtained.

[0154] Based on the first target position, the first worm and the first worm wheel are first adjusted to abut in the meshing direction by the first pre-tightening member 141; then the first adjusting member 15 of the first adjusting assembly 11 is adjusted to input a first transmission amount into the first adjusting assembly 11. The first adjusting member 15 reduces the first transmission amount according to a first preset multiple and then transmits it to the first worm; using the cooperation of the first worm and the first worm wheel, the first rotating member 12 is driven to rotate around the first axis x, and the tooling body 101 rotates around the first axis x with the first rotating member 12. When the tooling body 101 rotates around the first axis x to the first target position, the first locking member 132 is rotated to make the first worm radially abut between the first locking member 132 and the first rotating member 12, so as to stabilize the tooling body 101 at the first target position; Adjusting the tooling body 101 to stabilize at the second target position based on the second target position, and adjusting the tooling body 101 to stabilize at the third target position based on the third target position are similar to the process of adjusting the tooling body 101 to stabilize at the first target position based on the first target position, and will not be described in detail here.

[0155] According to an embodiment of this application, a tooling 100 is provided, comprising three series-connected adjustment structures: a second adjustment structure 20 is mounted on the housing of a first adjustment component 11, a third adjustment structure 30 is mounted on the housing of a second adjustment component 21, and the housing of the third adjustment component 31 is ultimately connected to the end effector 200 of the robotic arm, thus constructing a stable, coordinate-system-unified cascaded adjustment chain. This structure ensures that each adjustment stage is based on the fixed output posture of the previous stage, achieving a high degree of decoupling of the three rotational degrees of freedom. Therefore, the angles of the tooling body 101 around each axis can be adjusted independently and without interference, without needing to switch or consider the references of other degrees of freedom when adjusting one degree of freedom, significantly simplifying the adjustment process and greatly improving the efficiency and final accuracy of posture correction.

[0156] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments and implementation methods of this application to obtain other embodiments and implementation methods, none of which exceed the protection scope of this application.

[0157] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A fixture (100) for measuring the end effector posture of a robotic arm, characterized in that, include: Tooling body (101); The first adjustment structure (10) is connected to the tooling body (101) and the end of the robotic arm (200) and is used to drive the tooling body (101) to rotate around the first axis so that the tooling body (101) is in the first target position around the first axis. The second adjustment structure (20) is connected to the tooling body (101) and the end of the robotic arm (200) and is used to drive the tooling body (101) to rotate around the second axis so that the tooling body (101) is in the second target position around the second axis. The third adjustment structure (30) is connected to the tooling body (101) and the end effector of the robotic arm (200) and is used to drive the tooling body (101) to rotate around the third axis so that the tooling body (101) is in the third target position around the third axis; the first axis, the second axis and the third axis intersect at one point; wherein, when the tooling body (101) is in the first target position, the second target position and the third target position, the posture of the tooling body (101) is consistent with the posture of the end effector of the robotic arm (200).

2. The fixture (100) for measuring the end effector posture of a robotic arm according to claim 1, characterized in that, The first adjustment structure (10) includes a first adjustment component (11) and a first rotating member (12). The first rotating member (12) is connected to the tooling body (101). The first adjustment component (11) is drively connected to the first rotating member (12). The first adjustment component (11) is used to drive the first rotating member (12) to rotate around a first axis, so that the first rotating member (12) drives the tooling body (101) to rotate around the first axis; and / or, The second adjustment structure (20) includes a second adjustment component (21) and a second rotating component (22). The second rotating component (22) is connected to the housing of the first adjustment component (11). The second adjustment component (21) is drively connected to the second rotating component (22). The second adjustment component (21) is used to drive the second rotating component (22) to rotate around a second axis, so that the second rotating component (22) drives the first adjustment structure (10) and the tooling body (101) to rotate around the second axis; and / or, The third adjustment structure (30) includes a third adjustment component (31) and a third rotating component (32). The third rotating component (32) is connected to the housing of the second adjustment component (21). The third adjustment component (31) is connected to the third rotating component (32) in a transmission manner. The third adjustment component (31) is used to drive the third rotating component (32) to rotate around a third axis, so that the third rotating component (32) drives the second adjustment structure (20), the first adjustment structure (10), and the tooling body (101) to rotate around the third axis. The housing of the third adjustment component (31) is connected to the end of the robotic arm (200).

3. The fixture (100) for measuring the end-effector posture of a robotic arm according to claim 2, characterized in that, The first adjustment component (11) of the first adjustment structure (10) includes a first transmission member (111) and a second transmission member, the first transmission member (111) and the second transmission member being drively connected, the second transmission member being drively connected to the first rotating member (12), the first transmission member (111) being configured to drive the second transmission member to rotate about the first axis, thereby causing the first rotating member (12) to rotate about the first axis; and / or, The second adjustment component (21) of the second adjustment structure (20) includes a third transmission member (211) and a fourth transmission member, the third transmission member (211) and the fourth transmission member being drively connected, the fourth transmission member being drively connected to the second rotating member (22), the third transmission member (211) being configured to drive the fourth transmission member to rotate about the second axis, thereby causing the second rotating member (22) to rotate about the second axis; and / or, The third adjustment component (31) of the third adjustment structure (30) includes a fifth transmission member (311) and a sixth transmission member. The fifth transmission member (311) and the sixth transmission member are connected in a transmission manner. The sixth transmission member is connected in a transmission manner to the third rotating member (32). The fifth transmission member (311) is configured to drive the sixth transmission member to rotate around the third axis, so as to drive the third rotating member (32) to rotate around the third axis.

4. The fixture (100) for measuring the end-effector posture of a robotic arm according to claim 3, characterized in that, The first transmission member (111) of the first adjustment assembly (11) has a first tooth formed on its first transmission member (111), and the second transmission member has a second tooth formed on its second transmission member. The first tooth meshes with the second tooth so that the first transmission member (111) drives the second transmission member to rotate around the first axis; and / or, The second adjustment assembly (21) has a third tooth formed on its third transmission member (211) and a fourth tooth formed on its fourth transmission member. The third tooth meshes with the fourth tooth to cause the third transmission member (211) to drive the fourth transmission member to rotate around the second axis; and / or, The fifth transmission member (311) of the third adjustment component (31) has a fifth tooth, and the sixth transmission member has a sixth tooth. The fifth tooth meshes with the sixth tooth so that the fifth transmission member (311) drives the sixth transmission member to rotate around the third axis.

5. The fixture (100) for measuring the end-effector posture of a robotic arm according to claim 3, characterized in that, The first adjustment structure (10) further includes a first locking component (13), which cooperates with the first adjustment component (11) to lock the first adjustment component (11) when the tooling body (101) is in the first target position; and / or, The second adjustment structure (20) further includes a second locking component (23), which cooperates with the second adjustment component (21) to lock the second adjustment component (21) when the tooling body (101) is in the second target position; and / or, The third adjustment structure (30) further includes a third locking component (33), which cooperates with the third adjustment component (31) to lock the third adjustment component (31) when the tooling body (101) is in the third target position.

6. The fixture (100) for measuring the end-effector posture of a robotic arm according to claim 5, characterized in that, The first locking component (13) of the first adjustment structure (10) includes a first intermediate part (131) and a first locking member (132). The first transmission member (111) is configured as a first worm gear, and the second transmission member is configured as a first worm wheel. The first intermediate part (131) is sleeved on the first worm gear. The first locking member (132) passes through the first intermediate part (131) and is used to rotate the first locking member (132) when the tooling body (101) is in the first target position, so that the first worm gear radially abuts between the first locking member (132) and the first rotating member (12); and / or, The second locking component (23) of the second adjustment structure (20) includes a second intermediate part (231) and a second locking member (232). The third transmission member (211) is configured as a second worm gear, and the fourth transmission member is configured as a second worm wheel. The second intermediate part (231) is sleeved on the second worm gear. The second locking member (232) passes through the second intermediate part (231) and is used to rotate the second locking member (232) when the tooling body (101) is in the second target position, so that the second worm gear radially abuts between the second locking member (232) and the second rotating member (22); and / or, The third locking component (33) of the third adjustment structure (30) includes a third intermediate component (331) and a third locking component (332). The fifth transmission component (311) is configured as a third worm gear, and the sixth transmission component is configured as a third worm wheel. The third intermediate component (331) is sleeved on the third worm gear. The third locking component (332) passes through the third intermediate component (331) and is used to rotate the third locking component (332) when the tooling body (101) is in the third target position, so that the third worm gear radially abuts between the third locking component (332) and the third rotating component (32).

7. The fixture (100) for measuring the end-effector posture of a robotic arm according to claim 3, characterized in that, The first adjustment assembly (11) further includes a first preload assembly (14), which cooperates with the first transmission member (111) to adjust the contact between the first transmission member (111) and the second transmission member along their meshing direction; and / or, The second adjustment assembly (21) further includes a second preload group (24), which cooperates with the third transmission member (211) to adjust the contact between the third transmission member (211) and the fourth transmission member in the direction of their meshing; and / or, The third adjustment assembly (31) further includes a third preload assembly (34), which cooperates with the fifth transmission member (311) to adjust the fifth transmission member (311) and the sixth transmission member to abut in the direction of their meshing.

8. The fixture (100) for measuring the end-effector posture of a robotic arm according to claim 7, characterized in that, The first preload assembly (14) of the first adjustment assembly (11) includes a first elastic member and a first preload member (141). The first transmission member (111) is configured as a first worm, and the second transmission member is configured as a first worm wheel. The first elastic member elastically abuts against the first worm and the first preload member (141) along the axial direction of the first worm. The first preload member (141) is capable of moving along the axial direction of the first worm to compress or stretch the first elastic member, such that the first worm and the first worm wheel abut against each other in the direction of their meshing; and / or, The second preload assembly (24) of the second adjustment assembly (21) includes a second elastic member and a second preload member (241). The third transmission member (211) is configured as a second worm, and the fourth transmission member is configured as a second worm wheel. The second elastic member elastically abuts against the second worm and the second preload member (241) along the axial direction of the second worm. The second preload member (241) is movable along the axial direction of the second worm to compress or stretch the second elastic member, such that the second worm and the second worm wheel abut against each other in the direction of their meshing; and / or, The third preload assembly (34) of the third adjustment assembly (31) includes a third elastic member and a third preload member (341). The fifth transmission member (311) is configured as a third worm, and the sixth transmission member is configured as a third worm wheel. The third elastic member elastically abuts against the third worm and the third preload member (341) along the axial direction of the third worm. The third preload member (341) can move along the axial direction of the third worm to compress or stretch the third elastic member, so that the third worm and the third worm wheel abut against each other in the direction of their meshing.

9. The fixture (100) for measuring the end-effector posture of a robotic arm according to claim 3, characterized in that, The first adjustment component (11) of the first adjustment structure (10) further includes a first adjustment member (15), which is connected to the first transmission member (111). The first adjustment member (15) is used to reduce the input first transmission amount by a first preset multiple and then transmit it to the first transmission member (111); and / or, The second adjustment component (21) of the second adjustment structure (20) further includes a second adjustment member (25), which is connected to the third transmission member (211). The second adjustment member (25) is used to reduce the input second transmission amount by a second preset multiple before transmitting it to the third transmission member (211); and / or, The third adjustment component (31) of the third adjustment structure (30) further includes a third adjustment member (35), which is connected to the fifth transmission member (311) in a transmission manner. The third adjustment member (35) is used to reduce the input third transmission amount by a third preset multiple and then transmit it to the fifth transmission member (311).

10. The fixture (100) for measuring the end-effector posture of a robotic arm according to claim 9, characterized in that, At least one of the first adjustment member (15), the second adjustment member (25) and the third adjustment member (35) is a differential knob.

11. A surgical robot, characterized in that, include: robotic arm; The fixture (100) for measuring the end-effector posture of a robotic arm according to any one of claims 1 to 10 is connected to the end of the robotic arm; A measuring device is used to collect the first posture data of the tooling body (101), process the first posture data to obtain the second posture data of the end of the robotic arm, and the second posture data is used to drive the surgical instruments of the surgical robot to perform surgical operations.

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