Movement apparatus and robot

Abstract

Provided are a movement apparatus and a robot. The movement apparatus comprises a clamping mechanism, a lifting mechanism, and a rotation driving member. The clamping mechanism comprises a bearing seat and a clamping module arranged on the bearing seat. The clamping module comprises a conversion gear and at least two movement members for clamping an instrument. The movement members comprise a first active movement member. The conversion gear is transmissively connected to the first active movement member. The lifting mechanism comprises a lifting driving member and a lifting transmission member. The lifting driving member is transmissively connected to the lifting transmission member. An end face of the lifting transmission member has end face teeth distributed circumferentially. The end face teeth are engaged with the conversion gear. The rotation driving member is transmissively connected to the bearing seat. In a first working mode, in response to the rotation of the lifting driving member to drive the lifting transmission member to rotate about a first axis, the end face teeth rotate about the first axis. The end face teeth are engaged with the conversion gear for transmission, enabling the conversion gear to rotate about a second axis, so as to drive the first active movement member to rotate about a central axis, thereby causing movement of the instrument. Thereby, the conversion of the transmission direction between the lifting transmission member and the first active movement member is achieved, thus eliminating the need for a direction conversion setting for the transmission direction between the conversion gear and the first movement member, avoiding complicated design, facilitating the arrangement of various components, and making the structure of the movement apparatus more compact.

Description

Motion devices and robots

[0001] This application claims priority to Chinese Patent Application No. 202410705065.X, 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] Surgical instruments assist doctors in performing surgical procedures efficiently and precisely. After the instruments are inserted into the abdominal cavity, the doctor needs to rotate and raise or lower them to adjust their position and angle, ensuring they are accurately applied to the desired site. For example, when an endoscope is inserted into the abdominal cavity, the images it captures are displayed on a monitor. The doctor can observe the progress of the surgery and the condition of any lesions in the abdominal cavity in real time, and can rotate and raise or lower the endoscope as needed to capture images of 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, comprising:

[0006] A clamping mechanism includes a support base and a clamping module disposed on the support base. The clamping module includes a conversion gear and at least two opposing moving parts for clamping an instrument. The moving parts include a first active moving part, and the conversion gear is tractably connected to the first active moving part.

[0007] A lifting mechanism, comprising a lifting drive component and a lifting transmission component, wherein the lifting drive component and the lifting transmission component are tractably connected; the end face of the lifting transmission component has circumferentially distributed end face teeth, which mesh with the conversion gear.

[0008] A rotating mechanism, the rotating mechanism including a rotating drive member, the rotating drive member being tractably connected to the support base;

[0009] The motion device has a first working mode and a second working mode;

[0010] In the first working mode, in response to the rotation of the lifting drive member to drive the lifting transmission member to rotate around the first axis, the end face tooth rotates around the first axis, and the relative position of the end face tooth and the conversion gear changes so that the end face tooth meshes with the conversion gear, thereby causing the conversion gear to rotate around the second axis to drive the first active motion member to rotate around the central axis, thereby causing the instrument to move.

[0011] In the second working mode, in response to the rotation of the rotary drive member to drive the support 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 transmission member to rotate synchronously with the clamping module around the first axis, the end face teeth and the conversion gear maintain a relative position, so that the end face teeth are restricted to transmitting to the conversion gear.

[0012] For example, the conversion gear is circumferentially fixedly connected to the first active moving part.

[0013] For example, the clamping module further includes a switching gear that meshes with the conversion gear, and the switching gear is circumferentially fixedly connected to the first active moving member.

[0014] For example, the clamping module further includes a second gear set; the first active moving member is tractably connected to at least one of the other moving members via the second gear set;

[0015] In the first operating mode, in response to the rotation of the conversion gear about the second axis to drive the first active moving member to rotate about the central axis, the moving member being tractably connected to the first active moving member via the second gear set rotates about the central axis.

[0016] For example, the clamping module further includes a second gear set; the conversion gear meshes with the second gear set; at least one of the other moving parts is connected to the second gear set;

[0017] In the first operating mode, in response to the rotation of the conversion gear about the second axis, the conversion gear drives the first active moving member to rotate about the central axis, and the conversion gear meshes with the second gear set, causing the other moving members connected to the second gear set to rotate about the central axis.

[0018] For example, the clamping module further includes a second gear set; the switching gear meshes with the second gear set; at least one of the other moving parts is connected to the second gear set;

[0019] In the first operating mode, in response to the rotation of the conversion gear about the second axis, the conversion gear drives the switching gear to rotate so that the first active moving member rotates about the central axis, and the switching gear meshes with the second gear set to drive the other moving members connected to the second gear set to rotate about the central axis.

[0020] 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;

[0021] 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.

[0022] For example, the lifting transmission component has radial teeth distributed along its outer periphery, and the radial teeth are coaxially arranged with the end face teeth;

[0023] The lifting mechanism further includes at least one lifting gear, and the output shaft of the lifting drive is configured to engage radially with the lifting transmission via at least one of the lifting gears.

[0024] For example, the support has a bearing drive tooth; the rotating mechanism further includes at least one rotating gear; the output shaft of the rotating drive is configured to engage with the drive tooth of the support via at least one of the rotating gears.

[0025] For example, the central axis of the device is perpendicular to the central axis of the moving part.

[0026] For example, the central axis of the moving part is parallel to the second axis; in the first working mode, the movement direction of the instrument is parallel to the first axis; in the second working mode, the instrument rotates about the first axis.

[0027] For example, the support base and the lifting transmission component are arranged opposite each other in a direction parallel to the first axis, and the support base and the lifting transmission component are rotatably connected.

[0028] 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.

[0029] For example, the clamping module further includes a support member, which is connected to the bearing seat, and the moving member is rotatably disposed on the support member;

[0030] In the first working mode, all moving parts rotate relative to the support member around their central axis to drive the device to move;

[0031] In the second working mode, the bearing seat rotates to drive the support member to rotate, so that the clamping module rotates about a direction parallel to the first axis to drive the instrument to rotate.

[0032] A robot includes a robotic arm and the aforementioned motion device, the motion device being disposed on the robotic arm. Attached Figure Description

[0033] Figure 1 is a structural schematic diagram of the motion device at a first angle in some embodiments of this disclosure;

[0034] Figure 2 is a structural schematic diagram of the second angle of the motion device in some embodiments of this disclosure;

[0035] 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;

[0036] 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 transmission component;

[0037] 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;

[0038] Figure 6 is a first-angle cross-sectional view of the motion device in some embodiments of this disclosure;

[0039] Figure 7 is a second-angle cross-sectional view of the motion device in some embodiments of this disclosure;

[0040] Figure 8 is a schematic diagram of the structure of the clamping module of the motion device in some embodiments of this disclosure;

[0041] Figure 9 is a partial structural schematic diagram of the motion device in some embodiments of this disclosure, mainly to show the first gear set and the second gear set;

[0042] Figures 10-12 are partial structural schematic diagrams of the clamping module in some other embodiments of this disclosure;

[0043] Figures 13-14 are schematic diagrams of the clamping module and the lifting transmission component in some other embodiments of this disclosure. For clarity, only the end face teeth of the lifting transmission component are shown.

[0044] Figure 15 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;

[0045] Figures 16-17 are schematic diagrams of the clamping module in some other embodiments of this disclosure, in which only the first gear set and part of the clamping gears are shown;

[0046] Figure 18 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;

[0047] Figure 19 is a schematic diagram of the structure of the support seat of the motion device in some embodiments of this disclosure;

[0048] Figure 20 is a schematic diagram of the structure of the lifting transmission component of the motion device in some embodiments of this disclosure;

[0049] Figure 21 is a cross-sectional view of the lifting transmission component of the motion device in some embodiments of this disclosure;

[0050] Figure 22 is a schematic diagram of the structure of the seat of the motion device in some embodiments of this disclosure;

[0051] Figure 23 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 support seat, the lifting transmission component and the seat body;

[0052] Figure 24 is a schematic diagram of the structure of the limiting member of the motion device in some embodiments of this disclosure;

[0053] Figure 25 is a schematic diagram of a robot provided in some embodiments of this disclosure;

[0054] Reference numerals in the above figures: 10-Bearing seat; 100-Accommodating groove; 101-Bearing 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; 15-Rotating shaft; 16-Supporting component; 20-Lifting transmission component; 200-End face gear; 201-Radial gear; 202-Allowing groove; 203-End plate; 204-First retaining ring; 205-Second retaining ring; 21-Lifting drive component; 22-Lifting gear; 30-Rotation drive component; 31-Rotation gear; 40-Seat body; 400-Assembly groove; 401-Allowing hole; 402- Notch; 50-Limiting component; 501-Limiting groove; 60-Bearing; 70-Machine; 80-Robot; 800-Main control console; 801-Robotic arm. Detailed Implementation

[0055] 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.

[0056] 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. For example, "detachable connection" refers to a detachable connection, excluding an integral part, but movable connections are not excluded.

[0057] 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.

[0058] Please refer to Figures 1 to 5. The motion device includes a clamping mechanism, a lifting mechanism, and a rotating mechanism. The clamping mechanism is configured to stably hold the instrument 70 to prevent unexpected shaking of the instrument 70 during surgery. The lifting mechanism 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 rotating mechanism 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, preventing shaking of the instrument 70 during assisted surgery, allowing the instrument 70 to accurately act on the intended site, and enabling adjustment of the position and angle of the instrument 70, facilitating the surgery. For example, when the instrument 70 is an endoscope, the clamping mechanism can stably hold the endoscope, thereby avoiding image blurring and distortion caused by endoscope shaking. The lifting and rotating mechanisms can adjust the position and angle of action of the endoscope, allowing the endoscope to acquire image information from different sites.

[0059] The clamping mechanism includes a support 10 and a clamping module disposed on the support 10. The clamping module includes a conversion gear 130 and at least two opposing moving parts 11 for clamping the instrument 70. The moving parts include a first active moving part, and the conversion gear 130 is tractably connected to the first active moving part.

[0060] Referring to Figures 3 and 6-7, the lifting mechanism includes a lifting drive component 21 and a lifting transmission component 20, which are tractably connected. The end face of the lifting transmission component 20 has circumferentially distributed end face teeth 200, which mesh with a conversion gear 130.

[0061] Referring to Figure 3, the rotating mechanism includes a rotating drive 30, which is tractably connected to the support 10. The motion device has a first operating mode and a second operating mode.

[0062] In the first operating mode, in response to the rotation of the lifting drive 21, which drives the lifting transmission 20 to rotate around the first axis, the end face tooth 200 rotates around the first axis 14. The relative position of the end face tooth 200 and the conversion gear 130 changes so that the end face tooth 200 meshes with the conversion gear 130, 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, thus causing the instrument 70 to move. The instrument can also be driven when there is only one active moving member, i.e., only the first active moving member rotates.

[0063] In the second operating mode, in response to the rotation of the rotary drive 30 to drive the support 10 to rotate around the first axis 14, the clamping module rotates around the first axis to drive the instrument 70 to rotate; and in response to the rotation of the lifting drive 21 to drive the lifting transmission 20 to rotate synchronously with the clamping module around the first axis 14, so that the end face teeth 200 and the conversion gear 130 maintain a relative position, thereby restricting the end face teeth 200 from transmitting power to the conversion gear 130. Therefore, in the second operating mode, the conversion gear 130 does not drive the first active moving member to rotate around its central axis, and thus the instrument 70 does not move. The end face teeth 200 of the lifting transmission 20 and the conversion gear 130 maintaining a relative position means that in the second operating mode, the end face teeth 200 and the conversion gear 130 have no relative movement and no relative displacement.

[0064] Referring to Figure 2, the first axis 14 extends in the up-down direction. 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 9-12, the rotation axis of the change gear 130 is perpendicular to the rotation axis of the end face tooth 200.

[0065] In the second working mode, when the support seat 10 drives the clamping module to rotate around the first axis, the conversion gear 130 also rotates around the first axis. If the lifting transmission component 20 does not rotate, the relative position between the end face teeth 200 of the lifting transmission component 20 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 component to rotate around its central axis. As a result, the instrument 70 moves while rotating, making it difficult for the doctor to predict changes in the position and angle of the instrument 70, thus making it difficult to accurately adjust the instrument 70.

[0066] To eliminate this effect, in the second working mode, the lifting transmission component 20 rotates synchronously with the clamping module around the first axis 14, causing the end face teeth 200 to rotate synchronously with the conversion gear 130 around the first axis. The end face teeth 200 and the conversion gear 130 maintain a relative position, thus restricting the end face teeth 200 from transmitting power to the conversion gear 130. The conversion gear 130 does not rotate around the second axis, thus not driving the first moving component 110 to rotate around the central axis. In the second working mode, the instrument 70 only performs rotational motion and does not perform translational motion. Therefore, the translational motion and rotational motion of the instrument 70 are decoupled, making it easier for doctors to anticipate changes in the position and angle of the instrument 70, thereby accurately adjusting the instrument 70.

[0067] By setting the end face of the lifting transmission component 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 to drive the conversion gear 130 to rotate around the second axis, the conversion gear 130 can continuously maintain meshing with the end face teeth 20 of the lifting transmission component 20, and the conversion gear 130 and the end face teeth 200 will not disengage, ensuring the stability of the structure. It also realizes the conversion of the transmission direction between the lifting transmission component 20 and the first active moving component, so that there is no need to make a direction conversion setting between the conversion gear 130 and the first moving component, avoiding cumbersome design, facilitating the arrangement of various components, and making the structure of the motion device more compact.

[0068] The clamping module also includes a drive gear set, and at least one moving part 11 is tractably connected to the drive gear set. All moving parts 11 tractably connected to the drive gear set are driving moving parts, and the other moving parts are driven moving parts.

[0069] The drive gear set includes a first gear set, which includes the aforementioned changeover gear 130. One of the driving moving parts is a first driving moving part, and the changeover gear 130 is driveably connected to the first driving moving part. In response to the rotation of the changeover gear 130, the drive gear set rotates, and all moving parts connected to the drive gear set rotate.

[0070] 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.

[0071] In some other embodiments of this disclosure, each moving member 11 is an active moving member, and each active moving member is tractably connected to a drive gear set. In a first operating mode, the drive gear set drives each active moving member to rotate about its central axis.

[0072] 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.

[0073] 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 is perpendicular to the first axis 14.

[0074] 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 own 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.

[0075] 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 70 moves upward, and the movement of the instrument 70 along the second movement direction means that the instrument 70 moves downward.

[0076] 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.

[0077] Referring to Figures 3-4, 6-7, and 19, the support 10 has a bearing drive tooth 101 arranged circumferentially along the support 10. Referring to Figure 3-4, the rotating mechanism further includes at least one rotating gear 31. The output shaft of the rotating drive 30 is configured to engage with the bearing drive tooth 101 of the support 10 via the at least one rotating gear 31.

[0078] In some embodiments of this disclosure, there is one rotating gear 31, which is sleeved on the output shaft of the rotating drive member 30 and meshes with the bearing transmission gear of the bearing seat 10.

[0079] 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 rotary drive member 30, and the other meshes with the bearing transmission teeth of the bearing seat 10. In response to the rotation of the rotary 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 bearing transmission teeth of the bearing seat 10, causing the bearing seat 10 to rotate about the first axis.

[0080] Referring to Figures 3-4 and 20, the lifting transmission member 20 has radial teeth 201 distributed along its outer periphery. Referring to Figures 2-4, the lifting mechanism also includes at least one lifting gear 22, and the output shaft of the lifting drive member 21 is configured to engage with the radial teeth 201 of the lifting transmission member 20 via the at least one lifting gear 22.

[0081] By setting the lifting transmission component 20 to have radial teeth 201 and the end face of the lifting transmission component 20 to have circumferentially distributed end face teeth 200, the transmission between the lifting drive component 21 and the conversion gear 130 of the clamping module is realized through a single lifting transmission component 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.

[0082] 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 transmission 20.

[0083] 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 transmission member 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 transmission member 20, causing the lifting transmission member 20 to rotate about a first axis.

[0084] 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.

[0085] Referring to Figures 6-8, 13-15, and 18, in some embodiments of this disclosure, the clamping module includes two pairs of motion components. One pair of motion components has two moving parts, namely a first moving part 110 and a second moving part 111, and the other pair has two moving parts, namely 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.

[0086] As described above, the drive gear set includes a first gear set, which includes a changeover gear 130. One of the driving moving parts is a first driving moving part, and the changeover gear 130 is driveably connected to the first driving moving part.

[0087] There are three ways to connect the conversion gear 130 to the first active moving part.

[0088] In some embodiments of this disclosure, the conversion gear 130 and the first active moving member are connected in a first manner. Referring to Figures 10-11, the conversion gear 130 and the first active moving member are circumferentially fixedly connected.

[0089] In some other embodiments of this disclosure, the conversion gear 130 and the first active moving member are connected in a second manner. Referring to Figures 9, 12, and 16-17, the first gear set further includes a switching gear 131. The conversion gear 130 meshes with the switching gear 131, and the switching gear 131 is circumferentially fixedly connected to the first active moving member. The second connection method between the conversion gear 130 and the first active moving member means that the conversion gear 130 and the switching gear 131 are directly meshed.

[0090] The meshing of the conversion gear 130 and the switching gear 131 also includes indirect meshing. In some other embodiments of this disclosure, the conversion gear 130 and the first active moving member are connected in a third way. Referring to Figures 13-17, the first gear set also includes a switching gear 131 and a transmission gear 132. The switching gear 131 meshes with the conversion gear 130 via the transmission gear 132, that is, the conversion gear 130 and the switching gear 131 are indirectly meshed, and the switching gear 131 is circumferentially fixedly connected to the first active moving member.

[0091] The drive gear set also includes a second gear set. At least one of the other moving parts 11 besides the first active moving part is driveably connected to the second gear set. As described above, all moving parts 11 connected to the drive gear set are active moving parts, that is, all moving parts driveably connected to the first gear set or the second gear set are active moving parts.

[0092] The first active moving component is transmissively connected to the first gear set, and the other active moving components are transmissively connected to the second gear set. The other active moving components refer to all active moving components other than the first active moving component. The first gear set enables transmissive connection between the lifting transmission component 20 and the first active moving component, while the second gear set enables transmissive connection between all the active moving components.

[0093] Referring to Figures 10 and 12, in some embodiments of this disclosure, the second gear set meshes with the first gear set. In response to movement of the first gear set, the first gear set drives a first active moving member to move and in turn drives the second gear set to move, thereby causing other active moving members connected to the second gear set to move.

[0094] For example, referring to Figure 10, the first gear set and the first active moving member are connected in a first manner. The shift gear 130 is circumferentially fixedly connected to the first end of the first active moving member, and the shift gear 130 meshes with the second gear set. Other active moving members are connected to the second gear set. In the first operating mode, in response to the shift gear 130 rotating about the second axis, the shift gear 130 drives the first active moving member to rotate about the central axis, and the shift gear 130 meshes with the second gear set, causing other active moving members connected to the second gear set to rotate about the central axis.

[0095] As described above, the clamping module includes two pairs of motion components. One pair of motion components has two moving parts 11, namely a first moving part 110 and a second moving part 111. The other pair of motion components has two moving parts, namely 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, while the second moving part 111 and the fourth moving part 113 are both located on the second side of the device 70.

[0096] Referring again to Figure 10, the first moving member 110 is the first active moving member. The third moving member 112 is connected to the second gear set. The second gear set includes a clamping gear 120 and at least one intermediate gear 121. The clamping gear 120 is connected to the third moving member 112, and the clamping gear meshes with the changeover gear 130 via the at least one intermediate gear 121. In the first operating mode, in response to the changeover gear 130 rotating about the second axis, the changeover gear 130 drives the first moving member 110 to rotate about the central axis, and the changeover gear 130 meshes with the clamping gear 120 via the intermediate gear 121, causing the third moving member 112 to rotate about the central axis in the same direction as the first moving member 110.

[0097] For example, referring to Figure 12, a second connection method is used between the first gear set and the first active moving member. The switching gear 131 is circumferentially fixedly connected to the first end of the first active moving member, and the switching gear 131 meshes with the second gear set. Other active moving members are connected to the second gear set. 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 to drive the first active moving member to rotate around the central axis, and the switching gear 131 meshes with the second gear set, causing other active moving members connected to the second gear set to rotate around the central axis.

[0098] Referring again to Figure 12, the first moving member 110 is the first active moving member, and the third moving member 112 is connected to the second gear set. The second gear set includes a clamping gear 120 and at least one intermediate gear 121. The clamping gear 120 is connected to the third moving member 112, and the clamping gear 120 meshes with the switching gear 131 via the at least one intermediate gear 121. In response to the rotation of the switching gear 130 about the second axis, the switching gear 130 meshes with the switching gear 131 to drive the first moving member 110 to rotate about the central axis, and the switching gear 131 meshes with the clamping gear, causing the third moving member 112 to rotate about the central axis in the same direction as the first moving member 110.

[0099] Referring to Figures 9, 11, and 16, in some other embodiments of this disclosure, both the first gear set and the second gear set are connected to the first active moving member. 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 the active moving member connected to the second gear set to move. For example, the first gear set is connected to a first end of the first active moving member, and the second gear set is connected to a second end of the first active moving member; that is, the second end of the first active moving member is tractably connected to other active moving members via the second gear set.

[0100] For example, referring to Figures 6-9, a second connection method is used between the first gear set and the first active moving member. The second end of the first active moving member is tractably connected to other active moving members via the second gear set. In the first operating mode, in response to the rotation of the change gear 130 about the second axis, the change gear 130 meshes with the switching gear 131 to drive the first active moving member to rotate about the central axis, causing other active moving members tractably connected to the first moving member 110 via the second gear set to rotate about the central axis.

[0101] Referring again to Figures 6-9, the first moving member 110 is the first active moving member, and the third moving member 112 is connected to the second gear set. 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 mesh and drive each other via at least one intermediate gear 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 and drives the first moving member 110 around the central axis, thereby causing the two clamping gears 120 to mesh and drive each other, so that the third moving member 112 rotates around the central axis in the same direction as the rotation of the first moving member 110.

[0102] For example, referring to Figure 11, the first gear set and the first active moving member are connected in a first manner. 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 rotation of the shift gear 130 about the second axis, the shift gear 130 drives the first moving member 110 to rotate about the central axis, causing the second gear set to move to drive other active moving members driveably connected to it to rotate about the central axis.

[0103] Referring again to Figure 11, the first moving member 110 is the first active moving member, and the third moving member 112 is connected to the second gear set. The third moving member 112 is tractably connected to the second end of the first moving member 110 via the second gear set. 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, and the other clamping gear is connected to the third moving member 112. The two clamping gears 120 mesh and drive each other via the 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 drives the first moving member 110 to rotate about the central axis, causing the two clamping gears 120 to mesh and drive each other, 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.

[0104] For example, referring to Figures 13-17, a third connection method is used between the first gear set and the first active moving member. The switching gear 131 is circumferentially fixedly connected to the first end of the first active moving member, and the second end of the first active moving member is tractably connected to other active moving members via the second gear set. In the first operating mode, in response to the rotation of the conversion gear 130 around the second axis, the conversion gear 130 engages with the switching gear 131 via the transmission gear 132, causing the first active moving member to rotate around the central axis, thereby causing other active moving members tractably connected to the first active moving member via the second gear set to rotate around the central axis.

[0105] Referring again to Figures 13-17, 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 all connected to the second gear set. The third moving member 112 is tractably connected to the second end of the first moving member 110 via the 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. Thus, in the first working 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.

[0106] Referring to Figures 16-17, 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.

[0107] Referring to Figures 1, 3-4, 6, and 9, the support 10 has a support drive 101 and a receiving groove 100. A clamping module is disposed on the support 10 and at least partially received in the receiving groove 100, such that the projection of the clamping module onto the support 10 in a direction perpendicular to the first axis 14 at least partially overlaps. This reduces the size of the motion device in the direction parallel to the first axis, decreases the length occupied by the motion device on the instrument, allows the instrument to be used more extensively to assist in surgery within the human abdomen, and makes the motion device more compact and smaller in size, thus reducing the space occupied by the motion device.

[0108] Referring to Figures 6-7, the support base 10 and the lifting transmission component 20 are arranged opposite to each other and coaxially in a direction parallel to the first axis. A portion of the lifting transmission component 20 is housed in the receiving groove 100 of the support base 10, such that the projections of the lifting transmission component and the support base 10 in a direction perpendicular to the first axis 14 at least partially overlap. This further reduces the size of the motion device in the direction parallel to the first axis, decreasing the length occupied by the motion device on the instrument, allowing the instrument to be used more extensively to assist in surgery within the abdominal cavity. It also makes the motion device more compact, thus saving space. The support base 10 and the lifting transmission component 20 are coaxially arranged. The end face teeth 200, radial teeth 201, and support transmission teeth 101 are also coaxially arranged.

[0109] Referring to Figures 6-7, at least a portion of the end face teeth 200 of the lifting transmission component 20 is accommodated in the receiving groove 100. The conversion gear 130 is accommodated in the receiving groove 100 of the support seat 10 and meshes with the end face teeth 200. The support seat 10 not only supports the clamping module but also drives the clamping module to rotate around the first axis. Simultaneously, it accommodates the end face teeth 200 and the conversion gear 130 for protection, making the motion device more compact, the overall structure simpler, and the functional integration higher.

[0110] Referring to Figure 20, the lifting transmission component 20 also has a clearance groove 202. The support seat 10 and the lifting transmission component 20 are arranged opposite each other in a direction parallel to the first axis. The instrument 70 passes through the 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.

[0111] Referring to Figures 1-2, 4, and 22-23, the motion device also includes a seat 40. Referring to Figure 22, the seat 40 has a mounting groove 400. Both the support seat 10 and the lifting transmission component 20 are accommodated in the mounting groove 400. The support seat 10 and the lifting transmission component 20 are arranged opposite each other in a direction parallel to the first axis, and both the support seat 10 and the lifting transmission component 20 are rotatably connected to the seat 40. For example, both the support seat 10 and the lifting transmission component 20 are rotatably connected to the seat 40 via bearings 60.

[0112] Referring to Figure 23, a bearing 60 is provided between the support seat 10 and the inner wall of the assembly groove 400, and a bearing 60 is also provided between the lifting transmission component 20 and the inner wall of the assembly groove 400, thereby further improving the rotational stability of the support seat 10 and the lifting transmission component 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. In some embodiments of this disclosure, the support seat 10 and the lifting transmission component 20 are also connected via bearings 60, allowing relative rotation between the support seat 10 and the lifting transmission component 20. Existing rolling bearings 60 can be used for the bearings 60. The bearings 60 shown in the figures are for illustrative purposes only and their specific structure is not shown.

[0113] 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.

[0114] In the first operating mode, the instrument 70 moves along the limiting groove 501. In the second operating mode, 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.

[0115] Referring to Figures 2 and 23, the motion device also includes a limiting member 50, which is disposed on the base 40. Referring to Figure 24, the limiting member 50 has a limiting groove 501, through which a portion of the instrument 70 passes. 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.

[0116] 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.

[0117] Referring to Figure 19, the support 10 has an annular baffle 102, and a receiving groove 100 is formed inside the annular baffle 102. The bearing transmission gear 101 of the support 10 is disposed on the outer peripheral surface of its annular baffle 102. The support 10 also includes a connecting plate 103. The connecting plate 103 is disposed in the receiving groove 100 and connected to the inner wall of the annular baffle 102. The clamping module portion is accommodated inside the annular baffle 102, that is, the clamping module portion is accommodated in the receiving groove 100, and the clamping module is connected to the connecting plate 103.

[0118] Referring to Figures 20-21, the lifting transmission component 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. End face teeth 200 are disposed on the end plate 203 and located within the first retaining ring 204, while radial teeth 201 are disposed on the outer circumferential surface of the end plate 203. A clearance groove 202 is formed in the end plate 203, and the end face teeth 200 are arranged around the clearance groove 202.

[0119] A bearing 60 is provided between the outer side of the annular baffle 102 of the support seat 10 and the inner wall of the assembly groove 400 of the seat body 40. A bearing 60 is also provided between the inner side of the annular baffle 102 of the support seat 10 and the outer wall of the first retaining ring 204 of the lifting transmission component 20. At the same time, a bearing 60 is also provided between the outer wall of the second retaining ring 205 of the lifting transmission component 20 and the inner wall of the assembly groove 400 of the seat body 40.

[0120] Both the lifting gear 22 and the rotating gear 31 are located outside the base 40, and both the lifting gear 22 and the rotating gear 31 are rotatably mounted on the base 40 via shafts. Referring to Figures 4 and 22, one side of the base 40 has a notch 402 to avoid engagement between the lifting gear 22 and the lifting transmission member 20, and to avoid engagement between the rotating gear 31 and the support seat 10.

[0121] The positions of the lifting drive 21 and the rotary drive 30 in the accompanying drawings are merely illustrative. In some embodiments of this disclosure, both the lifting drive 21 and the rotary drive 30 are located on the base 40. In other embodiments of this disclosure, the lifting drive 21 and the rotary drive 30 may also be located outside the base 40. By adding a transmission structure, such as a transmission steel belt, the lifting drive 21 and the rotary drive 30, located at a greater distance, can also drive the clamping module.

[0122] Referring to Figures 1-4, 6-8, and 13-15, the clamping module also includes a support member 16, which is connected to the support base 10. For example, part of the support member 16 is received in the receiving groove 100 of the support base 10 and disposed on the connecting plate 103 of the support base 10. The moving member 11 is rotatably disposed on the support member 16.

[0123] In the first operating mode, all moving parts 11 rotate relative to the support 16 around their central axis to drive the movement of the instrument 70. Since the moving parts 11 rotate relative to the support 16, neither the support 16 nor the carrier 10 needs to rotate. Therefore, the first operating mode does not require decoupling the lifting and rotating motions of the motion device. In the second operating mode, the carrier 10 rotates to drive the support 16 to rotate, causing the clamping module to rotate around the first axis to drive the rotation of the instrument 70.

[0124] The clamping module includes a rotating shaft 15. A moving member 11 is mounted on a 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 and the support member 16 are rotatably connected. The moving member 11 is sleeved on the rotating shaft 15 and moves synchronously with it. A drive gear set is connected to the rotating shaft 15 to drive the rotating shaft 15 to rotate around the second axis, causing the moving member 11 to rotate around 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. A conversion gear 132, a transmission gear 132, and an intermediate gear 121 are rotatably mounted on the support member 16 via shafts.

[0125] 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.

[0126] 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.

[0127] 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 transmission component 20 to rotate around the first axis, causing the end face tooth 200 to rotate around the first axis 14. 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 motion component to rotate around the central axis, thereby causing the instrument 70 to move.

[0128] 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 support 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 transmission 20 to rotate synchronously with the clamping module around the first axis 14, so that the end face tooth 200 and the conversion gear 130 maintain a relative position, thereby restricting the end face tooth 200 from transmitting to the conversion gear 130.

[0129] Both the lifting drive component 21 and the rotating drive component 30 have a start state and a stop state.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] In response to the input of a first movement command to 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 component 21 to rotate along the first rotation direction to drive the lifting transmission component 20 to rotate around the first axis. The end face tooth 200 rotates around the first axis 14, causing the relative position of the end face tooth 200 and the conversion gear 130 to change so that the end face tooth 200 and the conversion gear 130 mesh and transmit power. This causes the conversion gear 130 to rotate around the second axis to drive the first active motion component to rotate around the central axis, thereby causing the instrument 70 to move along the first movement direction.

[0136] In response to the input of 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 component 21 to rotate along the second rotation direction to drive the lifting transmission component 20 to rotate around the first axis. The end face tooth 200 rotates around the first axis 14, causing the relative position of the end face tooth 200 and the conversion gear 130 to change so that the end face tooth 200 and the conversion gear 130 mesh and transmit power. This causes the conversion gear 130 to rotate around the second axis to drive the first active motion component to rotate around the central axis, thereby causing the device to move along the second movement direction 70.

[0137] 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 the third rotation direction to drive the support seat 10 to rotate around the first axis, causing the clamping module to rotate 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 to drive the lifting transmission 20 to rotate synchronously with the clamping module around the first axis 14, so that the end face tooth 200 and the conversion gear 130 maintain a relative position, thereby restricting the end face tooth 200 from transmitting to the conversion gear 130.

[0138] 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 support seat 10 to rotate around the first axis, causing the clamping module to rotate 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 to drive the lifting transmission 20 to rotate synchronously with the clamping module around the first axis 14, so that the end face tooth 200 and the conversion gear 130 maintain a relative position, thereby restricting the end face tooth 200 from transmitting power to the conversion gear 130.

[0139] Referring to Figure 25, 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.

[0140] In summary, in the second working mode, the lifting transmission component 20 rotates synchronously with the clamping module around the first axis 14, causing the end face teeth 200 to rotate synchronously with the conversion gear 130 around the first axis. The end face teeth 200 and the conversion gear 130 maintain a relative position, thus restricting the end face teeth 200 from transmitting power to the conversion gear 130. The conversion gear 130 does not rotate around the second axis, and therefore does not drive the first moving component 110 to rotate around the central axis. In the second working mode, the instrument 70 only performs rotational motion and does not perform translational motion. Thus, the translational motion and rotational motion of the instrument 70 are decoupled, making it easier for doctors to anticipate changes in the position and angle of the instrument 70, thereby accurately adjusting the instrument 70.

[0141] By setting the end face of the lifting transmission component 20 to have circumferentially distributed end face teeth 200, in the first working mode, the end face teeth 200 rotate around the first axis, and the conversion gear 130 rotates around the second axis. The conversion gear 130 can continuously move along the end face teeth 200 of the lifting transmission component 20 without disengaging, and realizes the conversion of the transmission direction between the lifting transmission component 20 and the moving component 11. Therefore, it is not necessary to make a direction conversion setting for the transmission direction between the conversion gear 130 and the moving component 11, so that the moving component 11 can drive the movement of the instrument more stably.

[0142] By setting the lifting transmission component 20 to have radial teeth 201 and the end face of the lifting transmission component 20 to have circumferentially distributed end face teeth 200, the transmission between the lifting drive component 21 and the clamping module is realized through a single lifting transmission component 20, thereby eliminating the need for a separate complex transmission mechanism, reducing the number of parts, making the overall structure simpler, and increasing the stability of the motion device.

[0143] 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.

[0144] 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: A clamping mechanism includes a support base and a clamping module disposed on the support base. The clamping module includes a conversion gear and at least two opposing moving parts for clamping an instrument. The moving parts include a first active moving part, and the conversion gear is tractably connected to the first active moving part. A lifting mechanism, comprising a lifting drive component and a lifting transmission component, wherein the lifting drive component and the lifting transmission component are tractably connected; the end face of the lifting transmission component has circumferentially distributed end face teeth, which mesh with the conversion gear. A rotating mechanism, the rotating mechanism including a rotating drive member, the rotating drive member being tractably connected to the support base; 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 member to drive the lifting transmission member to rotate around the first axis, the end face tooth rotates around the first axis, and the relative position of the end face tooth and the conversion gear changes so that the end face tooth meshes with the conversion gear, thereby causing the conversion gear to rotate around the second axis to drive the first active motion member to rotate around the central axis, thereby causing the instrument to move. In the second working mode, in response to the rotation of the rotary drive member to drive the support 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 transmission member to rotate synchronously with the clamping module around the first axis, the end face teeth and the conversion gear maintain a relative position, so that the end face teeth are restricted to transmitting to the conversion gear.

2. The motion device according to claim 1, wherein, The conversion gear is circumferentially fixedly connected to the first active moving part.

3. The motion device according to claim 1, wherein, The clamping module also includes a switching gear that meshes with the conversion gear, and the switching gear is circumferentially fixedly connected to the first active moving part.

4. The motion device according to any one of claims 1-3, wherein, The clamping module further includes a second gear set; the first active moving member is tractably connected to at least one of the other moving members via the second gear set; In the first operating mode, in response to the rotation of the conversion gear about the second axis to drive the first active moving member to rotate about the central axis, the moving member being tractably connected to the first active moving member via the second gear set rotates about the central axis.

5. The motion device according to claim 2, wherein, The clamping module further includes a second gear set; the conversion gear meshes with the second gear set; at least one of the other moving parts is connected to the second gear set; In the first operating mode, in response to the rotation of the conversion gear about the second axis, the conversion gear drives the first active moving member to rotate about the central axis, and the conversion gear meshes with the second gear set, causing the other moving members connected to the second gear set to rotate about the central axis.

6. The motion device according to claim 3, wherein, The clamping module further includes a second gear set; the switching gear meshes with the second gear set; at least one of the other moving parts is connected to the second gear set; In the first operating mode, in response to the rotation of the conversion gear about the second axis, the conversion gear drives the switching gear to rotate so that the first active moving member rotates about the central axis, and the switching gear meshes with the second gear set to drive the other moving members connected to the second gear set to rotate about the central axis.

7. The motion device according to any one of claims 1-6, 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.

8. The motion device according to any one of claims 1-7, wherein, The lifting transmission component has radial teeth distributed along its outer periphery, and the radial teeth are coaxially arranged with the end face teeth; The lifting mechanism further includes at least one lifting gear, and the output shaft of the lifting drive is configured to engage radially with the lifting transmission via at least one of the lifting gears.

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

10. The motion device according to any one of claims 1-9, wherein, The central axis of the instrument is perpendicular to the central axis of the moving part.

11. The motion device according to any one of claims 1-10, wherein, The central axis of the moving part is parallel to the second axis; in the first working mode, the movement direction of the instrument is parallel to the first axis; in the second working mode, the instrument rotates around the first axis.

12. The motion device according to any one of claims 1-11, wherein, The support base and the lifting transmission component are arranged opposite each other in a direction parallel to the first axis, and the support base and the lifting transmission component are rotatably connected.

13. The motion device according to any one of claims 1-12, 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.

14. The motion device according to any one of claims 1-13, wherein, The clamping module further includes a support member, which is connected to the bearing seat, and the moving member is rotatably mounted on the support member; In the first working mode, all moving parts rotate relative to the support member around their central axis to drive the device to move; In the second working mode, the bearing seat rotates to drive the support member to rotate, so that the clamping module rotates about a direction parallel to the first axis to drive the instrument to rotate.

15. A robot comprising a robotic arm and a motion device as described in any one of claims 1-14, the motion device being disposed on the robotic arm.

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