Rotary mechanism for the adaptor of robotic manipulator

Abstract

This invention provides a device for precise calibration of a cable-driven flexible robotic manipulator, comprising a rotary mechanism (100) for achieving controlled rotational manually. In one embodiment, said rotary mechanism comprises: a) a button wheel (101) adapted for rotation by a user; b) sun gear (111) attached to the center of said button wheel; c) a carrier (103) comprising a set of shafts and an attachment mechanism for attachment of said cable-driven flexible robotic manipulator; d) a set of planet gears (102) orbiting around and meshing with said sun gear (111); each planet gear (102) is mounted on a separate shaft among said set of shafts; and e) a stationary ring gear (104) with internal teeth for meshing with said plurality of planet gears (102).

Description

ROTARY MECHANISM FOR THE ADAPTOR OF ROBOTIC MANIPULATORFIELD OF THE INVENTION

[0001] The present invention generally relates to a rotatory mechanism for the adaptor of robotic manipulators.BACKGROUND OF THE INVENTION

[0002] This invention relates to a solution of rotation for a cable-driven flexible soft robotic manipulator.

[0003] Cable-driven soft robotics utilizes cables or tendons to actuate and control the movement of soft robotic structures. Since it offers numerous advantages, including flexibility, compliance, precise control, and enhanced safety, soft robotics have gained significant attention. It has shown great potential in different fields such as minimally invasive surgery (MIS), rehabilitation and assistive devices.

[0004] In MIS procedures like Endoscopic Submucosal Dissection (ESD) and Endoscopic Mucosal Resection (EMR), the ability to achieve controlled rotation in a flexible soft robotic manipulator is critical for precise calibration of the end-effector along both vertical and horizontal axes. This precise calibration significantly reduces the complexity of surgeries for surgeons, enabling them to perform procedures with greater accuracy and efficiency.

[0005] However, achieving controlled rotation in soft robotics is challenging due to the lack of rigid components.

[0006] While external electrical motors have been commonly employed to control the rotational movement of soft robotic manipulators, this approach has drawbacks in terms of cost-effectiveness and synchronous rotation of all components within the robotic system.

[0007] An invention shall be proposed to address these limitations that ensures precise and independent rotational movement of a flexible soft robotic manipulator, allowing for enhanced control and versatility in various applications.SUMMARY OF THE INVENTION

[0008] This invention provides a device for precise calibration of a cable-driven flexible robotic manipulator, comprising a rotary mechanism (100) for achieving controlled rotational manually. In one embodiment, said rotary mechanism comprises: a) a button wheel (101) adapted for rotation by a user; b) sun gear (111) attached to center of said button wheel; c) a carrier (103) comprising a set of shafts and an attachment mechanism for attachment of said cable-driven flexible robotic manipulator; d) a set of planet gears (102) orbiting around and meshes with said sun gear (111); each planet gear (102) is mounted on a separate shaft among said set of shafts; and e) a stationary ring gear (104) with internal teeth for meshing with said plurality of planet gears (102); wherein rotation from said button wheel (101) is transmitted tosaid sun gear (111) which causes said set of planet gears (102) to move along said stationary ring gear (104) and in turn causes rotation of said cable-driven flexible robotic manipulator attached on said carrier (103).

[0009] This invention also provides a cable-driven flexible robotic manipulator. In one embodiment, said cable-driven flexible robotic manipulator comprises said device of this invention.

[0010] The foregoing and other aspects and advantages of the invention will appear from the following description. In the description, reference is made to the accompanying drawings that form a part hereof, and in which there is shown by way of illustration a preferred embodiment of the invention. Such embodiment does not necessarily represent the full scope of the invention, however, and reference is therefore made to the claims and herein for interpreting the scope of the invention.BRIEF DESCRIPTION OF THE FIGURES

[0011] Figure 1 shows the schematic diagram of the exploded view of a rotary mechanism of the adaptor.

[0012] Figure 2 shows the schematic diagram illustrating the inner structure of a rotary mechanism of the adaptor.

[0013] Figure 3 shows the schematic diagram illustrating the overall framework of the adaptor of a robotic manipulator.

[0014] Figure 4 shows the schematic diagram of a component integrating a button wheel and a gear.

[0015] Figure 5A and Figure 5B show the schematic diagram simulating the rotation of the robotic manipulator in a tool coupler. An arrow indicates the orientation of a robotic manipulator.DETAILED DESCRIPTION OF THE INVENTION

[0016] This invention provides a rotary mechanism for the adaptor of robotic manipulator 100. In the embodiments of present application, the adaptor disclosed is a rotary mechanism structure for the calibration of a cable-driven flexible robotic manipulator in a robotic system.

[0017] In the embodiments of present application, the structure of the rotary mechanism comprises four kinds of components.

[0018] The design and method of a rotary mechanism for the adaptor of robotic manipulator are disclosed. The fundamental application of this rotary mechanism is to provide a solution for the calibration of a cable-driven flexible robotic manipulator in a robotic system. The rotary mechanism is actuated manually for rotational transmission. It utilizes planetary gearing to provide gear friction, minimizing the unintended rotational transmission from the output to input and enhance cost-effectiveness. The designed mechanism is simple and capable to controla robotic manipulator independently. These advantages enable its application in various fields, extending beyond endoscopic surgery.

[0019] This invention provides a device for precise calibration of a cable-driven flexible robotic manipulator, comprising a rotary mechanism (100) for achieving controlled rotational manually. In one embodiment, said rotary mechanism comprises: a) a button wheel (101) adapted for rotation by a user; b) sun gear (111) attached to center of said button wheel; c) a carrier (103) comprising a set of shafts and an attachment mechanism for attachment of said cable-driven flexible robotic manipulator; d) a set of planet gears (102) orbiting around and meshes with said sun gear (111); each planet gear (102) is mounted on a separate shaft among said set of shafts; and e) a stationary ring gear (104) with internal teeth for meshing with said plurality of planet gears (102); wherein rotation from said button wheel (101) is transmitted to said sun gear (111) which causes said set of planet gears (102) to move along said stationary ring gear (104) and in turn causes rotation of said cable-driven flexible robotic manipulator attached on said carrier (103).

[0020] In one embodiment, said device further comprises damping grease between said sun gear, said planet gears and said stationary ring gear to provide controlled damping or resistance.

[0021] In one embodiment, said set of planet gears comprises three planet gears.

[0022] In one embodiment, said set of shafts comprises 3 shafts.

[0023] In one embodiment, said attachment mechanism is a central hole in said carrier.

[0024] In one embodiment, said sun gear, said set of planet gears and said stationary ring gear are configured to achieve a gear ratio in the range of x:l, where x = 2 to 20.

[0025] In one embodiment, said sun gear, said set of planet gears and said stationary ring gear are configured to achieve a gear ratio of 4:1 so that 4 turns of said button wheel cause a single turn of said carrier.

[0026] In one embodiment, said device further comprises a hollow structure adapted to allow the passage of cables, tendons or coils for controlling movement of an end effector of said cable-driven flexible robotic manipulator.

[0027] In one embodiment, said device further comprises a tool coupler having a base for attachment of said stationary ring gear (104).

[0028] In one embodiment, said button wheel comprises a surface with a cross-pattern design.

[0029] This invention also provides a cable-driven flexible robotic manipulator. In one embodiment, said cable-driven flexible robotic manipulator comprises said device of this invention.

[0030] A component 101 integrates a button wheel 110 and a gear that functions as the sun gear 111. By manual actuation of the button wheel 110, the sun gear 111 receives rotational power and meshes with three gears 102.

[0031] Three gears 102 are positioned around and orbit the sun gear 111, which serve as the planet gears in the mechanism.

[0032] A carrier 103 is composed of three shafts and a hollow tube. Three planet gears 102 are mounted on the shafts accordingly while a robotic manipulator 109 can be inserted into space on the opposite side of the hollow tube.

[0033] A ring gear 104 is an outer gear with internal teeth that mesh with three planet gears 102. It surrounds the planet gears 102 and remains stationary. The carrier 103 is inserted through the smaller central hole of it.

[0034] Six components combine and work together can achieve 4:1 gear ratio. By driving the button wheel 110, it initiates the rotation of the sun gear 111, leading the planet gears 102 to orbit around it. Simultaneously, the planet gears 102 engage with the ring gear 104. The carrier 103, to which the robotic manipulator 109 is attached, can be driven accordingly through receiving the rotational power transmitted from planet gears 102. This mechanism provides the gear friction to minimize the undesired rotational transmission from the output to the input.

[0035] The cross-sectional area of the rotary mechanism shown in figure 2 shows a hollow structure with a hole traversing its entire body. This hollow structure allows the passage of cables or tendons 107 and coils 108, enabling the control the movement of an end effector of a robotic manipulator 109.

[0036] In one embodiment, the rotary mechanism of an adaptor 100 is attached to a tool coupler which consists of a cover 105 and a base 106. The ring gear of the rotary mechanism can be inserted into the gap of the base 106 of a tool coupler and fastened with two screws.

[0037] In one embodiment, the cross-pattern design on the button wheel 110 enhances the interaction between the adaptor and human hands during the rotational actuation by introducing friction.

[0038] In one embodiment, damping grease is employed between the sun gear 111, planet gears 102 and ring gear 104. This provides controlled damping or resistance to the overall rotary mechanism by dissipating energy and reducing noise, vibration, and unwanted oscillations.

[0039] In one embodiment, the present invention introduces a rotary mechanism structure as an adaptor of a cable-driven robotic manipulator. This device allows the attachment of a flexible robotic manipulator for rotation through manual actuation. The design utilizes the principle of planetary gearing, which is simple and allows for precise manual rotational control of a flexible robotic manipulator. By incorporating gear friction, this mechanism effectively minimizes the occurrence of unintended transmission of rotational motion from the output to the input. The main advantage of this rotary mechanism is its capability to control a robotic manipulator independently without requiring the rotation of the entire system. This independence prevents the potential for interference or disruption to other components within a robotic system and enhance cost-effectiveness. In one embodiment, this invention generallyrelates to a rotary solution of a flexible robotic manipulator, more particularly, a calibration system of a cable-driven soft robotic manipulator.

[0040] This invention provides a rotary mechanism of an adaptor for calibrating a cable- driven flexible robotic manipulator. In one embodiment, said rotary mechanism comprises: a component integrating a button wheel and a sun gear for receiving and transmitting rotational power; three planet gears orbiting around the sun gear for rotational power transmission; a carrier used for mounting three planet gears and a flexible robotic manipulator; a ring gear with internal teeth meshes with the planet gears and remains stationary.

[0041] In one embodiment, the planet gears engage with the ring gear to transmit rotational power to the carrier.

[0042] In one embodiment, the planet gears are mounted on the shafts of the carrier.

[0043] In one embodiment, the carrier is inserted through a central hole of the ring gear.

[0044] In one embodiment, wherein the carrier is configured to receive and drive a robotic manipulator.

[0045] In one embodiment, the overall design is intended for use with a cable-driven flexible manipulator.

[0046] In one embodiment, said rotary mechanism comprises further attaching to a tool coupler for the overall calibration of a flexible robotic manipulator.

[0047] In one embodiment, the ring gear of the rotary mechanism is inserted into a gap of the base of the tool coupler and fastened using screws.

[0048] In one embodiment, the button wheel is equipped with a cross-pattern design to facilitate the interaction between the part and human hands during rotational actuation.

[0049] In one embodiment, a hollow structure throughout its entire body allowing cables or tendons and coils to pass through for controlling the movement of the robotic manipulator's end effector.

[0050] In one embodiment, damping grease is employed between the sun gear, planet gears and ring gear to provides controlled damping or resistance to the overall mechanism.

[0051] In one embodiment, the overall design achieves a 4:1 gear ratio to provide greater gear friction which aims to reduce undesired rotational transmission from the output to the input.

Claims

What is claimed is:

1. A device for precise calibration of a cable-driven flexible robotic manipulator, comprising a rotary mechanism (100) for achieving controlled rotational manually, said rotary mechanism comprises: a. A button wheel (101) adapted for rotation by a user; b. A sun gear (111) attached to center of said button wheel; c. A carrier (103) comprising a set of shafts and an attachment mechanism for attachment of said cable-driven flexible robotic manipulator; d. A set of planet gears (102) orbiting around and meshes with said sun gear (111); each planet gear (102) is mounted on a separate shaft among said set of shafts; and e. a stationary ring gear (104) with internal teeth for meshing with said plurality of planet gears (102); wherein rotation from said button wheel (101) is transmitted to said sun gear (111) which causes said set of planet gears (102) to move along said stationary ring gear (104) and in turn causes rotation of said cable-driven flexible robotic manipulator attached on said carrier (103).

2. The device of claim 1 , further comprises damping grease between said sun gear, said planet gears and said stationary ring gear to provide controlled damping or resistance.

3. The device of claim 1, wherein said set of planet gears comprises three planet gears.

4. The device of claim 3, wherein said set of shafts comprises 3 shafts.

5. The device of claim 1, wherein said attachment mechanism is a central hole in said carrier.

6. The device of claim 1, wherein said sun gear, said set of planet gears and said stationary ring gear are configured to achieve a gear ratio in the range of x:l, where x = 2 to 20.

7. The device of claim 1, wherein said sun gear, said set of planet gears and said stationary ring gear are configured to achieve a gear ratio of 4:1 so that 4 turns of said button wheel cause a single turn of said carrier.

8. The device of claim 1, further comprises a hollow structure adapted to allow the passage of cables, tendons or coils for controlling movement of an end effector of said cable-driven flexible robotic manipulator.

9. The device of claim 1, further comprises a tool coupler having a base for attachment of said stationary ring gear (104).

10. The device of claim 1, wherein said button wheel comprises a surface with a cross-pattern design.

11. A cable-driven flexible robotic manipulator, comprising said device of claim 1.

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