Fine alignment device

Abstract

This invention discloses a fine-tuning alignment device, comprising a first planar motion module, a second planar motion module, and a fixed frame. The first and second planar motion modules are disposed within the fixed frame and arranged vertically. The first and second planar motion modules operate independently and each performs two-dimensional motion. Each of the first and second planar motion modules includes a motion arm, a transmission belt, four belt gears, and three pulleys. The three pulleys surround the motion arm and the four belt gears, which are symmetrically arranged on opposite sides of the motion arm. Each side of the motion arm has two belt gears, and the transmission belt extends along the opposite sides of the motion arm and passes around the belt gears and pulleys, thus forming a cross-shaped structure.

Claims

1. A fine-tuning alignment device, mounted on the end of a robotic arm, the fine-tuning alignment device comprising: A fixed frame has an intermediate frame for dividing the interior of the fixed frame into a first accommodating space and a second accommodating space, the first accommodating space being located above the second accommodating space, and the intermediate frame being connected to the robotic arm. The system includes a first planar motion module and a second planar motion module, respectively disposed in the first accommodating space and the second accommodating space. The first planar motion module and the second planar motion module operate independently and each performs two-dimensional motion. Each of the first planar motion module and the second planar motion module includes a motion arm, a transmission belt, four belt gears and three pulleys. The three pulleys surround the motion arm and the four belt gears. The four belt gears are symmetrically arranged on opposite sides of the motion arm, and two belt gears are provided on each side of the motion arm. The transmission belt extends along the opposite sides of the motion arm and passes around the belt gears and the pulleys, thereby forming a cross-shaped structure.

2. The fine-tuning alignment device as claimed in claim 1, wherein in each of the first planar motion module and the second planar motion module, four belt gears are disposed on the outer side of the drive belt and three pulleys are disposed on the inner side of the drive belt.

3. The fine-tuning alignment device as described in claim 1, wherein, The motion arm of the first planar motion module is defined as the first motion arm. The first planar motion module also includes a first linear slide rail element, a second linear slide rail element, and a third linear slide rail element. The first linear slide rail element is perpendicular to the second linear slide rail element and the third linear slide rail element, and parallel to the first motion arm. Each of the first linear slide rail element, the second linear slide rail element, and the third linear slide rail element includes a slider and a guide rail. The lower surface of the first motion arm is provided with a first groove. The first linear slide rail element is disposed in the first groove, and the slider of the first linear slide rail element is fixed to the first motion arm.

4. The fine-tuning alignment device as described in claim 3, wherein, The first planar motion module also includes a first upper cover plate and a first base plate arranged vertically. The first motion arm, the transmission belt, the belt gears and the pulleys of the first planar motion module are located between the first upper cover plate and the first base plate. The first upper cover plate and the first base plate sandwich the four belt gears of the first planar motion module vertically. The first base plate has a first upper surface and a first lower surface that are opposite each other. The guide rail of the first linear slide rail element is fixedly disposed in a groove on the first upper surface. The sliders of the second linear slide rail element and the third linear slide rail element are fixed to the first lower surface.

5. The fine-tuning alignment device as described in claim 4, wherein, The motion arm of the second planar motion module is defined as the second motion arm. The second planar motion module also includes a fourth linear slide rail element, a fifth linear slide rail element, and a sixth linear slide rail element. The sixth linear slide rail element is perpendicular to the fourth and fifth linear slide rail elements and parallel to the second motion arm. Each of the fourth, fifth, and sixth linear slide rail elements includes a slider and a guide rail. The upper surface of the second motion arm is provided with a second groove. The sixth linear slide rail element is disposed in the second groove, and the slider of the sixth linear slide rail element is fixed to the second motion arm.

6. The fine-tuning alignment device as described in claim 5, wherein, The second planar motion module also includes a second upper cover plate and a second bottom plate arranged vertically. The second motion arm, the transmission belt, the belt gears and the pulleys of the second planar motion module are located between the second upper cover plate and the second bottom plate. The second upper cover plate and the second bottom plate sandwich the four belt gears of the second planar motion module vertically. The second upper cover plate has a second upper surface and a second lower surface that are opposite each other. The guide rail of the sixth linear slide rail element is fixed to a groove on the second lower surface, and the sliders of the fourth linear slide rail element and the fifth linear slide rail element are fixed to the second upper surface.

7. The fine-tuning alignment device as described in claim 6, wherein, The guide rails of the second and third linear slide rail elements are fixed to an upper surface of the intermediate frame, and the guide rails of the fourth and fifth linear slide rail elements are fixed to a lower surface of the intermediate frame.

8. The fine-tuning alignment device as described in claim 6 further includes two connecting columns, wherein the three pulleys of the first planar motion module are further defined as a first pulley, a second pulley, and a third pulley, the first pulley and the second pulley being located on opposite sides of the first moving arm, and the third pulley being connected to one end of the first moving arm; wherein, The three pulleys of the second planar motion module are further defined as a fourth pulley, a fifth pulley, and a sixth pulley. The fourth pulley and the fifth pulley are located on opposite sides of the second motion arm and correspond to the first pulley and the second pulley, respectively. The sixth pulley is connected to one end of the second motion arm. The first pulley and the fourth pulley are disposed on one of the connecting posts, and the second pulley and the fifth pulley are disposed on the other connecting post.

9. The fine-tuning alignment device as claimed in claim 8 further includes a locking frame and a rotating operating member, the locking frame surrounding the periphery of the fixed frame, the rotating operating member having a shaft that passes through a top beam of the locking frame and an upper frame of the fixed frame, and abuts against the first upper cover plate.

10. The fine-tuning alignment device as claimed in claim 9 further includes two linkage seats, each linkage seat including a shaft hole and two lugs, the shaft hole for one of the connecting posts to pass through, the two lugs for connecting the fixed frame, a positioning recess being formed between the two lugs, and one side beam of the locking frame being disposed in the positioning recess.

11. The fine-tuning alignment device as described in claim 6 further includes a connecting seat having a guide groove and a sleeve; wherein, The sleeve is used to fix a surgical device. The other end of the first moving arm is provided with a ball joint, which is locked in the guide groove so that the connecting seat can move with multiple degrees of freedom relative to the first moving arm.

12. The fine-tuning alignment device as described in claim 11, wherein, The extension direction of the guide groove is parallel to, but not collinear with, the extension direction of the sleeve.

13. The fine-tuning alignment device as described in claim 11, wherein, The other end of the second motion arm is provided with a U-shaped connector, which is installed on the connecting seat.

14. The fine-tuning alignment device as claimed in claim 1, wherein in each of the first planar motion module and the second planar motion module, four belt gears are disposed on the inner side of the drive belt and three pulleys are disposed on the outer side of the drive belt.

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