Movement apparatus and robot

Abstract

A movement apparatus and a robot. The movement apparatus comprises an actuating mechanism, a rotation driving member (30), and a lifting driving member (21). The actuating mechanism comprises a clamping module, a rotating base (10), and a lifting base (20). The clamping module is configured to stably clamp an instrument (70). The lifting base (20) is configured to drive the instrument (70) to perform a lifting movement, so as to adjust the position of the instrument (70) relative to a surgical site. The rotating base (10) is configured to drive the instrument (70) to perform a rotational movement, so as to adjust the angle of action of the instrument (70) relative to the surgical site. The instrument (70) can precisely act on an expected site, facilitating the surgery.

Description

Motion devices and robots

[0001] This application claims priority to Chinese Patent Application No. 202410704446.6, filed on May 31, 2024, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0002] Embodiments of this disclosure relate to a motion device and a robot. Background Technology

[0003] In surgical procedures, instruments are frequently used to assist surgeons. Surgeons hold these instruments and continuously adjust their position and angle as the surgery progresses to meet the demands. For example, during surgery, an endoscope is inserted into the abdominal cavity to collect images of the surgical site. Surgeons can observe the surgical progress and the condition of lesions within the abdominal cavity in real time on a monitor. They can also adjust the position and angle of the endoscope to capture effective images as needed. Therefore, surgeons need to rotate and raise the endoscope to ensure it can collect images from different areas. Summary of the Invention

[0004] The embodiments disclosed herein are intended to provide a motion device and a robot.

[0005] This disclosure is achieved through the following technical solution: a motion device, including an actuator, a rotary drive component, and a lifting drive component; the actuator includes a clamping module, a rotary seat, and a lifting seat;

[0006] The clamping module includes a support member, a drive gear set, and at least two opposing moving parts for clamping the instrument. The support member is disposed on the rotating base, and all moving parts are movably disposed on the support member. The drive gear set is tractably connected to at least one of the moving parts, and the lifting base is tractably connected to the drive gear set. The rotation drive member is tractably connected to the rotating base, and the lifting drive member is tractably connected to the lifting base.

[0007] The projection of the clamping module and the rotating seat along a direction perpendicular to the first axis is at least partially coincident, and / or the projection of the clamping module and the lifting seat along a direction perpendicular to the first axis is at least partially coincident, and / or the projection of the rotating seat and the lifting seat along a direction perpendicular to the first axis is at least partially coincident.

[0008] The motion device has a first working mode and a second working mode;

[0009] In the first working mode, in response to the rotation of the lifting drive component to drive the lifting seat to rotate relative to the clamping module about the first axis, the relative position of the lifting seat and the drive gear set changes to drive the drive gear set to rotate, thereby causing the drive gear set to drive the moving component that is tractably connected to it to rotate about the central axis relative to the support component, thereby driving the instrument to move.

[0010] In the second operating mode, in response to the rotation of the rotary drive member to drive the rotary seat to rotate around the first axis, the clamping module rotates around the first axis to drive the instrument to rotate; and in response to the rotation of the lifting drive member to drive the lifting seat to rotate synchronously with the clamping module around the first axis, so that the lifting seat and the drive gear set maintain a relative position so that the lifting seat is restricted from transmitting power to the drive gear set.

[0011] For example, the rotating seat has a first receiving groove, and the clamping module is at least partially received in the first receiving groove such that the projection of the clamping module and the rotating seat in a direction perpendicular to the first axis at least partially coincides.

[0012] For example, the rotating seat has a first receiving groove, and the lifting seat is at least partially received in the first receiving groove such that the projection of the lifting seat and the rotating seat in a direction perpendicular to the first axis at least partially coincides.

[0013] For example, the lifting seat has a second receiving groove, and the clamping module is at least partially received in the second receiving groove so that the clamping module and the projection of the lifting seat in a direction perpendicular to the first axis at least partially coincide.

[0014] For example, the central axis of the device is perpendicular to the central axis of the moving part.

[0015] For example, the end face of the lifting seat is provided with circumferentially distributed end face teeth, which mesh with the drive gear set;

[0016] In the first working mode, in response to the rotation of the lifting seat around the first axis, the relative position of the end face teeth of the lifting seat and the drive gear set changes so that the end face teeth mesh with the drive gear set, thereby causing the drive gear set to rotate to drive the moving part that is tractably connected thereto to rotate around the central axis relative to the support member.

[0017] In the second operating mode, in response to the rotation of the rotating seat around the first axis, the clamping module rotates around the first axis; and in response to the lifting seat rotating synchronously with the clamping module around the first axis, the end face teeth of the lifting seat maintain a relative position with the drive gear set, so that the end face teeth are restricted from transmitting power to the drive gear set.

[0018] For example, the lifting seat has a second receiving groove, the end face teeth of the lifting seat are located in the second receiving groove, and the drive gear set of the clamping module is at least partially received in the second receiving groove to mesh with the end face teeth.

[0019] For example, the lifting seat also has radial teeth distributed along its outer periphery; the motion device further includes at least one lifting gear, and the output shaft of the lifting drive is configured to mesh with the radial teeth of the lifting seat via at least one of the lifting gears.

[0020] For example, the rotating seat has rotary transmission teeth; the motion device further includes at least one rotary gear; the output shaft of the rotary drive is configured to mesh with the rotary transmission teeth of the rotating seat via at least one of the rotary gears.

[0021] For example, the clamping module includes at least one pair of motion components, each pair of motion components including two moving parts and the two moving parts being located on both sides of the device;

[0022] In the first working mode, the moving parts located on the same side of the instrument rotate in the same direction, and the moving parts located on different sides of the instrument rotate in opposite directions.

[0023] For example, the rotating seat and the lifting seat are rotatably connected.

[0024] For example, the motion device has a limiting groove, which is spaced apart from the motion member in a direction parallel to the first axis; a portion of the instrument passes through the limiting groove; in the first working mode, the instrument moves along the limiting groove; in the second working mode, a portion of the instrument rotates in the limiting groove.

[0025] A motion device includes an actuator, a rotary drive, and a lifting drive; the actuator includes a clamping module, a rotating base, and a lifting base.

[0026] The clamping module includes a support member, a drive gear set, and at least two opposing moving parts for clamping the instrument. The support member is disposed on the rotating base, and all moving parts are movably disposed on the support member. The drive gear set is tractably connected to at least one of the moving parts, and the lifting base is tractably connected to the drive gear set. The rotation drive member is tractably connected to the rotating base, and the lifting drive member is tractably connected to the lifting base.

[0027] Both the rotary drive and the lifting drive are arranged side by side with the actuator in a direction perpendicular to the first axis.

[0028] The motion device has a first working mode and a second working mode;

[0029] In the first working mode, in response to the rotation of the lifting drive component to drive the lifting seat to rotate relative to the clamping module about the first axis, the relative position of the lifting seat and the drive gear set changes to drive the drive gear set to rotate, so that the drive gear set drives the moving component that is tractably connected to it to rotate about the central axis relative to the support component, thereby driving the instrument to move.

[0030] In the second operating mode, in response to the rotation of the rotary drive member to drive the rotary seat to rotate around the first axis, the clamping module rotates around the first axis to drive the instrument to rotate; and in response to the rotation of the lifting drive member to drive the lifting seat to rotate synchronously with the clamping module around the first axis, so that the lifting seat and the drive gear set maintain a relative position so that the lifting seat is restricted from transmitting power to the drive gear set.

[0031] For example, the central axis of the device is perpendicular to the central axis of the moving part.

[0032] For example, the end face of the lifting seat is provided with circumferentially distributed end face teeth, which mesh with the drive gear set;

[0033] In the first working mode, in response to the rotation of the lifting seat around the first axis, the relative position of the end face teeth of the lifting seat and the drive gear set changes so that the end face teeth mesh with the drive gear set, thereby causing the drive gear set to rotate to drive the moving part that is tractably connected thereto to rotate around the central axis relative to the support member.

[0034] In the second operating mode, in response to the rotation of the rotating seat around the first axis, the clamping module rotates around the first axis; and in response to the lifting seat rotating synchronously with the clamping module around the first axis, the end face teeth of the lifting seat maintain a relative position with the drive gear set, so that the end face teeth are restricted from transmitting power to the drive gear set.

[0035] For example, the lifting seat also has radial teeth distributed along its outer periphery; the motion device further includes at least one lifting gear, and the output shaft of the lifting drive is configured to mesh with the radial teeth of the lifting seat via at least one of the lifting gears.

[0036] For example, the rotating seat has rotary transmission teeth; the motion device further includes at least one rotary gear; the output shaft of the rotary drive is configured to mesh with the rotary transmission teeth of the rotating seat via at least one of the rotary gears.

[0037] For example, the clamping module includes at least one pair of motion components, each pair of motion components including two moving parts and the two moving parts being located on both sides of the device;

[0038] In the first working mode, the moving parts located on the same side of the instrument rotate in the same direction, and the moving parts located on different sides of the instrument rotate in opposite directions.

[0039] For example, the rotating seat and the lifting seat are rotatably connected.

[0040] For example, the motion device has a limiting groove, which is spaced apart from the motion member in a direction parallel to the first axis; a portion of the instrument passes through the limiting groove; in the first working mode, the instrument moves along the limiting groove; in the second working mode, a portion of the instrument rotates in the limiting groove.

[0041] A robot includes a robotic arm and the aforementioned motion device, the motion device being disposed on the robotic arm. Attached Figure Description

[0042] Figure 1 is a structural schematic diagram of the motion device at a first angle in some embodiments of this disclosure;

[0043] Figure 2 is a structural schematic diagram of the second angle of the motion device in some embodiments of this disclosure;

[0044] Figure 3 is a structural schematic diagram of the motion device at a third angle in some embodiments of this disclosure, wherein the seat is not shown;

[0045] Figure 4 is a structural schematic diagram of the motion device from a fourth angle in some embodiments of this disclosure, mainly to illustrate the cooperation between the lifting drive component and the lifting seat;

[0046] Figure 5 is a schematic diagram of the cooperation between the moving parts of the motion device and the instrument in some embodiments of this disclosure;

[0047] Figure 6 is a first-angle cross-sectional view of the motion device in some embodiments of this disclosure;

[0048] Figure 7 is a second-angle cross-sectional view of the motion device in some embodiments of this disclosure;

[0049] Figure 8 is a schematic diagram of the structure of the clamping module of the motion device in some embodiments of this disclosure;

[0050] Figure 9 is a partial structural schematic diagram of the motion device in some embodiments of this disclosure, mainly to show the drive gear set;

[0051] Figures 10-11 are schematic diagrams of the clamping module and the lifting seat in some other embodiments of this disclosure. For clarity, only the end face teeth of the lifting seat are shown.

[0052] Figure 12 is a structural schematic diagram of the clamping module in some other embodiments of this disclosure, wherein a portion of the support member is not shown;

[0053] Figures 13-14 are schematic diagrams of the clamping module in some other embodiments of this disclosure, in which only the drive gear set and part of the clamping gear are shown;

[0054] Figure 15 is a partial structural schematic diagram of the clamping module in some embodiments of this disclosure, mainly to illustrate the setting method of the moving parts;

[0055] Figure 16 is a schematic diagram of the structure of the rotating seat of the motion device in some embodiments of this disclosure;

[0056] Figure 17 is a schematic diagram of the structure of the lifting seat of the motion device in some embodiments of this disclosure;

[0057] Figure 18 is a cross-sectional view of the lifting seat of the motion device in some embodiments of this disclosure;

[0058] Figure 19 is a schematic diagram of the structure of the seat of the motion device in some embodiments of this disclosure;

[0059] Figure 20 is a cross-sectional view of a portion of the structure of the motion device in some embodiments of this disclosure, mainly to show the connection relationship between the rotating seat, the lifting seat and the seat body;

[0060] Figure 21 is a schematic diagram of the structure of the limiting member of the motion device in some embodiments of this disclosure;

[0061] Figure 22 is a schematic diagram of a robot provided in some embodiments of this disclosure;

[0062] The reference numerals in the above figures are as follows: 10-rotating seat; 100-first receiving groove; 101-rotational transmission gear; 102-annular baffle; 103-connecting plate; 11-moving component; 110-first moving component; 111-second moving component; 112-third moving component; 113-fourth moving component; 120-clamping gear; 121-intermediate gear; 130-conversion gear; 131-switching gear; 132-transmission gear; 14-first axis; 15-rotation shaft; 16-support component; 20-lifting seat; 200-end face gear; 201-radial gear; 202-clearance groove; 203-end plate; 204-first retaining ring; 205-second retaining ring; 206-second receiving groove; 21-lifting drive component; 22-lifting gear; 30-Rotary drive component; 31-Rotary gear; 40-Base; 400-Assembly slot; 401-Allowing hole; 402-Notch; 50-Limiting component; 501-Limiting groove; 60-Bearing; 70-Machinery; 80-Robot; 800-Main control console; 801-Mechanical arm. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0064] In this disclosure, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, a movable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, such as contact. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. It should be noted that when "connected" or "linked" is preceded by a qualifier, it has the meaning defined by that qualifier, excluding only obviously excluding cases, but not other possible cases.

[0065] In surgical procedures, if the surgeon holds the instrument 70 by hand throughout the operation, fatigue or tremors can cause changes in the distance or angle between the instrument 70 and the surgical area. This can result in the instrument 70 not being able to accurately target the intended site, causing complications during the surgery. To improve the accuracy of instrument 70 positioning, some embodiments of this disclosure provide a motion device that can stably hold the instrument 70, maintain its position, and adjust its position and angle within a certain range to meet surgical needs.

[0066] Please refer to Figures 1 to 4. The motion device includes an actuator, a rotary drive 30, and a lifting drive 21. The actuator includes a clamping module, a rotating seat 10, and a lifting seat 20. The clamping module is configured to stably clamp the instrument 70 to prevent unexpected shaking of the instrument 70 during surgery. The lifting drive 21 is configured to drive the lifting seat 20 to move, and the lifting seat 20 is configured to drive the instrument 70 to move up and down to adjust the position of the instrument 70 relative to the surgical site. The rotary drive 30 is configured to drive the rotating seat 10 to move, and the rotating seat 10 is configured to drive the instrument 70 to rotate to adjust the angle of action of the instrument 70 on the surgical site. This achieves stable holding of the instrument 70, prevents shaking of the instrument 70 during assisted surgery, allows the instrument 70 to act precisely on the intended site, and enables adjustment of the position and angle of the instrument 70, facilitating the surgery. For example, when the instrument 70 is an endoscope, the clamping module can stably clamp the endoscope, thereby avoiding image blurring and distortion caused by the endoscope shaking. The clamping module can move under the drive of the lifting seat 20 and the rotating seat 10 to adjust the position and working angle of the endoscope, so that the endoscope can collect image information from different parts.

[0067] Referring to Figures 1-4, the clamping module includes a support member 16, a drive gear set, and at least two opposing moving parts 11 to clamp the instrument 70. The support member 16 is disposed on the rotary seat 10, and all moving parts 11 are movably disposed on the support member 16. The drive gear set is driveably connected to at least one moving part 11, and the lifting seat 20 is driveably connected to the drive gear set. The rotary drive member 30 is driveably connected to the rotary seat 10, and the lifting drive member 21 is driveably connected to the lifting seat 20.

[0068] The instrument 70 is partially inserted into the actuator to be held by the actuator, and partially located outside the actuator for insertion into the abdominal cavity to assist in surgery. A portion of the instrument 70's length is occupied by the actuator; the length of the instrument 70 usable for surgery is its effective length. When the length of the instrument 70 occupied by the actuator decreases, the effective length of the instrument 70 increases.

[0069] Referring to Figure 2, the first axis 14 extends in the up-down direction. The projections of the clamping module and the rotating seat 10 in the direction perpendicular to the first axis 14 are at least partially coincident, and, or, the projections of the clamping module and the lifting seat 20 in the direction perpendicular to the first axis 14 are at least partially coincident, and, or, the projections of the rotating seat 10 and the lifting seat 20 in the direction perpendicular to the first axis 14 are at least partially coincident. This reduces the size of the actuator in the direction parallel to the first axis 14, thereby reducing the length occupied by the actuator on the instrument 70, increasing the effective length of the instrument 70, and thus increasing the length of the instrument 70 that can enter the abdominal cavity. This allows the instrument 70 to act on more tissue areas, facilitating flexible surgical assistance and adapting to more surgical needs.

[0070] The motion device has a first working mode and a second working mode.

[0071] In the first working mode, in response to the rotation of the lifting drive 21 to drive the lifting seat 20 to rotate relative to the clamping module around the first axis 14, the relative position of the lifting seat 20 and the drive gear set changes to drive the drive gear set to rotate, so that the drive gear set drives the moving part 11 that is tractably connected to it to rotate relative to the support member 16 around the central axis, thereby moving the instrument 70.

[0072] In the second operating mode, in response to the rotation of the rotary drive 30, the rotary seat 10 rotates around the first axis 14, and the clamping module rotates around the first axis 14 to drive the instrument 70 to rotate; and in response to the rotation of the lifting drive 21, the lifting seat 20 rotates synchronously with the clamping module around the first axis 14, so that the lifting seat 20 and the drive gear set maintain a relative position, so that the lifting seat 20 is restricted from transmitting power to the drive gear set, thereby the drive gear set does not rotate, the drive gear set does not drive the moving part 11, and the moving part 11 does not rotate. The lifting seat 20 maintaining a relative position with the drive gear set means that in the second operating mode, the lifting seat 20 and the drive gear set have no relative movement and no relative displacement occurs.

[0073] In the second working mode, when the rotating seat 10 rotates around the first axis 14 to drive the clamping module to rotate around the first axis 14, the drive gear set rotates around the first axis 14. If the lifting seat 20 does not rotate, the lifting seat 20 and the drive gear set rotate relative to each other, causing the lifting seat 20 to transmit power to the drive gear set, so that the drive gear set rotates to drive the moving part 11 that is connected to it to rotate around its central axis at the same time. This causes the instrument 70 to move while rotating, making it difficult for the doctor to predict the changes in the position and angle of the instrument 70, thus making it difficult to accurately adjust the position and angle of the instrument 70.

[0074] To eliminate this effect, in the second working mode, the lifting seat 20 rotates synchronously with the clamping module around the first axis 14, preventing the lifting seat 20 from transmitting power to the drive gear set. This prevents the moving part 11 from rotating around its central axis, thereby decoupling the moving motion and rotational motion of the instrument 70. The instrument 70 only rotates and does not move, enabling separate axial displacement adjustment and separate circumferential angle adjustment of the instrument 70. This allows doctors to anticipate changes in the position and angle of the instrument 70 and thus accurately adjust the instrument 70.

[0075] All moving parts 11 are movably mounted on the support 16. In the first working mode, since the moving parts 11 rotate relative to the support 16, neither the support 16 nor the rotating seat 10 needs to rotate. Therefore, the first working mode does not require decoupling the movement and rotation of the instrument 70. In the second working mode, the rotating seat 10 rotates to drive the support 16 to rotate, causing the clamping module to rotate around the first axis 14 to drive the instrument 70 to rotate.

[0076] Referring to Figures 3 and 6-7, the rotary seat 10 also has a first receiving groove 100. The clamping module is disposed on the rotary seat and at least partially received within the first receiving groove, such that the projection of the clamping module onto the rotary seat 10 in a direction perpendicular to the first axis 14 is at least partially coincident. The lifting seat 20 is also at least partially received within the first receiving groove 100 of the rotary seat 10, such that the projections of the rotary seat 10 and the lifting seat 20 in a direction perpendicular to the first axis 14 are at least partially coincident.

[0077] Referring to Figures 9 and 17, in some embodiments of this disclosure, the lifting seat 20 has a second receiving groove 206, in which the clamping module is at least partially received, such that the projection of the clamping module onto the lifting seat 20 in a direction perpendicular to the first axis 14 is at least partially coincident.

[0078] As described above, at least one moving part 11 is driveably connected to the drive gear set. All moving parts 11 that are driveably connected to the drive gear set are active moving parts, and the other moving parts 11 are driven moving parts.

[0079] In some embodiments of this disclosure, some of the moving parts 11 are active moving parts, and some of the moving parts 11 are driven moving parts. In the first working mode, the drive gear set drives the active moving part to rotate around its central axis. Under the action of the friction between the active moving part and the instrument 70, the active moving part drives the instrument 70 to move, and the driven moving part is also driven to rotate by the instrument 70 as the instrument 70 moves.

[0080] In some other embodiments of this disclosure, each moving element 11 is an active moving element, and in a first operating mode, the drive gear set rotates to drive each moving element 11 to rotate about its central axis.

[0081] In some embodiments of this disclosure, the moving element 11 is a soft elastomer roller, such as a rubber-coated roller. That is, the outer surface of the roller is covered with a layer of elastic material. This allows the moving element 11 to better conform to the surface of the instrument 70, thereby providing a more stable clamping of the instrument 70.

[0082] Referring to Figure 5, the central axis of the instrument 70 is perpendicular to the central axis of the moving part 11. For example, the central axis of the instrument 70 is parallel to the first axis 14, and the central axis of the moving part 11 is perpendicular to the first axis 14.

[0083] In the first operating mode, the movement direction of the instrument 70 is parallel to the first axis 14. In the second operating mode, the instrument 70 rotates about the first axis 14. When the active moving member rotates about its central axis, the active moving member can apply a frictional force to the instrument 70 in a direction parallel to the first axis 14, causing the instrument 70 to move.

[0084] The movement directions of the instrument include a first movement direction and a second movement direction, which are opposite to each other and both parallel to the first axis 14. In the first operating mode, in response to the rotation of the lifting drive 21 in different directions, the instrument 70 moves along the first movement direction or the second movement direction. Referring to the angle of Figure 2 and in conjunction with Figure 5, the movement of the instrument 70 along the first movement direction means that the instrument moves upward, and the movement of the instrument 70 along the second movement direction means that the instrument moves downward.

[0085] The rotation direction of the instrument 70 includes a first rotation direction and a second rotation direction, which are opposite to each other. In the second operating mode, in response to the rotation of the rotary drive 30 in different directions, the instrument 70 rotates in either the first rotation direction or the second rotation direction.

[0086] The end face of the lifting seat 20 is provided with circumferentially distributed end face teeth 200, which mesh with the drive gear set. Thus, the lifting seat 20 is transmissively connected to at least one moving member 11 via the drive gear set.

[0087] In the first working mode, in response to the rotation of the lifting drive 21 to drive the lifting seat 20 to rotate around the first axis 14, the end face tooth 200 rotates around the first axis 14, and the relative position of the end face tooth 200 and the drive gear set changes so that the end face tooth 200 meshes with the drive gear set for transmission, thereby causing the drive gear set to rotate to drive the moving part 11 that is transmissibly connected to it to rotate around the central axis relative to the support member, thereby driving the instrument 70 to move.

[0088] In the second working mode, in response to the rotation of the rotary drive 30 to drive the rotary seat 10 to rotate around the first axis 14, the clamping module rotates around the first axis 14 to drive the instrument 70 to rotate; and in response to the rotation of the lifting drive 21 to drive the lifting seat 20 to rotate synchronously with the clamping module around the first axis 14, the end face teeth 200 of the lifting seat 20 and the drive gear set maintain a relative position, so that the end face teeth 200 are restricted to transmit power to the drive gear set.

[0089] When the lifting seat 20 rotates synchronously with the clamping module around the first axis 14, the end face teeth 200 rotate synchronously with the drive gear set around the first axis 14. Thus, the end face teeth 200 are restricted from transmitting power to the drive gear set, so the moving part 11 does not rotate and does not drive the instrument 70 to move. The instrument 70 only rotates and does not move. Therefore, the moving motion and rotational motion of the instrument 70 are decoupled, realizing the individual axial displacement adjustment and individual circumferential angle adjustment of the instrument 70. This makes it easier for doctors to anticipate changes in the position and angle of the instrument 70 and thus accurately adjust the instrument 70.

[0090] Referring to Figures 9 and 17, the lifting seat 20 has a second receiving groove 206, in which the end face teeth 200 of the lifting seat 20 are located, and the drive gear set is at least partially received in the second receiving groove 206 to mesh with the end face teeth 200.

[0091] The drive gear set includes a first gear set. The first gear set includes a changeover gear 130, one of which is a first active moving element, and the changeover gear 130 is tractably connected to the first active moving element.

[0092] Referring to Figure 9, the conversion gear 130 meshes with the end face teeth 200 of the lifting seat 20. The conversion gear 130 is at least partially accommodated in the second receiving groove 206 to mesh with the end face teeth 200, thereby causing the projection portion of the clamping module and the lifting seat 20 in the direction perpendicular to the first axis 14 to coincide, thus reducing the size of the actuator in the direction parallel to the first axis 14.

[0093] In the first working mode, in response to the rotation of the lifting seat 20 around the first axis 14, the end face tooth 200 rotates around the first axis 14, so that the relative position of the end face tooth 200 and the conversion gear 130 changes so that the end face tooth 200 and the conversion gear 130 mesh and transmit power, thereby causing the conversion gear 130 to rotate around the second axis to drive the first active moving member to rotate around the central axis, thereby driving the instrument 70 to move.

[0094] In the second working mode, in response to the rotation of the rotating seat 10 around the first axis 14, the clamping module rotates around the first axis 14 to drive the instrument 70 to rotate, and the conversion gear 130 rotates around the first axis 14; and in response to the synchronous rotation of the lifting seat 20 around the first axis 14 and the clamping module, the end face tooth 200 rotates around the first axis 14 and the conversion gear 130 to keep the end face tooth 200 and the conversion gear 130 in a relative position, so that the end face tooth 200 is restricted to transmit power to the conversion gear 130, thereby the first active moving part does not rotate.

[0095] In the second working mode, when the rotating seat 10 drives the clamping module to rotate around the first axis 14, the conversion gear 130 rotates around the first axis 14. If the lifting seat 20 does not rotate, the relative position between the end face teeth 200 and the conversion gear 130 will change, resulting in meshing transmission. This causes the conversion gear 130 to be driven to rotate around the second axis, thereby causing the first active moving part to rotate around its central axis, resulting in the instrument 70 moving while rotating.

[0096] To eliminate this effect, in the second working mode, the lifting seat 20 rotates synchronously with the clamping module around the first axis 14, so that the end face teeth 200 and the conversion gear 130 rotate synchronously to maintain their relative positions. Thus, the end face teeth 200 are restricted from transmitting to the conversion gear 130, so that the conversion gear 130 does not rotate around the second axis. As a result, the first active moving part does not move, and the instrument 70 only performs rotational movement without moving.

[0097] By setting the end face of the lifting seat 20 to have circumferentially distributed end face teeth 200, in the first working mode, when the end face teeth 200 rotate around the first axis 14 to drive the conversion gear 130 to rotate around the second axis, the conversion gear 130 can continuously maintain meshing transmission with the end face teeth 20 of the lifting seat 20, and the conversion gear 130 and the end face teeth 200 will not disengage, ensuring the stability of the structure, and realizing the conversion of the transmission direction between the lifting seat 20 and the moving part 11, so that there is no need to make a direction conversion setting between the conversion gear 130 of the drive gear set and the moving part 11, avoiding cumbersome design.

[0098] In some embodiments of this disclosure, the extension direction of the second axis is perpendicular to the extension direction of the first axis 14. Referring to Figures 7, 9-10 and 13, the rotation axis of the conversion gear 130 is perpendicular to the rotation axis of the end face tooth 200. The meshing transmission between the end face tooth 200 and the conversion gear 130 realizes the conversion of the motion direction, thereby facilitating the arrangement of the various components and making the structure of the motion device more compact.

[0099] Referring to Figures 3-4 and 17, the lifting seat 20 also has radial teeth 201 distributed along its outer periphery. Referring to Figures 2-4, the motion device also includes at least one lifting gear 22, and the output shaft of the lifting drive 21 is configured to engage with the radial teeth 201 of the lifting seat 20 via the at least one lifting gear 22.

[0100] In some embodiments of this disclosure, there is one lifting gear 22, which is sleeved on the output shaft of the lifting drive 21 and meshes with the radial teeth 201 of the lifting seat 20.

[0101] In other embodiments of this disclosure, the number of lifting gears 22 is at least two, and the at least two lifting gears 22 mesh with each other. One of the at least two lifting gears 22 is sleeved on the output shaft of the lifting drive member 21, and the other meshes with the radial teeth 201 of the lifting seat 20. In response to the rotation of the lifting drive member 21 to drive the lifting gear 22 sleeved on its output shaft to rotate synchronously, the at least two lifting gears 22 mesh with each other and mesh with the lifting seat 20, causing the lifting seat 20 to rotate about the first axis 14.

[0102] By setting the lifting seat 20 to have radial teeth 201, and the end face of the lifting seat 20 to have circumferentially distributed end face teeth 200, the transmission between the lifting drive component 21 and the drive gear set is realized through a single lifting seat 20. The transmission structure is simple, the number of parts is reduced, the overall structure is simpler, and the stability of the motion device is increased.

[0103] Referring to Figures 3-4, 6-7, and 16, the rotary seat 10 has a rotary transmission gear 101 arranged circumferentially around the rotary seat 10. Referring to Figure 3-4, the motion device further includes at least one rotary gear 31. The output shaft of the rotary drive 30 is configured to engage with the rotary transmission gear 101 of the rotary seat 10 via the at least one rotary gear 31.

[0104] In some embodiments of this disclosure, there is one rotating gear 31, which is sleeved on the output shaft of the rotating drive 30 and meshes with the rotating transmission gear 101 of the rotating seat 10.

[0105] In other embodiments of this disclosure, the number of rotating gears 31 is at least two, and the at least two rotating gears 31 mesh with each other. One of the at least two rotating gears 31 is sleeved on the output shaft of the rotating drive member 30, and the other meshes with the rotating transmission teeth 101 of the rotating seat 10. In response to the rotation of the rotating drive member 30 to drive the rotating gear 31 sleeved on its output shaft to rotate synchronously, the at least two rotating gears 31 mesh with each other and mesh with the rotating transmission teeth 101 of the rotating seat 10, causing the rotating seat 10 to rotate about the first axis 14.

[0106] By directly setting the rotary transmission gear 101 on the rotary seat 10 used to support the clamping module, the rotary drive 30 is tractably connected to the rotary transmission gear 101 of the rotary seat 10, thereby realizing the transmission between the rotary drive 30 and the clamping module. There is no need to set up a separate transmission mechanism between the rotary drive 30 and the clamping module, which reduces the number of parts, makes the overall structure simpler, and increases the stability of the motion device.

[0107] In some embodiments of this disclosure, the rotating seat 10 and the lifting seat 20 are coaxially arranged. The end face teeth 200, radial teeth 201, and rotary transmission teeth 101 are also coaxially arranged.

[0108] The clamping module includes at least one pair of motion components, each pair of motion components including two moving parts 11. The instrument 70 is clamped between the two moving parts 11 of each pair of motion components, and the two moving parts 11 are located on a first side and a second side of the instrument 70, respectively. In a first operating mode, the moving parts located on the same side of the instrument 70 rotate in the same direction, and the moving parts 11 located on different sides of the instrument 70 rotate in opposite directions.

[0109] Referring to Figures 6-8, 12, and 15, in some embodiments of this disclosure, the clamping module includes two pairs of motion components. One pair of motion components has two moving parts, a first moving part 110 and a second moving part 111, and the other pair has two moving parts, a third moving part 112 and a fourth moving part 113. The first moving part 110 and the third moving part 112 are both located on the first side of the device 70, and the second moving part 111 and the fourth moving part 113 are both located on the second side of the device 70.

[0110] As described above, the drive gear set includes a first gear set, which includes a conversion gear 130 that is tractably connected to the first active moving member. The first gear set also includes a switching gear 131 that is circumferentially fixedly connected to the first active moving member. The conversion gear 130 meshes with the switching gear 131, thereby enabling the conversion gear 130 to be tractably connected to the first active moving member.

[0111] Referring to Figures 7 and 9, the meshing of the changeover gear 130 with the changeover gear 130 includes direct meshing.

[0112] The meshing of the conversion gear 130 with the conversion gear 130 also includes indirect meshing. For example, referring to Figures 10 and 13-14, the first gear set also includes a transmission gear 132, which meshes with both the conversion gear 130 and the switching gear 131, so that the conversion gear 130 is driven through the meshing of the transmission gear 132 and the switching gear 131.

[0113] The drive gear set also includes a second gear set. The second gear set is connected to the first active moving member, and other active moving members are connected to the second gear set. For example, the switching gear 131 is circumferentially fixedly connected to the first end of the first active moving member, and the second gear set is connected to the second end of the first active moving member. That is, the second end of the first active moving member is driveably connected to other active moving members via the second gear set. In the first operating mode, in response to the first gear set driving the first active moving member to move, the first active moving member drives the second gear set to move, causing other active moving members connected to the second gear set to move.

[0114] Other active moving parts refer to active moving parts other than the first active moving part. The first gear set realizes the reversible connection between the lifting seat 20 and the first active moving part, and the second gear set realizes the reversible connection between each active moving part.

[0115] Referring to Figures 6-9, the first moving member 110 is the first active moving member, and the third moving member is another active moving member. The second gear set includes two clamping gears 120 and at least one intermediate gear 121. One clamping gear 120 is connected to the second end of the first moving member 110, and the other clamping gear 120 is connected to the third moving member 112. The two clamping gears 120 are meshed and driven via at least one intermediate gear 121. In the first operating mode, in response to the rotation of the conversion gear 130 about the second axis, the conversion gear 130 meshes and drives the first moving member 110 to rotate about the central axis, so that the two clamping gears 120 mesh and drive, thereby causing the third moving member 112 to rotate about the central axis in the same direction as the rotation of the first moving member 110.

[0116] Referring to Figures 10-14, the first moving member 110 is the first active moving member, and the second moving member 111, the third moving member 112, and the fourth moving member 113 are other active moving members. The third moving member 112 is tractably connected to the second end of the first moving member 110 via a second gear set. The second gear set includes four clamping gears 120 and at least two intermediate gears 121. One clamping gear 120 is circumferentially fixedly connected to the second end of the first moving member 110, and the other three clamping gears 120 are circumferentially fixedly connected to the second moving member 111, the third moving member 112, and the fourth moving member 113, respectively. The four clamping gears 120 are meshed and driven by at least two intermediate gears 121. In the first operating mode, in response to the rotation of the conversion gear 130 around the second axis, the conversion gear 130 meshes with the switching gear 131 via the transmission gear 132 to drive the first moving member 110 to rotate around the central axis, causing the clamping gear 120, which is circumferentially fixed to the first moving member 110, to rotate. The four clamping gears 120 mesh with the intermediate gear 121, so that the first moving member 110, the second moving member 111, the third moving member 112, and the fourth moving member 113 all rotate around the central axis respectively, and the rotation directions of the first moving member 110 and the third moving member 112 are the same, the rotation directions of the second moving member 111 and the fourth moving member 113 are the same, and the rotation directions of the first moving member 110 and the second moving member 111 are opposite.

[0117] Referring to Figures 13-14, the first gear set includes two transmission gears 132, which are coaxial and circumferentially fixed. One transmission gear 132 meshes with the conversion gear 130 for transmission, and the other transmission gear 132 meshes with the switching gear 131 for transmission.

[0118] Referring to Figures 7 and 11, the clamping module also includes a rotating shaft 15. The moving member 11 is mounted on the support member 16 via the rotating shaft 15. The rotating shaft 15 passes through the support member 16 in a direction parallel to the second axis, and the rotating shaft 15 is rotatably connected to the support member 16. The moving member 11 is sleeved on the rotating shaft 15 and rotates synchronously with it. A drive gear set is connected to the rotating shaft 15 to drive the rotating shaft 15 to rotate about the second axis, causing the moving member 11 to rotate about its central axis to drive the device 70 to move. The drive gear set is connected to the rotating shaft 15, meaning that each gear in the drive gear set is respectively sleeved on its corresponding rotating shaft 15. The conversion gear 132, transmission gear 132, and intermediate gear 121 are rotatably mounted on the support member 16 via shafts.

[0119] Referring to Figures 17-18, the lifting seat 20 also has a clearance groove 202. The rotating seat 10 and the lifting seat 20 are arranged opposite each other in a direction parallel to the first axis. The instrument 70 passes through the first receiving groove 100 and the clearance groove 202, that is, the instrument 70 passes through the inside of the motion device, so that the overall space occupied is small.

[0120] Referring to Figures 1-2, 4, and 19-20, the motion device also includes a base 40. Referring to Figure 19, the base 40 has a mounting groove 400. Both the rotating base 10 and the lifting base 20 are accommodated in the mounting groove 400. The rotating base 10 and the lifting base 20 are arranged opposite each other in a direction parallel to the first axis 14, and both are rotatably connected to the base 40. For example, both the rotating base 10 and the lifting base 20 are rotatably connected to the base 40 via bearings 60.

[0121] Referring to Figure 20, a bearing 60 is provided between the rotating seat 10 and the inner wall of the assembly groove 400, and a bearing 60 is also provided between the lifting seat 20 and the inner wall of the assembly groove 400, thereby further improving the rotational stability of the rotating seat 10 and the lifting seat 20. The seat body 40 also has a clearance hole 401 to allow one end of the instrument 70 to pass through the interior of the seat body 40.

[0122] In some embodiments of this disclosure, the rotating seat and the lifting seat are rotatably connected, thereby making the structure of the actuator more stable. For example, the rotating seat 10 and the lifting seat 20 are connected via a bearing 60, allowing relative rotation between the rotating seat 10 and the lifting seat 20. A conventional rolling bearing 60 can be used for the bearing 60. The bearing 60 shown in the accompanying drawings is for illustrative purposes only and its specific structure is not shown.

[0123] The motion device has a limiting groove 501, which is spaced apart from the moving member 11 in a direction parallel to the first axis. A portion of the instrument 70 passes through the limiting groove 501. Thus, the limiting groove 501 can cooperate with the moving member 11 to position the instrument 70 and to stably clamp the instrument 70 in the clamping module.

[0124] In the first operating mode, the instrument 70 moves along the limiting groove 501. In the second operating mode, a portion of the instrument 70 rotates within the limiting groove 501. By setting a portion of the instrument 70 to pass through the limiting groove 501, the movement of the instrument 70 can be further limited, improving the positioning accuracy of the instrument 70. This allows the instrument 70 to move precisely along a set trajectory, enabling it to function stably and reliably, for example, allowing the endoscopic instrument 70 to accurately acquire image information of the intended location.

[0125] Referring to Figures 2 and 20, the motion device also includes a limiting member 50, which is disposed on the base 40. Referring to Figure 21, the limiting member 50 has a limiting groove 501. The limiting member 50 is located outside the assembly groove 400. The instrument 70 is clamped in the clamping module, and one end of the instrument 70 passes through the clearance hole 401 and then exits from the limiting groove 501 of the limiting member 50.

[0126] The limiting member 50 is located outside the assembly groove 400, and the instrument 70 is clamped in the clamping module. One end of the instrument 70 passes through the clearance hole 401 and then exits from the limiting groove 501 of the limiting member 50.

[0127] Referring to Figure 16, the rotary seat 10 has an annular baffle 102, and a first receiving groove 100 is formed inside the annular baffle 102. The rotation transmission gear 101 of the rotary seat 10 is disposed on the outer peripheral surface of its annular baffle 102. The rotary seat 10 also includes a connecting plate 103. The connecting plate 103 is disposed in the first receiving groove 100 and connected to the inner wall of the annular baffle 102. The clamping module is connected to the connecting plate 103, and the clamping module portion is accommodated inside the annular baffle 102, that is, the clamping module portion is accommodated in the first receiving groove 100. Referring to Figures 6-7, the support member 16 portion of the clamping module is accommodated in the annular baffle 102 of the rotary seat 10 and disposed on the connecting plate 103 of the rotary seat 10.

[0128] Referring to Figures 17-18, the lifting seat 20 includes an end plate 203, a first retaining ring 204, and a second retaining ring 205. The first retaining ring 204 is disposed on one side of the end plate 203, and the second retaining ring 205 is disposed on the other side of the end plate 203 along a direction parallel to the first axis. A second receiving groove 206 is formed inside the first retaining ring 204. End face teeth 200 are disposed on the end plate 203 and located inside the first retaining ring 204, and radial teeth 201 are disposed on the outer peripheral surface of the end plate 203. A clearance groove 202 is formed in the end plate 203, and the end face teeth 200 are disposed around the clearance groove 202.

[0129] Referring to Figures 6-7 and 20, the first retaining ring is housed in the receiving groove of the rotating seat, so that part of the lifting seat 20 is housed in the rotating seat 10.

[0130] Referring to Figure 20, a bearing 60 is provided between the outer side of the annular retaining wall 102 of the rotating seat 10 and the inner wall of the mounting groove 400 of the seat body 40. A bearing 60 is also provided between the inner side of the annular retaining wall 102 of the rotating seat 10 and the outer wall of the first retaining ring 204 of the lifting seat 20. At the same time, a bearing 60 is also provided between the outer wall of the second retaining ring 205 of the lifting seat 20 and the inner wall of the mounting groove 400 of the seat body 40.

[0131] Both the lifting gear 22 and the rotating gear 31 are rotatably mounted on the base 40 via shafts. Referring to Figures 4 and 19, one side of the base 40 has a notch 402 to avoid engagement between the lifting gear 22 and the lifting seat 20, and to avoid engagement between the rotating gear 31 and the rotating seat 10.

[0132] When using the motion device, one end of the instrument 70 is inserted between each of the moving parts 11. Each moving part 11 can be an active moving part, or only some of them can be active moving parts. By rotating the moving parts 11, the instrument 70 can be moved to pass through the limiting groove 501, thereby making the instrument 70 stably clamped in the motion device. At this time, the position and angle of the instrument 70 can be adjusted by the motion device.

[0133] The motion device also includes a control unit, which is electrically connected to both the lifting drive 21 and the rotation drive 30. The control unit includes an input module and a processing module that are electrically connected. The lifting drive 21 has a first motor control module. The rotation drive 30 has a second motor control module.

[0134] In response to inputting a first command into the input module, the motion device enters a first working mode. The processing module sends a lifting signal to the first motor control module, causing the lifting drive component 21 to rotate to drive the lifting seat 20 to rotate relative to the clamping module around the first axis. This causes the relative position of the lifting seat 20 and the drive gear set to change, thereby driving the drive gear set to rotate. As a result, the motion component 11, which is tractably connected to the drive gear set, rotates relative to the support component 16 around the central axis, thereby moving the instrument 70.

[0135] In response to the input of a second command to the input module, the motion device enters a second working mode. The processing module sends a rotation signal to the second motor control module, causing the rotation drive 30 to rotate to drive the rotating seat 10 to rotate around the first axis, and the clamping module to rotate around the first axis to drive the instrument 70 to rotate. The processing module also sends a lifting signal to the first motor control module, causing the lifting drive 21 to rotate to drive the lifting seat 20 to rotate synchronously with the clamping module around the first axis, so that the lifting seat 20 and the drive gear set maintain a relative position so that the lifting seat 20 is restricted from transmitting power to the drive gear set.

[0136] Both the lifting drive component 21 and the rotating drive component 30 have a start state and a stop state.

[0137] In response to inputting a first command into the input module, the motion device enters a first working mode, and the processing module sends a lifting signal to the first motor control module to make the lifting drive 21 rotate, and the lifting drive 21 enters the start state.

[0138] In response to inputting a second command into the input module, the motion device enters a second working mode. The processing module sends a rotation signal to the second motor control module to make the rotation drive 30 rotate, and the processing module sends a lifting signal to the first motor control module to make the lifting drive 21 rotate. Both the rotation drive 30 and the lifting drive 21 enter the start state.

[0139] When the lifting drive unit 21 is in the start state, in response to the input of a first stop command to the input module, the processing module inputs a stop signal to the first motor control module, thereby switching the lifting drive unit 21 to the stop state.

[0140] When both the lifting drive 21 and the rotating drive 30 are in the start state, in response to the input of a second stop command to the input module, the processing module inputs a stop signal to both the first motor control module and the second motor control module, thereby switching both the lifting drive 21 and the rotating drive 30 to the stop state.

[0141] The first instruction includes a first movement instruction and a second movement instruction, and the lifting signal includes a first lifting signal and a second lifting signal. The second instruction includes a first rotation instruction and a second rotation instruction, and the rotation signal includes a first rotation signal and a second rotation signal.

[0142] In response to inputting a first movement command into the input module, the motion device enters a first working mode. The processing module sends a first lifting signal to the first motor control module, causing the lifting drive 21 to rotate along the first rotation direction to drive the lifting seat 20 to rotate relative to the clamping module around the first axis. This causes the relative position of the lifting seat 20 and the drive gear set to change, thereby driving the drive gear set to rotate. The drive gear set then drives the motion component 11, which is tractably connected to it, to rotate around the central axis, thereby moving the instrument 70 along the first movement direction.

[0143] In response to inputting a second movement command to the input module, the motion device enters the first working mode. The processing module sends a second lifting signal to the first motor control module, causing the lifting drive 21 to rotate along the second rotation direction to drive the lifting seat 20 to rotate relative to the clamping module around the first axis. This causes the relative position of the lifting seat 20 and the drive gear set to change, thereby driving the drive gear set to rotate. The drive gear set then drives the motion component 11, which is tractably connected to it, to rotate around the central axis, thereby moving the instrument along the second movement direction 70.

[0144] In response to the input of a first rotation command to the input module, the motion device enters the second working mode. The processing module sends a first rotation signal to the second motor control module, causing the rotation drive 30 to rotate in a third rotation direction to drive the rotating seat 10 to rotate around the first axis, causing the clamping module to rotate around the first axis to drive the instrument 70 to rotate in the first rotation direction. The processing module also sends a first lifting signal to the first motor control module, causing the lifting drive 21 to rotate in the first rotation direction, so that the lifting seat 20 rotates synchronously with the clamping module around the first axis, thereby restricting the lifting seat 20 from transmitting power to the drive gear set.

[0145] In response to the input of a second rotation command to the input module, the motion device enters a second working mode. The processing module sends a second rotation signal to the second motor control module, causing the rotation drive 30 to rotate in a fourth rotation direction to drive the rotating seat 10 to rotate around the first axis, causing the clamping module to rotate around the first axis to drive the instrument 70 to rotate in the second rotation direction. The processing module also sends a second lifting signal to the first motor control module, causing the lifting drive 21 to rotate in the second rotation direction, so that the lifting seat 20 rotates synchronously with the clamping module around the first axis, thereby restricting the lifting seat 20 from transmitting power to the drive gear set.

[0146] Referring to Figures 1-4, in some embodiments of this disclosure, the rotary drive 30 and the lifting drive 21 are arranged side-by-side with the actuator along a direction perpendicular to the first axis 14. This allows the rotary drive 30 and the lifting drive 21 to be positioned away from the instrument 70, thus avoiding interference with the movement of the instrument 70. Furthermore, it reduces the overall size of the motion device in the direction parallel to the first axis 14, resulting in a smaller length occupied by the motion device on the instrument 70 and a longer effective length of the instrument 70. This increases the length of the instrument 70 that can enter the abdominal cavity, allowing it to act on more tissue areas, facilitating flexible surgical assistance and adapting to more surgical needs.

[0147] Referring to Figure 22, an embodiment of this disclosure also provides a robot 80. The robot 80 includes a main control console 800 and a robotic arm 801. One end of the robotic arm 801 is disposed on the main control console 800. The main control console 800 primarily serves to mount, support, and control the robotic arm 801. A motion device is disposed on the robotic arm 801. During use, the position of the robotic arm 801 is adjusted so that the motion device is in a suitable position. Then, the instrument 70 is clamped in the clamping module of the motion device. The angle and position of the instrument 70 can be adjusted through the motion device to assist in surgery.

[0148] In summary, at least two of the clamping module, rotating seat 10, and lifting seat 20 of the actuator are at least partially overlapped in the direction perpendicular to the first axis 14. This reduces the size of the actuator in the direction parallel to the first axis 14, thereby reducing the length occupied by the actuator on the instrument 70 and increasing the effective length of the instrument 70. This increases the length of the instrument 70 that can enter the abdominal cavity, allowing the instrument 70 to act on more tissue areas, thus facilitating flexible surgical assistance and adapting to more surgical needs.

[0149] Both the rotary drive 30 and the lifting drive 21 are arranged side-by-side with the actuator in a direction perpendicular to the first axis 14. This allows the rotary drive 30 and the lifting drive 21 to be positioned away from the instrument, thus avoiding interference with the movement of the instrument, and also reduces the overall size of the motion device in the direction parallel to the first axis 14.

[0150] By setting the second working mode, the lifting seat 20 rotates synchronously with the clamping module around the first axis 14, which can prevent the moving part 11 from rotating around its central axis. As a result, the moving motion and rotational motion of the instrument 70 are decoupled. The clamping module drives the instrument 70 to rotate without moving, thereby realizing the individual axial displacement adjustment and individual circumferential angle adjustment of the instrument 70.

[0151] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0152] The detailed descriptions listed above are merely specific descriptions of feasible implementations of this disclosure and are not intended to limit the scope of protection of this disclosure. All equivalent implementations or modifications made without departing from the spirit of the art of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A motion device, comprising an actuator, a rotary drive, and a lifting drive; the actuator comprising a clamping module, a rotary seat, and a lifting seat; The clamping module includes a support member, a drive gear set, and at least two opposing moving parts for clamping the instrument. The support member is disposed on the rotating base, and all moving parts are movably disposed on the support member. The drive gear set is tractably connected to at least one of the moving parts, and the lifting base is tractably connected to the drive gear set. The rotation drive member is tractably connected to the rotating base, and the lifting drive member is tractably connected to the lifting base. The projection of the clamping module and the rotating seat along a direction perpendicular to the first axis is at least partially coincident, and / or the projection of the clamping module and the lifting seat along a direction perpendicular to the first axis is at least partially coincident, and / or the projection of the rotating seat and the lifting seat along a direction perpendicular to the first axis is at least partially coincident. The motion device has a first working mode and a second working mode; In the first working mode, in response to the rotation of the lifting drive component to drive the lifting seat to rotate relative to the clamping module about the first axis, the relative position of the lifting seat and the drive gear set changes to drive the drive gear set to rotate, thereby causing the drive gear set to drive the moving component that is tractably connected to it to rotate about the central axis relative to the support component, thereby driving the instrument to move. In the second operating mode, in response to the rotation of the rotary drive member to drive the rotary seat to rotate around the first axis, the clamping module rotates around the first axis to drive the instrument to rotate; and in response to the rotation of the lifting drive member to drive the lifting seat to rotate synchronously with the clamping module around the first axis, so that the lifting seat and the drive gear set maintain a relative position so that the lifting seat is restricted from transmitting power to the drive gear set.

2. The motion device according to claim 1, wherein, The rotating base has a first receiving groove, and the clamping module is at least partially received in the first receiving groove so that the projection of the clamping module and the rotating base in a direction perpendicular to the first axis at least partially coincides.

3. The motion device according to claim 1, wherein, The rotating seat has a first receiving groove, and the lifting seat is at least partially received in the first receiving groove such that the projection of the lifting seat and the rotating seat along a direction perpendicular to the first axis at least partially coincides.

4. The motion device according to any one of claims 1-3, wherein, The lifting seat has a second receiving groove, and the clamping module is at least partially received in the second receiving groove so that the projection of the clamping module and the lifting seat in a direction perpendicular to the first axis at least partially coincides.

5. The motion device according to any one of claims 1-4, wherein, The central axis of the instrument is perpendicular to the central axis of the moving part.

6. The motion device according to any one of claims 1-5, wherein, The end face of the lifting seat is provided with circumferentially distributed end face teeth, which mesh with the drive gear set; In the first working mode, in response to the rotation of the lifting seat around the first axis, the relative position of the end face teeth of the lifting seat and the drive gear set changes so that the end face teeth mesh with the drive gear set, thereby causing the drive gear set to rotate to drive the moving part that is tractably connected thereto to rotate around the central axis relative to the support member. In the second operating mode, in response to the rotation of the rotating seat around the first axis, the clamping module rotates around the first axis; and in response to the lifting seat rotating synchronously with the clamping module around the first axis, the end face teeth of the lifting seat maintain a relative position with the drive gear set, so that the end face teeth are restricted from transmitting power to the drive gear set.

7. The motion device according to claim 6, wherein, The lifting seat has a second receiving groove, and the end face teeth of the lifting seat are located in the second receiving groove. The drive gear set of the clamping module is at least partially received in the second receiving groove to mesh with the end face teeth.

8. The motion device according to any one of claims 1-7, wherein, The lifting seat also has radial teeth distributed along its outer periphery; the motion device further includes at least one lifting gear, and the output shaft of the lifting drive is configured to mesh with the radial teeth of the lifting seat via at least one of the lifting gears.

9. The motion device according to any one of claims 1-8, wherein, The rotating seat has rotary transmission teeth; the motion device further includes at least one rotary gear; the output shaft of the rotary drive is configured to mesh with the rotary transmission teeth of the rotating seat via at least one of the rotary gears.

10. The motion device according to any one of claims 1-9, wherein, The clamping module includes at least one pair of motion components, each pair of motion components includes two moving parts and the two moving parts are respectively located on both sides of the device; In the first working mode, the moving parts located on the same side of the instrument rotate in the same direction, and the moving parts located on different sides of the instrument rotate in opposite directions.

11. The motion device according to any one of claims 1-10, wherein, The rotating seat and the lifting seat are rotatably connected.

12. The motion device according to any one of claims 1-11, wherein, The motion device has a limiting groove, which is spaced apart from the motion component in a direction parallel to the first axis; a portion of the instrument passes through the limiting groove; in the first working mode, the instrument moves along the limiting groove; in the second working mode, a portion of the instrument rotates in the limiting groove.

13. A motion device, comprising an actuator, a rotary drive, and a lifting drive; the actuator comprising a clamping module, a rotary seat, and a lifting seat; The clamping module includes a support member, a drive gear set, and at least two opposing moving parts for clamping the instrument. The support member is disposed on the rotating base, and all moving parts are movably disposed on the support member. The drive gear set is tractably connected to at least one of the moving parts, and the lifting base is tractably connected to the drive gear set. The rotation drive member is tractably connected to the rotating base, and the lifting drive member is tractably connected to the lifting base. Both the rotary drive and the lifting drive are arranged side by side with the actuator in a direction perpendicular to the first axis. The motion device has a first working mode and a second working mode; In the first working mode, in response to the rotation of the lifting drive component to drive the lifting seat to rotate relative to the clamping module about the first axis, the relative position of the lifting seat and the drive gear set changes to drive the drive gear set to rotate, so that the drive gear set drives the moving component that is tractably connected to it to rotate about the central axis relative to the support component, thereby driving the instrument to move. In the second operating mode, in response to the rotation of the rotary drive member to drive the rotary seat to rotate around the first axis, the clamping module rotates around the first axis to drive the instrument to rotate; and in response to the rotation of the lifting drive member to drive the lifting seat to rotate synchronously with the clamping module around the first axis, so that the lifting seat and the drive gear set maintain a relative position so that the lifting seat is restricted from transmitting power to the drive gear set.

14. The motion device according to claim 13, wherein, The central axis of the instrument is perpendicular to the central axis of the moving part.

15. The motion device according to claim 13, wherein, The end face of the lifting seat is provided with circumferentially distributed end face teeth, which mesh with the drive gear set; In the first working mode, in response to the rotation of the lifting seat around the first axis, the relative position of the end face teeth of the lifting seat and the drive gear set changes so that the end face teeth mesh with the drive gear set, thereby causing the drive gear set to rotate to drive the moving part that is tractably connected thereto to rotate around the central axis relative to the support member. In the second operating mode, in response to the rotation of the rotating seat around the first axis, the clamping module rotates around the first axis; and in response to the lifting seat rotating synchronously with the clamping module around the first axis, the end face teeth of the lifting seat maintain a relative position with the drive gear set, so that the end face teeth are restricted from transmitting power to the drive gear set.

16. The motion device according to any one of claims 13-15, wherein, The lifting seat also has radial teeth distributed along its outer periphery; the motion device further includes at least one lifting gear, and the output shaft of the lifting drive is configured to mesh with the radial teeth of the lifting seat via at least one of the lifting gears.

17. The motion device according to any one of claims 13-16, wherein, The rotating seat has rotary transmission teeth; the motion device further includes at least one rotary gear; the output shaft of the rotary drive is configured to mesh with the rotary transmission teeth of the rotating seat via at least one of the rotary gears.

18. The motion device according to any one of claims 13-17, wherein, The clamping module includes at least one pair of motion components, each pair of motion components includes two moving parts and the two moving parts are respectively located on both sides of the device; In the first working mode, the moving parts located on the same side of the instrument rotate in the same direction, and the moving parts located on different sides of the instrument rotate in opposite directions.

19. The motion device according to any one of claims 13-18, wherein, The rotating seat and the lifting seat are rotatably connected.

20. The motion device according to any one of claims 13-19, wherein, The motion device has a limiting groove, which is spaced apart from the motion component in a direction parallel to the first axis; a portion of the instrument passes through the limiting groove; in the first working mode, the instrument moves along the limiting groove; in the second working mode, a portion of the instrument rotates in the limiting groove.

21. A robot comprising a robotic arm and a motion device as described in any one of claims 1-20, wherein the motion device is disposed on the robotic arm.

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