CN118721221A - Main operator, control panel and robot - Google Patents

Abstract

The present invention provides a main manipulator, a control console and a robot, wherein the main manipulator comprises: a parallel manipulator arm, comprising a static platform, a dynamic platform and at least three branches rotatably connected to the static platform and the dynamic platform respectively; a handle connected to the dynamic platform; and a rotating drive unit, drivingly connected to the static platform and used for driving the static platform to rotate relative to the dynamic platform.

Description

Main operator, control panel and robot

Technical Field

The invention relates to the technical field of teleoperated robots, and in particular to a main operator and a control console and a robot comprising the main operator.

Background Art

A teleoperated robot usually includes an operating end and an execution end (also called a slave end). In a teleoperated robot system, the master operator serves as an interactive device between the operator and the robot, transmitting information such as the position and speed given by the operator to the slave end. It can also transmit environmental information such as the force/torque received by the slave end to the operator, allowing the operator to intuitively feel the force information received by the execution end, giving him a sense of presence in the operation, and being able to effectively control and intervene in the movement of the slave end system in a timely manner. Due to the above characteristics of teleoperated robots, their advantages in being used as surgical robots in the field of medical services are becoming increasingly prominent.

In a surgical robot, the main operator is the carrier for transmitting information between the doctor and the slave robotic arm. It is required to have more degrees of freedom to assist the doctor in performing precise operations, and it is required to be able to accurately feedback the force conditions of the slave end so that the doctor can feel immersed in the operation.

The main manipulator usually includes a handle and an operating arm. To meet the requirements of various postures and simplify the design structure, the operating arm can be implemented using a parallel mechanism. The parallel mechanism includes a static platform, a dynamic platform, and a branch chain connected to the static platform and the dynamic platform.

When the hand holds the handle mounted on the moving platform and moves it, the branch chain twists at a certain angle, which may cause the movement interference between the handle and the branch chain, thus limiting the movement space of the handle.

In addition, when the moving platform rotates relative to the static platform, the kinematic model will generate more solutions during the calculation process, increasing the amount of calculation and even leading to operational errors due to calculation errors. The system is prone to calculations. For example, multiple solutions lead to confusion in the motion relationship, causing the active arm at the execution end to move incorrectly.

Summary of the invention

One of the main objects of the present invention is to provide a main operator and a control console and a robot including the main operator to at least solve some of the above problems.

In view of the above-mentioned invention object, the present invention provides the following technical solutions:

According to one aspect of the present invention, there is provided a main operator, which comprises: a parallel operating arm, comprising a static platform, a dynamic platform and at least three branches rotatably connected to the static platform and the dynamic platform respectively; a handle connected to the dynamic platform; and a rotating drive unit drivably connected to the static platform for driving the static platform to rotate relative to the dynamic platform.

The rotation driving part is configured to drive the static platform to rotate around a first rotation axis, and the first rotation axis is perpendicular to a plane where the static platform is located.

Driving the static platform to rotate relative to the dynamic platform refers to driving the static platform to rotate according to the posture change of the dynamic platform, and the posture change of the dynamic platform refers to the rotation component rotating around the first rotation axis or around an axis parallel to the first rotation axis.

The rotation driving unit drives the static platform to rotate around the first rotation axis at an angle that is less than or equal to a rotation component of the dynamic platform relative to the first rotation axis or relative to an axis parallel to the first rotation axis.

The at least three branches include a first branch, a second branch and a third branch, the first branch is connected to the static platform and the dynamic platform at a first static hinge point and a first dynamic hinge point, respectively, the second branch is connected to the static platform and the dynamic platform at a second static hinge point and a second dynamic hinge point, respectively, and the third branch is connected to the static platform and the dynamic platform at a third static hinge point and a third dynamic hinge point, respectively, wherein the plane where the first static hinge point, the second static hinge point and the third static hinge point are located has a first rotation center, the first rotation center is equidistant from the first static hinge point, the second static hinge point and the third static hinge point, and wherein the first rotation axis passes through the first rotation center and is perpendicular to the static hinge point plane where the first static hinge point, the second static hinge point and the third static hinge point are located.

After the moving platform is twisted, the rotation drive unit drives the static platform to rotate so that the first static hinge point, the third static hinge point, the first moving hinge point and the third moving hinge point are coplanar.

The plane where the first static hinge point, the third static hinge point, the first movable hinge point and the third movable hinge point are located is perpendicular to the static platform.

The main operator may further include a mounting bracket disposed between the rotary drive unit and the static platform, wherein the static platform is mounted on the output end of the rotary drive unit through the mounting bracket.

The rotary drive unit has a hollow channel for wiring.

The rotary drive unit includes a hollow rotary motor, or a hollow rotary reducer and a servo motor, or a harmonic reduction motor and a synchronous belt, and the hollow channel is arranged in the hollow rotary motor, the hollow rotary reducer or the harmonic reduction motor.

According to another aspect of the present invention, a main operator is provided, the main operator includes a parallel operating arm, the parallel operating arm includes a static platform, a dynamic platform and at least three branches respectively rotatably connected to the static platform and the dynamic platform, each of the at least three branches includes a first support rod and a second support rod, the first support rod can be linearly moved relative to the second support rod along the length direction of the second support rod, the first end of the first support rod is connected to the dynamic platform, the second end is slidably connected to the second support rod, the first end of the second support rod is connected to the static platform, and the sliding of the first support rod relative to the second support rod is achieved by a linear drive assembly, wherein the linear drive assembly includes a first rope connected to the first support rod and a first linear drive unit for driving the first rope, wherein the first linear drive unit is installed on the static platform or under the static platform.

The linear drive assembly further includes a second rope and a second linear drive unit for driving the second rope, wherein the second linear drive unit is installed on the static platform or below the static platform, and the second rope is connected to the first support rod.

The first rope and the second rope are respectively arranged in opposite directions in the extending direction of the branch chain, so that the first rope and the second rope form a pulling structure.

The second end of the first support rod is connected to the second support rod through a slider, the slider is fixedly mounted on the second end of the first support rod and slides on the second support rod, and the first rope and the second rope are respectively connected to the slider.

One end of the first rope is fixed to the slider, and the other end extends toward the second end of the second support rod and passes around the first pulley located at the second end of the second support rod to be connected to the first linear driving part; one end of the second rope is fixed to the slider, and the other end is connected to the second linear driving part toward the first end of the second support rod.

The main operator also includes a second pulley and a third pulley arranged at the first end of the second support rod, the first rope is connected to the first linear drive part via the second pulley, and the second rope is connected to the second linear drive part via the third pulley, wherein the second pulley and the third pulley are arranged side by side, so that the first rope extends in a direction parallel to the plane of the static hinge point after passing through the second pulley, and the second rope extends in a direction parallel to the plane of the static hinge point after passing through the third pulley.

Each of the at least three branches is capable of rotating around a second rotation axis and a third rotation axis, wherein the second rotation axis is perpendicular to the first rotation axis and passes through the first rotation center, and the third rotation axis is perpendicular to the second rotation axis, and wherein the third rotation axis passes through a tangent point of the first rope and the second rope when leaving the second pulley and the third pulley from their lower ends or passes through the rotation centers of the second pulley and the third pulley.

A branch chain pulley block is disposed at the first end of the second support rod for respectively changing the movement directions of the first rope and the second rope, and the extension directions of the first rope and the second rope passing through the branch chain pulley block are both parallel to the second rotation axis.

The entity of the second rotation axis is a hollow part.

The first rope and the second rope extend in the hollow member and extend downward at predetermined positions to be connected to the corresponding first linear driving portion and second linear driving portion.

The main operator also includes a fourth pulley arranged on the second support rod, the fourth pulley is arranged close to the second pulley, and the first rope is reversely wound around the second pulley after passing through the side of the fourth pulley away from the second support rod.

The main operator also includes a fifth pulley and a sixth pulley arranged on the static platform, and the first rope and the second rope extend to the upper side of the fifth pulley and the sixth pulley in a direction parallel or approximately parallel to the second rotation axis and extend downward to the first linear drive part and the second linear drive part located below the static platform.

The first rope and the second rope are symmetrically arranged with respect to the second rotation axis.

The first rope, the second rope and the second rotation axis are located on the same plane.

The output ends of the first linear driving unit and the second linear driving unit are provided with rollers, and the rollers are provided with spiral grooves, so that the first rope and the second rope move along the spiral grooves during movement.

A rotary encoder is provided at the static hinge point to read the rotational displacement information of the first rope and the second rope caused by the rotation of the at least three branches around the third rotation axis.

The second support rod includes a first support rod side wall and a second support rod side wall facing each other, and the first pulley, the second pulley, the third pulley and the third pulley are all arranged in a space between the first support rod side wall and the second support rod side wall.

The slider includes a first sub-slider, a second sub-slider, a third sub-slider, and a fourth sub-slider which are arranged on surfaces of the first support rod side wall and the second support rod side wall facing away from each other, wherein the first sub-slider and the second sub-slider are installed on the first support rod side wall at a distance from each other and jointly form a slide rail of the first support rod side wall, and the third sub-slider and the fourth sub-slider are installed on the second support rod side wall at a distance from each other and form a slide rail of the second support rod side wall.

According to another aspect of the present invention, there is provided a control console, the control console comprising the main operator as described above.

According to another aspect of the present invention, a robot is provided, comprising the control console as described above.

According to the main operator of the embodiment of the present invention, since a rotating drive unit is provided to drive the static platform to rotate relative to the dynamic platform, the movement range of the handle can be expanded, interference can be avoided, the calculation load of the system can be reduced, multiple solution problems can be avoided, and movement accuracy can be ensured.

According to the main operator of an embodiment of the present invention, the linear drive assembly of each branch chain is formed by two ropes and two linear drive parts that respectively drive the two ropes, which can significantly reduce the weight of each branch chain, improve the operator's operating feel, and improve the power utilization of the linear drive part.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and/or other objects and advantages of the present invention will become more apparent through the following description of the embodiments in conjunction with the accompanying drawings, in which:

FIG1 is a schematic diagram showing the structure of an operating end of a robot according to an embodiment of the present invention;

FIG2 is a schematic diagram showing a partial structure of the static platform after the static platform rotates as the posture of the dynamic platform changes;

FIG3 is a schematic diagram of a partial structure in which the static platform does not rotate after the posture of the dynamic platform changes;

FIG4 is a schematic diagram showing a partial structure of a master operator according to an embodiment of the present invention;

FIG5 is a schematic diagram showing a partial structure of a master operator according to another embodiment of the present invention;

FIG6 schematically shows a front view of a first branch chain according to an embodiment of the present invention;

FIG7 shows a length variation model of the first rope after the first branch chain rotates around the third rotation axis by a predetermined angle;

FIG8 schematically shows a right side view of the first branch chain according to an embodiment of the present invention;

FIG9 is a schematic diagram showing a partial structure of a master operator according to an embodiment of the present invention;

FIG10 is a schematic model diagram showing the length changes of the first rope and the second rope due to the rotation of the first branch chain around the second rotation axis according to the present invention;

FIG11 is a schematic diagram showing movement paths of the first rope and the second rope at the second roller and the second roller when the first branch chain rotates around the second rotation axis at different positions;

FIG. 12 shows a schematic structural diagram of a roller of the first linear drive unit.

DETAILED DESCRIPTION

Example embodiments will now be described more fully with reference to the accompanying drawings. However, it should not be understood that the implementation of the present invention is limited to the embodiments described herein. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

The main operator, control console and robot of the present invention are described below with reference to the accompanying drawings. It should be noted that, in the following, the descriptions and terms related to directions such as "upward and downward direction", "vertical direction", "upward", "downward", "upper end", "lower end", "upper part", "lower part" are all based on the direction of the surgical robot or the main operator relative to the ground when in use (such as the upward and downward direction shown in Figure 1). When the relative reference object changes or the use direction of the product changes, the description of the above directions will also change accordingly.

When describing the main operator, control console and robot according to an embodiment of the present invention, a surgical robot will be introduced as an example, but those skilled in the art will realize that the main operator according to the present invention is not limited to application to surgical robots, but can be a remote-controlled robot used in various other fields.

Fig. 1 shows a schematic diagram of the structure of the operating end of a robot according to an embodiment of the present invention. As shown in Fig. 1, the surgical robot may include an operating end 1, an execution end, and an imaging device. The operating end 1 may include a doctor's console, the execution end may be a robotic arm system including a terminal surgical instrument for performing surgery, and the imaging device may include a display for displaying an image of a patient's lesion and other relevant information.

The main operator is set on the doctor's console. The operator (doctor) can control the operation of the execution end by operating the main operator. The force condition of the terminal surgical instrument at the execution end can be fed back to the main operator through the force sensor to establish a mechanical model between the operating end and the execution end.

The surgical robot usually includes two main operating hands 11. The doctor's hands can hold two handles (not shown) at the same time for operation. Since the two main operating hands 11 have the same structure and are arranged symmetrically to each other, the structure of one main operating hand will be taken as an example for description.

FIG. 2 is a schematic diagram showing a partial structure of the main manipulator 11 according to an embodiment of the present invention, and shows a situation in which the static platform 100 rotates as the posture of the dynamic platform 200 changes.

As shown in Fig. 2, the main manipulator 11 according to an embodiment of the present invention may include: a parallel operating arm 10, a handle (not shown) and a rotation drive unit 20. The parallel operating arm 10 may include a static platform 100, a dynamic platform 200 and at least three branch chains 300 connected between the static platform 100 and the dynamic platform 200, the handle is installed on the dynamic platform 200, and the rotation drive unit 20 is used to drive the static platform 100 to rotate relative to the dynamic platform 200.

If the static platform 100 is always in a fixed state (that is, if the rotation drive unit 20 is not provided), as shown in FIG3 , when the handle moves, causing the dynamic platform 200 to change its posture, for example, when a large twist occurs, the branch chain 300 will constrain the range of motion of the dynamic platform 200, resulting in limited movement space of the handle, and even interference between the hand and the branch chain, or interference between the handle or the dynamic platform and the branch chain. In addition, when the handle changes its posture, each branch chain may change in multiple directions, and the movement changes of at least three branch chains 300 in multiple directions result in a large amount of computation for the control system, which may cause computational errors in the control system due to the multiple solution problem, thereby causing motion errors in the active arm at the execution end. In addition, due to the large amount of computation, real-time performance may not be ensured, resulting in the robot's insensitive response.

According to an embodiment of the present invention, the rotation driving unit 20 may be configured to drive the static platform 100 to rotate around a first rotation axis L1 , where the first rotation axis L1 is perpendicular to a plane where the static platform 100 is located.

Among them, driving the static platform 100 to rotate relative to the dynamic platform refers to driving the static platform 100 to rotate according to the posture change of the dynamic platform 200. Here, the posture change of the dynamic platform 200 refers to the rotation component (rotation angle) of the dynamic platform 200 rotating around the first rotation axis L1 or around an axis parallel to the first rotation axis L1. In other words, during the change process, the dynamic platform 200 may not only undergo a rotation change around the first rotation axis L1 or around an axis parallel to the first rotation axis L1, but may also have motion components in other directions. However, in the present application, since the rotation of the static platform 100 is only related to the rotation component of the dynamic platform 200 rotating around the first rotation axis L1 or around an axis parallel to the first rotation axis L1, the posture change of the dynamic platform 200 in this article only refers to the rotation component (rotation angle) of the dynamic platform 200 rotating around the first rotation axis L1 or around an axis parallel to the first rotation axis L1.

In this way, since the static and dynamic platform 100 rotates according to the posture change of the dynamic platform 200, part of the movement space can be released, the interference between the handle and the branch chain 300 can be avoided, and the amount of calculation can be reduced to avoid the movement error of the active arm at the execution end, while ensuring real-time performance. As an example, the operator drives the dynamic platform 200 to move relative to the static platform 100 through the handle. At this time, the static platform 100 is relatively stationary, and the dynamic platform 200 is twisted at a certain angle relative to the Z axis, wherein the direction of the Z axis refers to the direction of the first rotation axis L1 or the direction parallel to the first rotation axis L1; at this time, the static platform 100 is driven to rotate relative to the dynamic platform 200 around the first rotation axis L1, that is, when the dynamic platform 200 is relatively stationary, the state of the dynamic platform 200 and the static platform 100 is at least partially close to the state where the operator is not moving, such as adjusting from the state of Figure 3 to the state of Figure 2.

That is to say, the rotation driving unit 20 drives the static platform 100 to rotate around the first rotation axis L1 at an angle less than or equal to the rotation component of the dynamic platform 200 relative to the first rotation axis L1 or relative to an axis parallel to the first rotation axis L1, so that the states of the dynamic platform 200 and the static platform 100 are at least partially close to or equal to the state where the operator is not taking any action.

According to a preferred embodiment of the present invention, the rotation drive unit 20 drives the static platform 100 to rotate around the first rotation axis L1 at an angle equal to the rotation component of the dynamic platform 200 relative to the first rotation axis L1 or relative to an axis parallel to the first rotation axis L1. In this way, the control system does not need to calculate the variables of the dynamic platform 200 in the torsion direction, which greatly reduces the calculation load, can significantly improve the movement accuracy, avoid calculation errors, avoid movement errors of the active arm, and in addition, can significantly improve the real-time performance of the movement. In addition, since the interference between the handle and the branch chain is mainly caused by the torsion of the dynamic platform 200 relative to the static platform 100, and the static platform 100 rotates synchronously with the dynamic platform 200 to solve this problem, the range of motion of the handle can be increased.

In addition, according to an embodiment of the present invention, the rotation angle of the static platform 100 driven by the rotation drive unit 20 around the first rotation axis L1 may also be smaller than the rotation angle of the dynamic platform 200 relative to the direction parallel to the first rotation axis L1. In this case, the range of motion of the handle can be at least increased to avoid the jamming phenomenon and stay away from the singularity point of the mechanism.

Fig. 4 shows a schematic diagram of the partial structure of the main manipulator 11 according to an embodiment of the present invention. As shown in Fig. 4, the at least three branch chains 300 according to the present invention preferably include a first branch chain 310, a second branch chain 320 and a third branch chain 330. The first branch chain 310 is connected to the static platform 100 and the dynamic platform 200 at the first static hinge point S1 and the first dynamic hinge point M1, respectively, the second branch chain 320 is connected to the static platform 100 and the dynamic platform 200 at the second static hinge point S2 and the second dynamic hinge point M2, respectively, and the third branch chain 330 is connected to the static platform 100 and the dynamic platform 200 at the third static hinge point S3 and the third dynamic hinge point M3, respectively.

It should be noted that this description does not mean that the first static hinge point S1, the second static hinge point S2 and the third static hinge point S3 are necessarily coplanar with the surface of the static platform 100, nor does it mean that the first movable hinge point M1, the second movable hinge point M2 and the third movable hinge point M3 are necessarily coplanar with the movable platform 200, but is only for indicating the connection relationship between each branch chain and the movable platform 200 and the static platform 100. For this reason, the plane where the first static hinge point S1, the second static hinge point S2 and the third static hinge point S3 are located is referred to as the "static hinge point plane" hereinafter, and the static hinge point plane may be coplanar with the surface of the static platform 100 or may not be coplanar.

The plane where the first static hinge point S1, the second static hinge point S2 and the third static hinge point S3 are located has a first rotation center, and the first rotation center is equidistant from the first static hinge point S1, the second static hinge point S2 and the third static hinge point S3, that is, the first rotation center is the center of the circumscribed circle of the first static hinge point S1, the second static hinge point S2 and the third static hinge point S3. A line passing through the first rotation center and perpendicular to the static hinge point plane is defined as the first rotation axis L1, and the rotation drive unit 20 is configured to drive the static platform 100 to rotate around the first rotation axis L1.

According to an embodiment of the present invention, in the initial state, the first moving hinge point M1, the third moving hinge point M3, the first static hinge point S1 and the third static hinge point S3 may be coplanar. Since the static platform 100 rotates accordingly after the posture of the moving platform 200 changes, when the angle of rotation of the static platform 100 around the first rotation axis L1 is equal to the rotation component of the moving platform 200, the first moving hinge point M1, the third moving hinge point M3, the first static hinge point S1 and the third static hinge point S3 are still coplanar.

In addition, the plane where the first moving hinge point M1, the third moving hinge point M3, the first static hinge point S1 and the third static hinge point S3 are located may be perpendicular to the static platform 100. Optionally, according to an embodiment of the present invention, the line connecting the first moving hinge point M1 and the third moving hinge point M3 and the line connecting the first static hinge point S1 and the third static hinge point S3 may both intersect with the first rotation axis L1. For example, according to the embodiment shown in the accompanying drawings, the line connecting the first moving hinge point M1 and the first rotation axis L1, the line connecting the third moving hinge point M3 and the first rotation axis L1 are perpendicular to the line connecting the second moving hinge point M2 and the first rotation axis L1. Similarly, the line connecting the first static hinge point S1 and the first rotation axis L1, the line connecting the third static hinge point S3 and the first rotation axis L1 are perpendicular to the line connecting the second static hinge point S2 and the first rotation axis L1.

However, the arrangement of each movable hinge point and static hinge point is not limited to the above situation. For example, the plane where the first movable hinge point M1, the third movable hinge point M3, the first static hinge point S1 and the third static hinge point S3 are located can also be arranged at a predetermined angle with the static platform 100.

In addition, the first moving hinge point M1, the third moving hinge point M3, the first static hinge point S1, and the third static hinge point S3 may not be coplanar with each other. In this case, after the posture of the moving platform 200 changes, the rotation angle of the static platform 100 around the first rotation axis L1 is still equal to or less than the rotation component of the moving platform 200 around the first rotation axis L1 or around an axis parallel to the first rotation axis L1.

In addition, the at least three branches 300 of the present invention are not limited to the first branch chain 310, the second branch chain 320 and the third branch chain 330, but may further include a greater number of branches. However, even if a greater number of branches are included, the rotary drive unit 20 will be configured to rotate around the first rotation axis L1, and at this time, the first rotation axis L1 still passes through the center of the circumscribed circle of the static hinge points of these branches and is perpendicular to the static hinge point plane.

In addition, according to a preferred embodiment of the invention, the first branch chain 310, the second branch chain 320 and the third branch chain 330 may include the same structure and the same driving mechanism, but in other embodiments, each branch chain may also include a different structure and/or a different driving mechanism.

According to an embodiment of the present invention, as shown in FIG. 4 , the rotation driving portion 20 may be formed of a hollow rotation motor or include a hollow rotation speed reducer and a servo motor.

As shown in FIG. 4 , the main operator may further include a mounting bracket 30 disposed between the rotary drive unit 20 and the static platform 100 and a hollow platform 40 disposed below the mounting bracket 30, and the static platform 100 may be mounted on the output end of the rotary drive unit 20 through the mounting bracket 30. The mounting bracket 30 may be arranged in a frame structure, and a driving mechanism for driving the linear motion or rotational motion of each branch chain 300 may be mounted on the hollow platform 40 around the mounting bracket 30, so that the structural layout of the main operator is more compact. In addition, a hole (not shown) may be formed in the middle of the hollow platform 40, and the rotary drive unit 20 may have a hollow channel for routing, and the hollow channel may be arranged in a hollow rotary motor or a hollow rotary reducer, and the hole of the hollow platform 40 may correspond to the hollow channel of the rotary drive unit 20, so that all cables of the main operator may be connected to the inside of the control console through the hollow platform 40 and the hollow channel of the rotary drive unit 20, so that when the handle rotates, the cable harness will not be entangled, will not interfere with other structures, and will not occupy other space.

However, the present invention is not limited thereto. According to another embodiment of the present invention, as shown in FIG5 , the rotary drive unit 20 may include a harmonic reduction motor 21 and a synchronous belt 22. The harmonic reduction motor 21 may be disposed on one side of a single main operator, and its driving end is connected to the hollow platform 40 through the synchronous belt 22 to drive the static platform 100 to rotate. Since the harmonic reduction motor 21 is not disposed below the static platform 100, the height of the static platform 100 in the vertical direction may be greatly reduced.

In one embodiment, the driving structure of each branch chain in the branch chain 300 of the present application is substantially the same, so the driving structure of the first branch chain 310 is taken as an example for description. The first branch chain 310 can be extended or shortened along its length direction, and can rotate around the second rotation axis L2 and the third rotation axis L3. As shown in FIG4 , the second rotation axis L2 is perpendicular to the first rotation axis L1 and passes through the first rotation center, and the third rotation axis L3 is perpendicular to the second rotation axis L2 and the length direction of the first branch chain 310. The first branch chain 310 has three degrees of freedom relative to the moving platform 200, such as achieved by a ball joint. That is, the first branch chain 310 can be implemented by a UPS branch chain, and the second branch chain 320 and the third branch chain 330 can also be implemented by a UPS branch chain, so that the moving platform 200 can have six degrees of freedom, and the main operator 11 can achieve six degrees of freedom.

Therefore, the first branch chain 310 includes a linear driving component for driving the first branch chain 310 to extend or shorten, and a rotation driving component for driving the first branch chain 310 to rotate around the second rotation axis L2.

According to one embodiment of the present invention, as shown in FIG5 , the linear drive assembly may use a linear motor, which may include a mover 820 and a stator 810 that can move relative to each other, the mover 820 can move along the first support rod 301, the stator 810 is mounted on the second support rod 302, the stator 810 and the second support rod 302 are arranged to be fixedly connected to the static platform 100, and the mover 820 is arranged to be movable along the extension direction of the first branch chain 310, so that the mover 820 can move to extend or shorten the first branch chain 310. For example, the linear motor may be a magnetic shaft motor, and the slider of the magnetic shaft motor may be used as the mover, and the magnetic shaft may be used as the stator 810.

The specific structure of the rotary drive assembly will be described in detail later. However, the rotary drive assembly is not limited to the embodiments described and shown in the present invention, and the rotary drive assembly may include a drive motor mounted to the static platform 100, for example, the output end of the drive motor may be connected to the entity of the second rotation axis L2 through a gear set.

In addition, according to an embodiment of the present invention, the driving structure (rotational driving unit 20) of the static platform 100 and the linear driving components and the rotational driving components of each branch chain 300 can be independent of each other. Specifically, since the rotation angle of the static platform 100 depends on the posture change of the handle (or the dynamic platform 200), and the posture change of the handle (or the dynamic platform 200) can also be controlled by the linear driving component and the rotational driving component, and the rotation of the static platform 100 is controlled by the rotational driving unit 20, the driving structure (rotational driving unit 20) of the static platform 100 and the linear driving components and the rotational driving components of each branch chain 300 need to be set independently of each other to realize this function.

However, the specific structure of the branch chain, and the linear drive assembly and the rotation drive assembly of the branch chain are not limited thereto.

In other embodiments, the branched chain structure and its driving structure may also be the structures shown in Figures 4 and 6 to 9. The structures shown in Figures 4 and 6 to 9 may also be used alone without being limited by the rotary drive unit 20.

The specific structure of each branch chain in the branch chain 300 of the present application and the corresponding driving mechanism will be introduced below with reference to FIG. 4 and FIG. 6 to FIG. 9 .

As mentioned above, the extension and shortening of the branch chain can be achieved by the linear motors arranged on the corresponding branch chains. However, the linear motors are heavy. In order to avoid the influence of the weight of the linear motor on the doctor's operating feel, the linear motor needs to balance its own gravity. Therefore, most of the power of the linear motor is used to balance its own gravity, and the remaining small part of the power is used to provide force feedback. Therefore, the linear motor needs to operate at close to full power and has a low utilization rate.

In addition, since the linear motor cannot obtain the position data of the branch chain, it is necessary to set a grating ruler and a grating reader on the branch chain. Since the linear motor is always maintained at a state close to full power operation, it generates serious heat during operation, and the grating ruler is installed on the mounting plane. Under the influence of temperature, the grating ruler will debond. Since the flatness requirements of the grating ruler are very high, once debonding occurs, data errors or failure to read position data will occur when reading data. Although heat insulation parts can be set on the branch chain to solve the debonding phenomenon of the grating ruler, this may increase the weight and size of each branch chain. In addition, since each branch chain is heavy (because the linear motor is set on the branch chain), the weight of the branch chain will also affect the feel.

To this end, the embodiments of FIG. 4 and FIG. 6 to FIG. 9 provide a new linear drive assembly to drive the extension and shortening of each branch chain.

Specifically, as described above, the at least three branches 300 include a first branch 310, a second branch 320 and a third branch 330. Since the structure and driving structure of each branch are the same, the first branch 310 will be taken as an example for description below.

As shown in FIG. 6 , the first branch chain 310 may include a first branch rod 301 connected to the dynamic platform 200 and a second branch rod 302 connected to the static platform 100 , and the first branch rod 301 can move linearly relative to the second branch rod 302 along the length direction of the second branch rod 302 .

The first end (i.e., the upper end) of the first support rod 301 is connected to the moving platform 200, and the second end (i.e., the lower end) is connected to the second support rod 302, and the two are slidably connected to each other. For example, the first support rod 301 and the second support rod 302 can be slidably connected to each other through a slider 303.

The first end (i.e., the lower end) of the second support rod 302 is connected to the static platform 100, and the slider 303 is fixedly mounted on the lower end of the first support rod 301 and slides on the second support rod 302 to limit the movement path of the second support rod 302. In addition, the sliding of the slider 303 on the second support rod 302 is achieved by a linear drive assembly. According to an embodiment of the present invention, the linear drive assembly includes a first rope 410 fixedly connected to the slider 303 and a first linear drive unit 341 for driving the first rope 410. Since the first linear drive unit 341 is disposed on the static platform 100 or below the static platform 100, a linear drive motor is no longer disposed on each branch chain, which not only reduces the weight of the branch chain, but also prevents the problem of interference between the branches due to the linear motor, thereby simplifying the structure of the parallel operating arm part of the main operator and reducing its size.

The first linear driving part 341 can drive the slider 303 to move upward, thereby extending the entire first branch chain 310. When the first branch chain 310 needs to move downward, the force applied to the slider 303 by the first linear driving part 341 is reduced, and the first branch rod 301 is moved downward by the gravity of the slider 303 and the first branch rod 301. With such a structure, the structure of the linear driving assembly can be relatively simple and easy to operate.

Specifically, the upward movement of the slider 303 is achieved by the forward or reverse rotation of the first linear drive unit 341 (for example, a rotary drive motor). When the slider 303 needs to move downward, the rotary drive motor can rotate in the opposite direction so that the first rope 410 no longer generates a pulling force on the slider 303, and the slider 303 and the first support rod 301 move downward using their own gravity.

In this case, the first rope 410 may creep during use and needs to be pre-tightened or replaced regularly, and the amount of creep during use cannot be measured. If it is not pre-tightened or replaced, errors may occur in the measured length change of the first branch chain 310.

To this end, the linear drive assembly according to the embodiment of the present invention may further include a second rope 420 and a second linear drive unit 342 for driving the second rope 420. The first linear drive unit 341 and the second linear drive unit 342 are separately provided from the first branch chain 310, and they may be provided on the static platform 100, or may both be provided below the static platform 100, and drive the first rope 410 and the second rope 420 to pull the slider 303 to move in opposite directions.

According to an embodiment of the present invention, the first rope 410 and the second rope 420 may be made of steel wire ropes, for example, steel wire ropes with a safety factor exceeding 7 times, but not limited thereto, the first rope 410 and the second rope 420 may also adopt other rope structures according to actual needs.

At each start-up, the first linear drive unit 341 and the second linear drive unit 342 pre-tighten the first rope 410 and the second rope 420 respectively to form a pulling structure, so that the state of the first rope 410 and the second rope 420 can be corrected at each start-up to achieve the best working state. Even if the first rope 410 and the second rope 420 creep, they can be corrected by pre-tightening at each start-up to prevent inaccurate length changes of the first branch chain 310 due to creep.

In addition, since the first linear drive unit 341 and the second linear drive unit 342 are arranged below the static platform 100, linear drive motors are no longer arranged on each branch chain, which not only reduces the weight of the branch chain, but also prevents the problem of interference between the branch chains caused by the linear motors. This can also simplify the structure of the parallel operating arm part of the main operator and reduce its size, which is beneficial to the precise realization of gravity balance and force feedback of the main operator.

Further, according to an embodiment of the present invention, one end of the first rope 410 is fixed to the slider 303, and the other end extends toward the second end (upper end) of the second support rod 302 and passes over the first pulley 401 located at the second end of the second support rod 302 and is downwardly connected to the first linear driving portion 341. One end of the second rope 420 is fixed to the slider 303, and the other end is downwardly connected to the second linear driving portion 342 toward the first end (lower end) of the second support rod 302.

The linear drive assembly may further include a second pulley 402 and a third pulley 403 disposed at the first end of the second support rod 302, the first rope 410 being connected to the first linear drive portion 341 via the second pulley 402, and the second rope 420 being connected to the second linear drive portion 342 via the third pulley 403. The second pulley 402 and the third pulley 403 are disposed side by side (the second pulley 402 and the third pulley 403 are also referred to as "branch pulley sets"), so that the first rope 410 extends in a direction parallel to the above-mentioned static hinge point plane after passing through the second pulley 402, and the second rope 420 also extends in a direction parallel to the static hinge point plane after passing through the third pulley 403.

In addition, the linear drive assembly further includes a fourth pulley 404 disposed on the second support rod 302. The fourth pulley 404 is disposed close to the second pulley 402, and the first rope 410 is wound around the second pulley 402 after passing through the fourth pulley 404. Specifically, taking the direction of FIG. 6 as an example, the first rope 410 is connected to the slider 303 on the left side of the second support rod 302, and extends upward to bypass the first pulley 401, and then extends downward to pass the right side of the fourth pulley 404, and then extends to the left and lower side to the left side of the second pulley 402, and then bypasses the left side of the second pulley 402 to the bottom of the second pulley 402 and extends to the right. By providing the fourth pulley 404, the first rope 410 can be prevented from interfering with the second support rod 302.

According to an embodiment of the present invention, as shown in Figure 8, the second support rod 302 may include a first support rod side wall 302a and a second support rod side wall 302b arranged facing each other, and a support rod connecting portion 302c connecting the first support rod side wall 302a and the second support rod side wall 302b to each other at the lower ends of the first support rod side wall 302a and the second support rod side wall 302b, and the first pulley 401, the second pulley 402, the third pulley 403 and the fourth pulley 404 may be arranged in the space between the first support rod side wall 302a and the second support rod side wall 302b.

According to an embodiment of the present invention, the first branch chain 310 can also rotate around the second rotation axis L2 and the third rotation axis L3. As shown in Figure 4, the second rotation axis L2 is perpendicular to the first rotation axis L1 and passes through the first rotation center, and the third rotation axis L3 is perpendicular to the second rotation axis L2.

In the initial state, the third rotation axis L3 may be parallel to the static hinge point plane, but when the first branch chain 310 rotates around the second rotation axis L2, the angle between the third rotation axis L3 and the static hinge point plane will change. In the context description, unless otherwise clearly described or stated, the initial state is described.

The third rotation axis L3 is parallel to the rotation axes of the first pulley 401 , the second pulley 402 , the third pulley 403 and the fourth pulley 404 . The second pulley 402 and the third pulley 403 are located at the lower end of the second support rod 302 . The third rotation axis L3 is also located at the lower end of the second support rod 302 .

According to one embodiment of the present invention, the tangent point of the first rope 410 and the second rope 420 when leaving the second pulley 402 and the third pulley 403 may be located on the third rotation axis L3. That is, taking the state in FIG. 2 as an example, the first rope 410 and the second rope 420 extend from the left side to the right side through the bottom of the second pulley 402 and the third pulley 403, and the tangent point of the first rope 410 and the second rope 420 with the second pulley 402 and the third pulley 403 when leaving the second pulley 402 and the third pulley 403 is located at the lowest point of the second pulley 402 and the third pulley 403 that can be wound by the first rope 410 and the second rope 420, and the tangent point is located on the third rotation axis L3.

Thus, even if the first branch chain 310 rotates around the third rotation axis L3, the length change of the first rope 410 and the second rope 420 will be very small, so the amount of compensation required by the first linear driving part 341 and the second linear driving part 342 is also very small, so a better hand feel can be achieved.

7 shows a motion model of the first rope 410 and the second pulley 402 when the first branch chain 310 rotates around the third rotation axis L3. The motion model of the second rope 420 around the third pulley 403 is the same, so the relevant description is omitted.

As shown in FIG. 7 , when the first branch chain 310 rotates to the left by a predetermined angle θ based on the state in FIG. 6 , the second pulley 402 also rotates synchronously around the third rotation axis L3 to the position 402′ in FIG. 7 . In this way, the length of the first rope 410 and the second pulley 402 in contact with each other becomes shorter, which is the arc length corresponding to the rotation of the second pulley 402 by the predetermined angle θ. In this case, the length change requires the first rope 410 and the second rope 420 to be extended to compensate. In addition, the rotation of the second pulley 402 around the third rotation axis L3 causes it to change in both the horizontal and vertical directions compared with the initial position. The changes in the horizontal and vertical directions cause the overall length change of the first rope 410 to be the chord length corresponding to the rotation of the second pulley 402 by the above-mentioned predetermined angle θ, and the length change requires the first rope 410 and the second rope 420 to be shortened to compensate. Therefore, the compensation amount is equal to the difference between the arc length corresponding to the rotation of the second pulley 402 by the predetermined angle θ and the chord length. Since the difference between the arc length and the chord length corresponding to the same angle is small, only a small compensation amount is needed to achieve compensation for the first rope 410.

In addition, even if the first branch chain 310 undergoes other posture changes (for example, the first branch chain 310 is elongated or the first branch chain 310 rotates around the second rotation axis L2), the length change of the first rope 410 and the second rope 420 caused by the first branch chain 310 rotating around the third rotation axis L3 can still be compensated according to the above method.

However, the present invention is not limited thereto. According to an embodiment of the present invention, in addition, a rotary encoder (not shown) may be installed at the position of the third rotation axis L3.

Further, as shown in FIG9 , the first branch chain 310 may further include an articulated bracket 305, and a pin 304 for forming the third rotation axis L3 is formed on the surfaces of the first support rod side wall 302a and the second support rod side wall 302b facing each other, so as to be mounted on the first side and the second side of the articulated bracket 305, and the position encoder may be mounted on the first side or the second side of the articulated bracket 305 accordingly. In this way, the rotary encoder may be mounted on the first side or the second side of the articulated bracket 305. The rotary encoder may directly obtain the rotation displacement information of the first rope 410 and the second rope 420 due to the rotation of the first branch chain 310 around the third rotation axis L3, and obtain their length changes, so that they can be compensated by the first linear drive unit 341 and the second linear drive unit 342 without calculation, which may further reduce the amount of calculation, improve the motion accuracy of the execution end, and improve the real-time performance.

The linear drive assembly according to the present invention may also include a fifth pulley 405 and a sixth pulley 406 disposed at a predetermined position. For example, as shown in FIG. 9 , the fifth pulley 405 and the sixth pulley 406 may be disposed at a predetermined position on the static platform 100, and the first rope 410 and the second rope 420 extend in a direction parallel to the second rotation axis L2 and are wound around the fifth pulley 405 and the sixth pulley 406, and then extend downward to be connected to the first linear drive portion 341 and the second linear drive portion 342, respectively. That is, the first rope 410 and the second rope 420 extend not only in a direction parallel to the static hinge plane, but also in a direction parallel to the second rotation axis L2. In addition, the line connecting the tangent point when the first rope 410 extends to the fifth pulley 405 and the tangent point when the second rope 420 extends to the sixth pulley 406 intersects (i.e., is perpendicular to) the second rotation axis L2. It should be noted that in the context description, the description of "leaving" the pulley and "extending to" the pulley is described with the end of the first rope 410 and the second rope 420 connected to the slider 303 as the starting point.

In addition, usually, the third rotation axis L3 and the second rotation axis L2 are arranged to intersect each other, so the first rope 410 and the second rope 420 can be arranged at the same level as the second rotation axis L2 relative to the static hinge point plane. According to an embodiment of the present invention, the first rope 410 and the second rope 420 can be arranged as close to each other as possible and their distances from the second rotation axis L2 can be equal to each other. In this case, when the first branch chain 310 rotates around the second rotation axis L2, the length change of the first rope 410 and the second rope 420 will be very small and almost negligible.

Specifically, as shown in Figure 10, assume that T1 and T3 are the tangent points of the first rope 410 with the second pulley 402 and the fifth pulley 405 (hereinafter referred to as the "first tangent point T1" and the "third tangent point T3", respectively), T2 and T4 are the tangent points of the second rope 420 with the third pulley 403 and the sixth pulley 406 (hereinafter referred to as the "second tangent point T2" and the "fourth tangent point T4", respectively), and the length of the first rope 410 between the second pulley 402 and the fifth pulley 405 and the length of the second rope 420 between the third pulley 403 and the sixth pulley 406 are L. When the first branch chain 310 rotates a predetermined angle around the second rotation axis L2, the positions of the third tangent point T3 and the fourth tangent point T4 remain unchanged, the positions of the first tangent point T1 and the second tangent point T2 become T1′ and T2′ respectively, and the length of the first rope 410 between the second pulley 402 and the fifth pulley 405 and the length of the second rope 420 between the third pulley 403 and the sixth pulley 406 become L′.

It is found through calculation that the length change of the first rope 410 between the second pulley 402 and the fifth pulley 405 and the length change of the second rope 420 between the third pulley 403 and the sixth pulley 406 are very small, and the length change here can be eliminated by the pre-tightening force at the time of startup. Therefore, in actual use, the length change of the first rope 410 and the second rope 420 caused by the rotation of the first branch chain 310 around the second rotation axis L2 may not be compensated. However, if it is necessary or required to compensate for this, the length change of the first rope 410 and the second rope 420 can also be calculated according to the design model of Figure 10, so as to compensate for this by using the first linear drive unit 341 and the second linear drive unit 342 according to the calculation result.

However, the embodiments of the present invention are not limited to the above embodiments, and according to a second embodiment of the present invention, the rotation centers of the second pulley 402 and the third pulley 403 may overlap with the third rotation axis (see mark L3' in FIG. 6).

In this case, since the second pulley 402 and the third pulley 403 will not rotate due to the rotation of the first branch chain 310 around the third rotation axis L3′, when the first branch chain 310 rotates around the third rotation axis L3′, the length change of the first rope 410 and the second rope 420 can be obtained by the arc length formula. For example, when the first branch chain 310 rotates to the left by a predetermined angle around the third rotation axis L3′ based on the state in FIG. 6, the length of the first rope 410 and the second rope 420 in contact with the second pulley 402 and the third pulley 403 becomes shorter, and the length is the arc length of the second pulley 402 and the third pulley 403 rotating by the above predetermined angle, and the first rope 410 and the second rope 420 do not undergo other changes. Therefore, the control system can easily obtain the length change of the first rope 410 and the second rope 420 according to the rotation angle of the first branch chain 310, and the calculation is simple and fast.

Of course, the length variation can also be directly obtained by using a rotary encoder disposed on the articulated bracket 305 .

In addition, as described above, compared with the first embodiment, the third rotation axis L3 of the second embodiment moves upward to the position of L3′. Since the second rotation axis L2 intersects with the third rotation axis L3 while being parallel to the static hinge point plane, the second rotation axis L2 moves upward to the position of L2′. However, in the second embodiment according to the present invention, it can be seen from FIG. 10 and FIG. 11 that the positions of the first tangent point T1 and the second tangent point T2 of the first rope 410 and the second rope 420 with the second pulley 402 and the third pulley 403 are still substantially the same as those of the first embodiment. Therefore, when the first branch chain 310 rotates around the second rotation axis L2′, the rotation radius of the first rope 410 and the second rope 420 (the radius corresponding to the circle C2 in FIG. 11) is greater than the rotation radius of the first rope 410 and the second rope 420 in the first embodiment (the radius corresponding to the circle C1 in FIG. 11). Thus, compared with the first embodiment, the length change of the first rope 410 and the second rope 420 due to the rotation of the first branch chain 310 around the second rotation axis L2′ is larger. However, such length variation may also be obtained through calculation, and thus may also be compensated by the first linear driving unit 341 and the second linear driving unit 342 .

Compared with the first embodiment, the main advantage of the second embodiment is that when the first branch chain 310 rotates around the third rotation axis L3 ′, the length changes of the first rope 410 and the second rope 420 can be easily obtained by calculation.

The main difference between the above two embodiments lies in the different positional relationships between the third rotation axis L3 and the second pulley 402 and the third pulley 403. It can be seen from the above two embodiments that the third rotation axis L3 can be set to pass through the lower end tangent point of the second pulley 402 and the third pulley 403, or can be set to pass through the rotation center of the second pulley 402 and the third pulley 403.

According to the embodiment of the present invention, the first rope 410 and the second rope 420 use multiple pulleys to change their pulling direction multiple times, so as to prevent the first rope 410 from not having a significant length change during the rotation or other changes of the first branch chain 310. Because if the length of the first rope 410 and the second rope 420 changes significantly (tightens or loosens) during this process, the first linear drive unit 341 and the second linear drive unit 342 need to rotate in real time to keep the first rope 410 and the second rope 420 in the initial tightened state. In addition, the length of the first rope 410 and the second rope 420 will also change during the extension and shortening of the first branch chain 310. In this way, the position data received by the first linear drive unit 341 and the second linear drive unit 342 is the superposition of the two length changes of the first rope 410 and the second rope 420. At this time, the algorithm needs to be solved in real time, which greatly increases the amount of calculation. According to the embodiment of the present invention, the first rope 410 does not have a significant length change during the rotation or other changes of the first branch chain 310, and can be easily obtained by calculation or directly obtained by the encoder, avoiding the above problems and reducing the amount of calculation.

In addition, when using the first linear drive unit 341 or the second linear drive unit 342 to balance gravity, after calculating the gravity that needs to be balanced by the first branch chain 310 through a kinematic algorithm, the first linear drive unit 341 or the second linear drive unit 342 operates with different torques, so that the two first ropes 410 and the second ropes 420 generate different pulling forces, and the resultant force of the first rope 410 and the second rope 420 is equal to the gravity that needs to be balanced.

According to the embodiment of the present invention, as described above, the articulated bracket 305 includes a first side surface and a second side surface for mounting the pin shaft 304. In addition, the articulated bracket 305 also includes a third side surface that connects the first side surface and the second side surface to each other and is perpendicular to the first side surface and the second side surface. A hole (not shown) is formed on the third side surface for passing the first rope 410 and the second rope 420. The hollow shaft 306 can be coupled to the third side surface of the articulated bracket 305 and can be connected to the above-mentioned hole to form a storage space for the first rope 410 and the second rope 420. Therefore, the extension direction of the hollow shaft 306 is the same as the direction of the second rotation axis L2. In addition, as shown in the figure, the hollow shaft 306 can be installed on the static platform 100 through the support 308.

According to an embodiment of the present invention, a roller 341a is provided at the output end of the first linear drive unit 341 and the second linear drive unit 342. FIG12 shows the structure of the roller 341a of the first linear drive unit 341. As shown in FIG12, a spiral groove 3411 is provided on the roller 341a, and the first rope 410 can move along the spiral groove 3411 during the movement, so that the scaling of the first rope 410 can be more accurately controlled. The roller of the second linear drive unit 342 can have the same structure, so the relevant description thereof is omitted.

According to an embodiment of the present invention, the first linear driving unit 341 and the second linear driving unit 342 may be servo motors, which may be provided with motor encoders. The motor encoders may record information of the servo motors, that is, position information of the linear motion of the first branch chain 310 .

In addition, the driving motor for driving the first branch chain 310 to rotate around the second rotation axis L2 and the third rotation axis may be provided with a corresponding motor encoder to record the position information of the first branch chain 310 during movement.

Since the first branch chain 310 , the second branch chain 320 and the third branch chain 330 have the same structure, the current posture of the moving platform 200 can be calculated according to the position information of the first branch chain 310 , the second branch chain 320 and the third branch chain 330 recorded by each motor encoder.

That is to say, when the rotation driving unit 20 drives the stationary platform 100 according to the posture of the moving platform 200, the posture of the moving platform 200 can be inferred by calculation based on the information recorded by the encoders provided on each driving mechanism.

Referring back to FIG. 4 , the movement of the first branch chain 310 around the second rotation axis L2 can be achieved by a conveyor belt structure. Specifically, the transmission belt structure may include a first pulley 501, a second pulley 502, and a conveyor belt 503 wound around the first pulley 501 and the second pulley 502. The rotating shaft 309 for rotating the first branch chain 310 around the second rotation axis L2 may be sleeved on the outer side of the hollow shaft 306 and installed on the static platform 100 through a bearing seat 307 (see FIG. 9 ), the first pulley 501 may be fixedly installed on the rotating shaft 309, and the second pulley 502 may be fixedly installed on the output end of the driving motor 500.

Teeth (not shown) are formed on the surfaces of the first pulley 501 and the second pulley 502, and teeth meshing with the teeth on the first pulley 501 and the second pulley 502 are formed on the conveyor belt 503. Since the conveyor belt 503 is made of flexible material, the gap between the teeth on the conveyor belt 503 and the teeth on the first pulley 501 and the second pulley 502 can be compensated by the expansion of the conveyor belt 503, thereby avoiding the problem of return gap of the mechanical structure, thereby avoiding transmission errors, and since the conveyor belt material is soft, it can also absorb the vibration of the components, so that the movement of the first branch chain 310 is smoother.

As shown in Fig. 9, the slider 303 according to the embodiment of the present invention may include a first sub-slider 3031, a second sub-slider 3032, a third sub-slider 3033, and a fourth sub-slider 3034, which are arranged on the surfaces of the first support rod side wall 302a and the second support rod side wall 302b facing each other, wherein the first sub-slider 3031 and the second sub-slider 3032 are installed on the first support rod side wall 302a at a distance from each other and form a slide rail of the first support rod side wall 302a, and the third sub-slider 3033 and the fourth sub-slider 3034 are installed on the second support rod side wall 302b at a distance from each other and form a slide rail of the second support rod side wall 302b. In addition, the first sub-slider 3031 and the second sub-slider 3032 are symmetrically arranged with the third sub-slider 3033 and the fourth sub-slider 3034.

In addition, the first sub-slider 3031 and the second sub-slider 3032 are fixed to each other by the first mounting plate 3035, the third sub-slider 3033 and the fourth sub-slider 3034 are fixed to each other by the second mounting plate 3036 (the second mounting plate 3036 in Figure 9 is shown to have a perspective effect so that the third sub-slider 3033 and the fourth sub-slider 3034 on its inner side can be observed), and the third mounting plate 3037 fixes the first mounting plate 3035 and the second mounting plate 3036 to each other. In addition, the starting end of the first rope 410 can be connected to the upper end of the third mounting plate 3037, and the starting end of the second rope 420 can be connected to the lower end of the third mounting plate 3037.

According to the embodiment of the present invention, by providing four sub-slide blocks spaced apart from each other to form two linear rails, the linear motion stability of the first branch chain 310 can be ensured, and the force on the second branch rod 302 can be relatively uniform, thereby preventing the second branch rod 302 from deforming. In addition, since the size of each sub-slide block is small and the proportion in the length direction of the first branch chain 310 is small, the slider 303 has little effect on the linear motion range of the first branch chain 310.

According to the main operator of the embodiment of the present invention, since a rotation drive unit is provided to drive the static platform to rotate relative to the dynamic platform, the computational load of the system can be reduced, the multiple solution problem can be avoided, and the motion accuracy of the execution end can be ensured.

According to the main operator of an embodiment of the present invention, the linear drive assembly of each branch chain is formed by two ropes and two linear drive parts that respectively drive the two ropes, which can significantly reduce the weight of each branch chain, improve the operator's operating feel, and improve the power utilization of the linear drive part.

In the present invention, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "combined" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

The features, structures or characteristics described in the present invention may be combined in one or more embodiments in any suitable manner. In the above description, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solution of the present invention may be practiced without one or more of the specific details, or other methods, components, materials, etc. may be adopted. In other cases, known structures, materials or operations are not shown or described in detail to avoid blurring various aspects of the present invention.

Claims (13)

1. A master manipulator, the master manipulator comprising:

a parallel operating arm (10) comprising a stationary platform (100), a movable platform (200) and at least three branches (300) rotatably connected to said stationary platform (100) and said movable platform (200), respectively;

The handle is connected with the movable platform (200); and

And the rotary driving part (20) is in driving connection with the static platform (100) and is used for driving the static platform (100) to rotate relative to the movable platform (200).

2. The main manipulator according to claim 1, characterized in that the rotary drive (20) is configured to drive the stationary platform (100) in rotation about a first rotation axis (L1), the first rotation axis (L1) being perpendicular to the plane of the stationary platform (100).

3. The main manipulator according to claim 2, characterized in that driving the stationary platform (100) in rotation with respect to the movable platform (200) means driving the stationary platform (100) in rotation according to a change of attitude of the movable platform (200), the change of attitude of the movable platform (200) means a rotational component of the movable platform (200) rotating around the first rotation axis (L1) or around an axis parallel to the first rotation axis (L1).

4. A main manipulator according to claim 3, characterized in that the rotation driving part (20) drives the rotation angle of the stationary platform (100) about a first rotation axis (L1) to be smaller than or equal to the rotation component of the movable platform (200) with respect to the first rotation axis (L1) or with respect to an axis parallel to the first rotation axis (L1).

5. The master manipulator of claim 2, wherein,

The at least three branches (300) include a first branch (310), a second branch (320), and a third branch (330),

The first branched chain (310) is connected with the static platform (100) and the movable platform (200) at a first static hinge point (S1) and a first movable hinge point (M1) respectively,

The second branched chain (320) is connected with the static platform (100) and the movable platform (200) at a second static hinge point (S2) and a second movable hinge point (M2) respectively,

The third branched chain (330) is connected with the static platform (100) and the movable platform (200) at a third static hinge point (S3) and a third movable hinge point (M3) respectively,

Wherein the plane where the first stationary hinge point (S1), the second stationary hinge point (S2) and the third stationary hinge point (S3) are located has a first rotation center, the first rotation center is equal to the distance between the first stationary hinge point (S1), the second stationary hinge point (S2) and the third stationary hinge point (S3), and

The first rotation axis (L1) passes through the first rotation center and is perpendicular to a plane of a static hinge point where the first static hinge point (S1), the second static hinge point (S2) and the third static hinge point (S3) are located.

6. The main manipulator according to claim 5, characterized in that, after the movable platform (200) is twisted, the rotary drive (20) drives the stationary platform (100) to rotate such that the first stationary hinge point (S1), the third stationary hinge point (S3), the first movable hinge point (M1) and the third movable hinge point (M3) are coplanar.

7. The main manipulator according to claim 6, characterized in that the planes of the first stationary hinge point (S1), the third stationary hinge point (S3), the first movable hinge point (M1) and the third movable hinge point (M3) are perpendicular to the stationary platform (100).

8. The primary manipulator of claim 1, further comprising a mounting bracket (30) disposed between the rotary drive (20) and the stationary platform (100), the stationary platform (100) being mounted at an output of the rotary drive (20) by the mounting bracket (30).

9. The main manipulator according to claim 8, characterized in that the rotary drive (20) has a hollow channel for routing.

10. The main manipulator according to claim 9, wherein the rotary drive (20) comprises a hollow rotary motor, or a hollow rotary speed reducer and a servo motor, or a harmonic speed reducer motor and a timing belt, the hollow passage being provided in the hollow rotary motor, the hollow rotary speed reducer, or the harmonic speed reducer motor.

11. The primary manipulator of claim 5, wherein each of the at least three branches (300) comprises a first branch (301) and a second branch (302), the first branch (301) being linearly movable relative to the second branch (302) along a length of the second branch (302),

The first support rod (301) is connected to the movable platform (200) at a first end and is slidingly connected to the second support rod (302) at a second end,

A first end of the second strut (302) is connected to the stationary platform (100),

The sliding of the first support rod (301) relative to the second support rod (302) is realized by a linear driving assembly,

Wherein the linear driving assembly comprises a first rope (410) connected to the first strut (301) and a first linear driving part (341) for driving the first rope (410),

Wherein the first linear driving part (341) is mounted on the stationary platform (100) or below the stationary platform (100).

12. A console, characterized in that it comprises a main manipulator according to any of claims 1-11.

13. A robot, characterized in that it comprises a console according to claim 12.