CN110448377A - 用于机器人手术系统的齿轮系组件 - Google Patents
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- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2943—Toothed members, e.g. rack and pinion
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Abstract
提供了一种用于与机器人手术系统的机器人手臂连接的末端执行器，其中通过机器人手术系统的控制设备的相应电动机处所延伸出的至少一根线缆来控制该末端执行器和/或使该末端执行器进行关节式运动。该末端执行器包括至少一个齿轮系，其将来自控制设备的至少一个电动机的力传输至腕组件的近侧支架、腕组件的远侧支架以及钳夹组件中的至少一个。齿轮系实现以下至少一个：远侧毂组件相对于近侧毂的枢转；远侧支架相对于近侧支架的转动；以及钳夹组件的打开或闭合。
Description
本申请是申请号为2014800674869、申请日为2014年10月23日、发明名称为“用于机器人手术系统的齿轮系组件”的专利申请的分案申请。
技术领域
本申请要求在2013年12月12日提交的美国临时专利申请第61/914，979号的权益和优先权，其全部公开通过引用并入文中。
背景技术
机器人手术系统已用于微创医疗操作。一些机器人手术系统包括支撑机器人手臂的操纵台以及至少一个末端执行器，诸如通过腕组件安装在机器人手臂上的钳子或抓取工具。在医疗操作期间，末端执行器和腕组件插入至患者的小切口(通过插管)或自然孔口中以将末端执行器定位在患者的身体内的工作部位处。
线缆从机器人操纵台延伸出、穿过机器人手臂并连接至腕组件和/或末端执行器。在某些情形中，利用处理系统所控制的电动机来致动线缆，该处理系统包括用户界面使外科医生或临床医生能够控制包括机器人手臂、腕组件和/或末端执行器的机器人手术系统。
在某些情形中，腕组件通过三个线缆或线缆对来提供用于移动末端执行器的三个自由度，每个线缆或线缆对用于一个自由度。例如，对于抓取或切割末端执行器，腕组件通过允许变换为俯仰(pitch)、横摆(yaw)以及末端执行器的打开和闭合而提供有三个自由度。
由于小型手术工具的需求增加，设备制造商开发了诸如抓取和切割工具等具有较小横截面面积的手术工具。这些较小横截面面积减少了可能施加在工具的端部的两个钳夹之间的总力。此外，采用三个线缆或线缆对来提供三个自由度需要用于实施的最小横截面面积，其限制了进一步减小这些工具的横截面面积的能力。最终，在钳夹打开和闭合时，施加的力不能依据钳夹相对于彼此的位置而适应地提供为变力。
需要具有相对较小横截面面积且相对较短长度的手术工具，其能够提供末端执行器钳夹之间的较大的力，包括依据钳夹相对于彼此的位置而变化的相适应的力。
发明内容
可以通过线缆/管和齿轮系统来驱动在手术机器人工具的端部处诸如钳子或剪切工具的钳夹。在某些情形中，可以直接地驱动线缆/管和齿轮系统以便至少一个线缆/管控制俯仰，至少一个线缆/管控制横摆以及至少一个线缆/管打开和闭合钳夹。
包括腕组件和钳夹组件的末端执行器可以与机器人手术系统一起使用并且由机器人手术系统来致动。在某些情形中，可以通过从机器人手术系统的控制设备的相应电动机延伸的至少一个线缆/管来控制末端执行器和/或使末端执行器进行关节式运动。
根据本公开的一个方案，提供了一种用于与机器人手术系统的机器人手臂连接的末端执行器，其中通过机器人手术系统的控制设备的至少一个电动机来控制该末端执行器和/或使该末端执行器进行关节式运动。该末端执行器包括腕组件，其包括：限定相应纵轴的近侧毂；以及限定相应纵轴的远侧毂组件。所述远侧毂组件包括：与近侧毂枢转地连接的近侧支架；以及与近侧支架枢转地连接的远侧支架，所述远侧支架能够相对近侧支架沿远侧毂组件的纵轴转动。
末端执行器还包括钳夹组件，其包括枢转地支撑在远侧支架上的一对钳夹。每个钳夹包括：与远侧支架枢转地连接的近侧部；以及向其近侧部的远侧延伸的远侧部。
末端执行器还包括至少一个齿轮系，其支撑在腕组件中。至少一个齿轮系将来自控制设备的至少一个电动机的力传输至腕组件的近侧支架、腕组件的远侧支架以及钳夹组件中的至少一个。齿轮系实现以下至少一个：远侧毂组件相对于近侧毂的枢转；远侧支架相对于近侧支架的转动；以及钳夹组件的打开/闭合。
至少一个齿轮系可以包括第一齿轮系，其包括：可转动地支撑在近侧毂中的第一齿轮，近侧毂的第一齿轮与控制系统的至少一个电动机操作性地连通；以及不可转动地支撑在远侧毂组件的近侧支架上的第一齿轮。近侧支架的第一齿轮可以限定转轴，所述转轴与远侧毂组件相对于近侧毂的枢轴共轴。近侧支架的第一齿轮可以与近侧毂的第一齿轮以啮合方式接合。
至少一个齿轮系可以包括第二齿轮系，其包括：可转动地支撑在近侧毂中的第二齿轮，近侧毂的第二齿轮与控制系统的至少一个电动机操作性地连通，近侧毂的第一齿轮和第二齿轮同心；可转动地支撑在远侧毂组件的近侧支架中的第二齿轮，其中，近侧支架的第一齿轮和第二齿轮同心；以及又一第二齿轮，其可转动地支撑在远侧毂组件的近侧支架中，其中又一第二齿轮限定转轴，转轴与远侧毂组件的纵轴共轴，又一第二齿轮不可转动地支撑在从远侧支架延伸的杆部上。
近侧支架的又一第二齿轮可以与近侧支架的第二齿轮以啮合方式接合。近侧支架的第二齿轮可以与近侧毂的第二齿轮以啮合方式接合。
至少一个齿轮系可以包括第三齿轮系，其包括：可转动地支撑在近侧毂中的第三齿轮，近侧毂的第三齿轮与控制系统的至少一个电动机操作性地连通，近侧毂中的第一齿轮、第二齿轮和第三齿轮彼此同心；可转动地支撑在远侧毂组件的近侧支架中的第三齿轮，其中近侧支架的第一齿轮、第二齿轮和第三齿轮彼此同心；以及又一第三齿轮，其可转动地支撑在远侧毂组件中的近侧支架中，其中又一第三齿轮与近侧支架的又一第二齿轮共轴且同心，又一第三齿轮不可转动地支撑在杆部上，杆部从远侧支架中可转动地支撑的齿轮处延伸出。
近侧支架的又一第三齿轮可以与近侧支架的第三齿轮以啮合方式接合。近侧支架的第三齿轮可以与近侧毂的第三齿轮以啮合方式接合。
至少一个齿轮系可以包括在远侧毂组件的远侧支架中可转动地支撑的齿轮。远侧支架的齿轮可以锁至近侧支架的又一第三齿轮。每个钳夹的近侧部可以与远侧支架的齿轮以啮合方式接合。
在近侧毂中可转动地支撑的第一齿轮可以限定第一直径。在近侧毂中可转动地支撑的第二齿轮可以限定比第一直径小的第二直径。在近侧毂中可转动地支撑的第三齿轮可以限定比第二直径小的第三直径。
在近侧支架上不可转动地支撑的第一齿轮可以限定第一直径。在近侧支架上可转动地支撑的第二齿轮可以限定比第一直径小的第二直径。在近侧支架上可转动地支撑的第三齿轮可以限定比第二直径小的第三直径。
在近侧支架上可转动地支撑的又一第二齿轮可以限定直径。在近侧支架上可转动地支撑的又一第三齿轮可以限定比又一第二齿轮的直径小的直径。
近侧支架可以为U形，包括通过后跨部互相连接的、沿近侧方向延伸的一对间隔开的直立支撑部。在近侧支架上不可转动地支撑的第一齿轮和在近侧支架上可转动地支撑的第二齿轮和第三齿轮可以支撑在近侧支架的向近侧延伸的直立支撑部之一上。
在近侧支架上可转动地支撑的又一第二齿轮和又一第三齿轮可以支撑在近侧支架的后跨部上。
末端执行器还可以包括第一驱动管，其延伸穿过近侧毂并在其远侧端上支撑第一齿轮，第一驱动管限定穿过其中的腔体；第二驱动管，其延伸穿过近侧毂并穿过第一驱动管的腔体，第二驱动管在其远侧端上支撑第二齿轮，第二驱动管限定穿过其中的腔体；以及第三驱动管，其延伸穿过近侧毂并穿过第二驱动管的腔体，第三驱动管在其远侧端上支撑第三齿轮。
在近侧毂中可转动地支撑的第一齿轮可以限定第一直径。在近侧毂中可转动地支撑的第二齿轮可以限定比第一直径小的第二直径。在近侧毂中可转动地支撑的第三齿轮可以限定比第二直径小的第三直径。
根据本公开的另一方案，提供了一种用于与机器人手术系统的机器人手臂连接的末端执行器，其中末端执行器通过机器人手术系统的控制设备的至少一个电动机来控制和/或进行关节式运动。末端执行器包括：腕组件，其包括：限定相应纵轴的近侧毂；以及远侧毂组件。
远侧毂组件包括：与近侧毂枢转地连接的近侧支架，其中近侧支架限定纵轴，并且其中近侧支架能够绕第一枢轴枢转，第一枢轴沿近侧毂的纵轴的横向而延伸。远侧毂组件还包括与近侧支架枢转地连接的远侧支架，其中远侧支架限定纵轴，并且其中远侧支架能够绕第二枢轴转动，第二枢轴沿近侧毂的纵轴的横向以及沿第一枢轴的横向而延伸。
末端执行器包括钳夹组件，其包括枢转地支撑在远侧支架上的一对钳夹。每个钳夹包括：与远侧支架枢转地连接的近侧部；以及向其近侧部的远侧延伸的远侧部。
末端执行器还包括至少一个齿轮系，其支撑在腕组件中，其中至少一个齿轮系将来自控制设备的至少一个电动机的力传输至腕组件的近侧支架、腕组件的远侧支架以及钳夹组件中的至少一个。齿轮系实现以下至少一个：近侧支架相对于近侧毂的枢转；远侧支架相对于近侧支架的枢转；以及钳夹组件的打开/闭合。
至少一个齿轮系可以包括第一齿轮系，其包括：可转动地支撑在近侧毂中的第一齿轮，近侧毂的第一齿轮与控制系统的至少一个电动机操作性地连通；以及不可转动地支撑在远侧毂组件的近侧支架上的第一齿轮。近侧支架的第一齿轮可以限定转轴，转轴与第一枢轴共轴。近侧支架的第一齿轮可以与近侧毂的第一齿轮以啮合方式接合。
至少一个齿轮系可以包括第二齿轮系，其包括：第二齿轮，其可转动地支撑在近侧毂中，其中近侧毂的第二齿轮与控制系统的至少一个电动机操作性地连通，并且其中近侧毂的第一齿轮和第二齿轮可以同心。第二齿轮系可以包括第二齿轮，其沿第一枢轴可转动地支撑在近侧支架中，其中近侧支架的第一齿轮和第二齿轮可以同心。
第二齿轮系可以还包括：近侧第二齿轮，其沿近侧支架的纵轴可转动地支撑在远侧毂组件的近侧支架中；远侧第二齿轮，其沿近侧支架的纵轴可转动地支撑在远侧毂组件的近侧支架中，其中近侧第二齿轮和远侧第二齿轮可以不可转动地支撑在共同轴上；以及其不可转动地支撑在远侧毂组件的远侧支架上的第二齿轮，其中远侧支架的第二齿轮限定与第二枢轴共轴的转轴，其中远侧支架的第二齿轮可以与近侧毂的远侧第二齿轮以啮合方式接合。
至少一个齿轮系可以包括第三齿轮系，其包括：第三齿轮，其可转动地支撑在近侧毂中。近侧毂的第三齿轮可以与控制系统的至少一个电动机操作性地连通。近侧毂的第一齿轮、第二齿轮和第三齿轮可以彼此同心。
第三齿轮系还可以包括：近侧第三齿轮，其沿近侧支架的纵轴可转动地支撑在远侧毂组件的近侧支架中；远侧第三齿轮，其沿近侧支架的纵轴可转动地支撑在远侧毂组件的近侧支架中，其中近侧支架的近侧第三齿轮与远侧第三齿轮可以不可转动地支撑在共同轴上；可转动地支撑在远侧毂组件的远侧支架中的第三齿轮，其中远侧支架的第三齿轮限定与第二枢轴共轴的转轴，其中远侧支架的第三齿轮可以与近侧支架的远侧第三齿轮以啮合方式接合；近侧第三齿轮，其沿远侧支架的纵轴可转动地支撑在远侧毂组件的远侧支架中，在远侧支架中所支撑的近侧第三齿轮可以与远侧支架的第二枢轴上可转动地支撑的第三齿轮以啮合方式接合；以及远侧第三齿轮，其沿远侧支架的纵轴可转动地支撑在远侧毂组件的远侧支架中，其中远侧支架的近侧第三齿轮和远侧第三齿轮可以不可转动地支撑在共同轴上。
每个钳夹的近侧部可以与远侧支架中可转动地支撑的远侧第三齿轮以啮合方式接合。
在近侧毂中可转动地支撑的第一齿轮可以限定第一直径。在近侧毂中可转动地支撑的第二齿轮可以限定比第一直径小的第二直径。在近侧毂中可转动地支撑的第三齿轮可以限定比第二直径小的第三直径。
在近侧支架上不可转动地支撑的第一齿轮可以限定第一直径。在近侧支架的第一枢轴上可转动地支撑的第二齿轮可以限定比第一直径小的第二直径。在近侧支架的第一枢轴上可转动地支撑的第三齿轮可以限定比第二直径小的第三直径。
在近侧支架中可转动地支撑的近侧第二齿轮可以限定直径。在近侧支架中可转动地支撑的近侧第三齿轮可以限定比远侧毂组件的近侧支架中可转动地支撑的近侧第二齿轮的直径小的直径。
在远侧支架上不可转动地支撑的第二齿轮可以限定直径。在远侧支架上可转动地支撑的第三齿轮可以限定比远侧支架上不可转动地支撑的第二齿轮的直径小的直径。
下面参照附图更加详细地描述本公开的示例性实施例的进一步细节和方案。
附图说明
下文将参照附图来描述本公开的实施例，其中：
图1A是根据本公开的医疗工作站和操作台的示意图；
图1B是图1A的医疗工作站的控制设备的电动机的示意性立体图；
图2是根据本公开实施例的用于图1A的医疗工作站的末端执行器的立体图，示出了其钳夹组件处于非关节式运动且闭合的状态；
图3是根据图2的末端执行器的立体图，示出了其钳夹组件处于关节式运动且打开的状态；
图4是图2和图3的处于部件分离的末端执行器的立体图；
图5是根据本公开另一实施例的用于图1A的医疗工作站的末端执行器的立体图，示出了其钳夹组件处于非关节式运动且闭合的状态；
图6是图5的末端执行器的立体图，示出了其钳夹组件处于关节式运动且打开的状态；
图7是图5和图6的处于部件分离的末端执行器的立体图；
图8是根据本公开另一实施例的用于图1A的医疗工作站的末端执行器的立体图，示出了其钳夹组件处于非关节式运动且闭合的状态；
图9是图8的末端执行器的立体图，示出了其钳夹组件处于关节式运动且打开的状态；以及
图10是图8和图9的处于部件分离的末端执行器的立体图。
具体实施方式
将参照附图详细描述目前所公开的钳夹组件和/或腕组件的实施例，其中在若干附图中的每个中，相似的参考数字标记相同或对应的元件。如文中采用的术语“远侧”是指钳夹组件和/或腕组件的离使用者较远的部分，同时术语“近侧”是指钳夹组件和/或腕组件的离使用者较近的部分。
首先参照图1A和图1B，将医疗工作站总体地图示为工作站1，医疗工作站一般包括多个机器人手臂2、3；控制设备4；以及与控制设备4联接的操作台5。操作台5包括显示设备6，其安装为尤其显示三维图像；以及手动输入设备7、8，利用该手动输入设备，例如外科医生的人员(未示出)能够以第一操作模式来遥控操纵机器人手臂2、3，其原理对于本领域技术人员是已知的。
根据文中所公开的若干实施例中的任一个，每个机器人手臂2、3包括通过接头连接的多个构件和附属设备9、10，该附属设备上可以附有例如支撑末端执行器100的手术工具“ST”，下文将进行更详细地描述。
机器人手臂2、3可以由与控制设备4连接的电驱动装置(未示出)来驱动。尤其利用计算机程序将控制设备4(例如计算机)设定成以如下方式触发该驱动装置：使得机器人手臂2、3、其附属设备9、11以及手术工具(包括末端执行器100)根据利用手动输入设备7、8所限定的运动来执行所需运动。控制设备4还可以以如下方式设定：使得其调节机器人手臂2、3和/或驱动装置的运动。
医疗工作站1配置成用于躺在患者检查台12上待利用末端执行器100以微创方式进行治疗的患者13。医疗工作站1还可以包括两个以上的机器人手臂2、3，附加机器人手臂可同样与控制设备4连接并利用操作台5来遥控操纵。医疗器械或手术工具(包括末端执行器100)还可以附接至附加机器人手臂上。
可以参照2011年11月3日提交的名称为“Medical Workstation(医疗工作站)”的美国专利公开第2012/0116416号，其全部内容通过引用并入文中，用于详细论述医疗工作站1的构建和操作。
控制设备4可以控制多个电动机(电动机1...n)，每个电动机配置成缠绕或释放穿过每个机器人手臂而延伸至手术工具的末端执行器100的一定长度的线缆“C”(图1B)，或者配置成转动齿轮或驱动轴(未示出)。在使用时，由于线缆“C”被缠绕或释放，线缆“C”、齿轮或驱动轴可以引起手术工具的每个末端执行器的操作和/或运动。可以想到控制设备4协调各电动机(电动机1...n)的触发来协调一定长度的相应线缆“C”的缠绕或释放以便于协调相应末端执行器的操作和/或运动。尽管图1B示出了通过单个电动机缠绕或释放的单根线缆“C”，但是在某些情形中，可以通过单个电动机缠绕或释放两根以上的线缆或单根线缆的两端。例如，在某些情形中，两根线缆或两个线缆端可以沿相对的方向联接至单个电动机上，以便在电动机在第一方向上触发时线缆中的一根缠绕同时另一根释放。可以在不同实施例中采用其他的线缆布置。
现参照图2至图4，将用于与机器人手臂2、3连接且通过控制设备4来操纵的末端执行器总体地标记为100。末端执行器100包括腕组件110以及与腕组件110枢转地连接的钳夹组件130。腕组件110包括呈向远侧延伸的U形夹形式的近侧毂112，其限定第一纵轴“X1-X1”。近侧毂112限定定向为与第一纵轴“X1-X1”正交的第一枢轴“Y-Y”。在实施例中，第一枢轴“Y-Y”可以延伸穿过第一纵轴“X1-X1”。呈U形夹形式的近侧毂112包括一对间隔开、相对的直立支撑部112a、112b，第一枢轴“Y-Y”延伸穿过该支撑部112a、112b。
腕组件110还包括远侧毂组件116，其与近侧毂112的直立支撑部112a、112b枢转地连接。远侧毂组件116包括近侧U形支架118，其具有通过后跨部118c相连的、间隔开的、相对且向近侧延伸的一对直立支撑部118a、118b。近侧U形支架118的直立支撑部118a、118b通过枢销114与近侧毂112的相应直立支撑部112a、112b枢转地连接。枢销114沿第一枢轴“Y-Y”设置。
远侧毂组件116还包括远侧U形支架120，其具有通过后跨部120c相连的、间隔开的、相对且向远侧延伸的一对直立支撑部120a、120b。远侧U形支架120的直立支撑部120a、120b限定在其间的第二枢轴“Z-Z”。远侧U形支架120的后跨部120c绕第二纵轴“X2-X2”与近侧U形支架118的后跨部118c枢转地连接。第二枢轴“Z-Z”定位成与第一纵轴“X1-X1”正交。在实施例中，当第一纵轴“X1-X1”与第二纵轴“X2-X2”平行时(即，末端执行器100处于轴向对准定向)，第二枢轴“Z-Z”可以延伸穿过第一纵轴“X1-X1”。
继续参照图2至图4，如上所述，末端执行器100包括钳夹组件130，其枢转地支撑在枢销136上，该枢销136在远侧U形支架120的直立支撑部120a、120b之间沿第二枢轴“Z-Z”而延伸。钳夹组件130包括一对钳夹132、134，其与远侧U形支架120的直立支撑部120a、120b枢转地连接。具体而言，每个钳夹132、134包括通过枢销136与远侧U形支架120的直立支撑部120a、120b枢转地连接的相应近侧端132a、134a；以及相应远侧端132b、134b。一对钳夹132、134的每个远侧端132b、134b限定彼此并置的夹持部或齿部。
根据本公开和本实施例，末端执行器100包括齿轮系统140，其配置成并适于将通过控制设备4的电动机(电动机1...n)所产生的转动力转换/传输成腕组件110沿第一枢轴“Y-Y”的关节式运动、钳夹组件130沿第二纵轴“X2-X2”的转动以及钳夹组件130的打开/闭合。
齿轮系统140包括第一齿轮组件150，其可转动地支撑在腕组件110的近侧毂112中。第一齿轮组件150包括第一锥齿轮或外锥齿轮152a，其支撑在第一驱动管或外驱动管152b的远侧端上。外锥齿轮152a限定第一直径或相对较大直径。外驱动管152b限定穿过其中的腔体，其具有与第一纵轴“X1-X1”共轴或平行的纵轴。可以通过控制设备4的相应电动机(电动机1...n)直接地或间接地作用于外驱动管152b的近侧端以便绕其纵轴转动。
第一齿轮组件150还包括第二锥齿轮或中间锥齿轮154a，其支撑在第二驱动管或中间驱动管154b的远侧端上。中间锥齿轮154a限定比外锥齿轮152a的直径小的第二直径或相对中等的直径。中间驱动管154b限定穿过其中的腔体，其具有与第一纵轴“X1-X1”共轴或平行的纵轴。中间驱动管154b的大小和尺寸限定为可转动地设置在外驱动管152b的腔体内。可以通过控制设备4的相应电动机(电动机1...n)直接地或间接地作用于中间驱动管154b的近侧端以便绕其纵轴转动。
第一齿轮组件150还包括第三锥齿轮或内锥齿轮156a，其支撑在第三驱动管或内驱动管156b的远侧端上。内锥齿轮156a限定比中间锥齿轮154a的直径小的第三直径或相对较小直径。内驱动管156b限定穿过其中的腔体，其具有与第一纵轴“X1-X1”共轴或平行的纵轴。内驱动管156b的大小和尺寸限定为可转动地设置在中间驱动管154b的腔体内。可以通过控制设备4的相应电动机(电动机1...n)直接地或间接地作用于内驱动管156b的近侧端以便绕其纵轴转动。
如图2至图4所示，第一齿轮组件150的锥齿轮152a、154a和156a以同心堆叠布置方式来布置，其中中间锥齿轮154a堆叠或设置在外锥齿轮152a的远侧并与其同心，且内锥齿轮156a堆叠或设置在中间锥齿轮154a的远侧并与其同心。
齿轮系统140包括第二齿轮组件160，其可转动地支撑在远侧毂组件116的近侧U形支架118中/上，并可转动地支撑在枢销114上。具体而言，第二齿轮组件160包括第一锥齿轮或外锥齿轮162a，其不可转动地支撑在近侧U形支架118的直立支撑部118a、118b之一上，或与直立支撑部118a、118b之一形成为整体。第二齿轮组件160的外锥齿轮162a限定第一直径或相对较大直径。第二齿轮组件160的外锥齿轮162a与第一齿轮组件150的外锥齿轮152a以啮合方式接合。
第二齿轮组件160还包括第二锥齿轮或中间锥齿轮164a，其可转动地支撑在枢销114上。第二齿轮组件160的中间锥齿轮164a限定第二直径或中等直径。第二齿轮组件160的中间锥齿轮164a与第一齿轮组件150的中间锥齿轮154a以啮合方式接合。
第二齿轮组件160还包括第三锥齿轮或内锥齿轮166a，其可转动地支撑在枢销114上。第二齿轮组件160的内锥齿轮166a限定第三直径或小直径。第二齿轮组件160的内锥齿轮166a与第一齿轮组件150的内锥齿轮156a以啮合方式接合。
第二齿轮组件160的锥齿轮162a、164a和166a以同心堆叠布置来布置，其中中间锥齿轮164a堆叠或设置在外锥齿轮162a顶上并与其同心，且内锥齿轮166a堆叠或设置在中间锥齿轮164a顶上并与其同心。
齿轮系统140包括第三齿轮组件170，其可转动地支撑在远侧毂组件116的近侧U形支架118中/上，具体而言，支撑在近侧U形支架118的在直立支撑部118a、118b之间的后跨部118c上。第三齿轮组件170包括中间锥齿轮174a，其锁至杆部120d或不可转动地支撑在杆部120d上，该杆部从远侧U形支架120的后跨部120c延伸出，并延伸穿过近侧U形支架118的后跨部118c。中间锥齿轮174a沿第二纵轴“X2-X2”轴向地设置。第三齿轮组件170的中间锥齿轮174a限定中等直径。第三齿轮组件170的中间锥齿轮174a与第二齿轮组件160的中间锥齿轮164a以啮合方式接合。
第三齿轮组件170还包括内锥齿轮176a，其锁至杆部178b或不可转动地支撑在杆部178b之上，该杆部从可转动地设置在远侧U形支架120的直立支撑部120a、120b之间的钳夹锥齿轮178a延伸。杆部178b穿过远侧U形支架120的后跨部120c、穿过近侧U形支架118的后跨部118c且穿过第三齿轮组件170的中间锥齿轮174a而延伸。内锥齿轮176a沿第二纵轴“X2-X2”轴向地设置。第三齿轮组件170的内锥齿轮176a限定小直径。第三齿轮组件170的内锥齿轮176a与第二齿轮组件160的内锥齿轮166a以啮合方式接合。
第三齿轮组件170的锥齿轮174a和176a以同心堆叠布置来布置，其中内锥齿轮176a堆叠或设置在中间锥齿轮174a的近侧并与其同心。
如图2至图4所示，钳夹132的近侧端132a限定或不可转动地支撑锥齿轮132c，且钳夹134的近侧端134a限定或不可转动地支撑锥齿轮134c。每个锥齿轮132c、134c与钳夹锥齿轮178a以啮合方式接合。
根据本公开，限定了第一齿轮系，其包括第一齿轮组件150的外锥齿轮152a，以及第二齿轮组件160的外锥齿轮162a。此外，限定了第二齿轮系，其包括第一齿轮组件150的中间锥齿轮154a、第二齿轮组件160的中间锥齿轮164a和第三齿轮组件170的中间锥齿轮174a。此外，限定了第三齿轮系，其包括第一齿轮组件150的内锥齿轮156a、第二齿轮组件160的内锥齿轮166a、第三齿轮组件170的内锥齿轮176a、钳夹锥齿轮178a以及钳夹132、134的锥齿轮132c、134c。
在操作时，当第一齿轮系被致动时，末端执行器100绕第一枢轴“Y-Y”枢转或关节式运动。具体而言，在操作时，外管152b的转动引起第一齿轮组件150的外锥齿轮152a的转动，这引起第二齿轮组件160的外锥齿轮162a的转动以使远侧毂组件116的近侧U形支架118绕第一枢轴“Y-Y”转动，从而使钳夹132、134绕第一枢轴“Y-Y”枢转，如箭头“A”所示。
而且在操作时，当第二齿轮系被致动时，末端执行器100沿第二纵轴“X2-X2”转动。具体而言，在操作时，中间管154b的转动引起第一齿轮组件150的中间锥齿轮154a的转动，这引起第二齿轮组件160的中间锥齿轮164a的转动，这引起第三齿轮组件170的中间锥齿轮174a的转动以使远侧毂组件116的远侧U形支架120绕第二纵轴“X2-X2”转动，从而使钳夹132、134绕第二纵轴“X2-X2”转动，如箭头“B”所示。
此外，在操作时，当第三齿轮系被致动时，末端执行器100被致动来使钳夹132、134打开/闭合。具体而言，在操作时，内管156b的转动引起第一齿轮组件150的内锥齿轮156a的转动，这引起第二齿轮组件160的内锥齿轮166a的转动，这引起第三齿轮组件170的内锥齿轮176a的转动，这引起钳夹锥齿轮178a的转动，并引起钳夹132、134的锥齿轮132c、134c如箭头“C”所示的绕第二枢轴“Z”的相对转动，使得钳夹132、134进行打开或闭合。
现参照图5至图7，将根据本公开的另一实施例的用于与机器人手臂2、3连接并用于通过控制设备4操纵的末端执行器总体地标记为200。
末端执行器200包括腕组件210和与腕组件210枢转地连接的钳夹组件230。腕组件210包括呈向远侧延伸的U形夹形式的近侧毂212，其限定第一纵轴“X1-X1”。近侧毂212限定定向为与第一纵轴“X1-X1”正交的第一枢轴“Y-Y”。在实施例中，第一枢轴“Y-Y”可以延伸穿过第一纵轴“X1-X1”。近侧毂212呈U形夹形式，包括间隔开且相对的一对直立支撑部212a、212b，第一枢轴“Y-Y”延伸穿过该对支撑部212a、212b。
腕组件210还包括远侧毂组件216，其与近侧毂212的直立支撑部212a、212b枢转地连接。远侧毂组件216包括近侧支架218，其具有通过后跨部218c互相连接的、间隔开的、相对且向近侧延伸的一对直立支撑部218a、218b，以及通过后跨部218c互相连接的、间隔开的、相对且向远侧延伸的一对直立支撑部218d、218e。近侧支架218的近侧直立支撑部218a、218b通过第一枢销214a与近侧毂212的相应直立支撑部212a、212b枢转地连接。第一枢销214a限定第一枢轴“Y-Y”。
远侧毂组件216还包括远侧支架220，其具有通过后跨部220c互相连接的、间隔开的、相对且向近侧延伸的一对直立支撑部220a、220b，以及通过后跨部220c互相连接的、间隔开的、相对且向远侧延伸的一对直立支撑部220d、220e。远侧支架220的近侧直立支撑部220a、220b通过第二枢销214b与近侧支架218的相应直立支撑部218d、218e枢转地连接。第二枢销214b限定第二枢轴“W-W”。远侧支架220限定第二纵轴“X2-X2”。第二枢轴“W-B”定向为与第一纵轴“X1-X1”正交。
继续参照图5至图7，如上所述，末端执行器200包括钳夹组件230，其枢转地支撑在第三枢销214c上，该第三枢销在远侧支架220的直立支撑部220d、220e之间沿第三枢轴“Z-Z”延伸。钳夹组件230包括与远侧支架220的直立支撑部220d、220e枢转地连接的一对钳夹232、234。具体而言，每个钳夹232、234包括通过第三枢销214c与远侧支架220的直立支撑部220d、220e枢转地连接的相应近侧端232a、234a；以及相应远侧端232b、234b。一对钳夹232、234的每个远侧端232b、234b限定彼此并置的夹持部或齿部。
根据本公开以及本实施例，末端执行器200包括齿轮系统240(图6)，其配置成并适于将通过控制设备4的电动机(电动机1...n)所产生的转动力转换/传输成腕组件210沿第一枢轴“Y-Y”的关节式运动、腕组件210沿第二枢轴“W-W”的关节式运动以及钳夹组件230的打开/闭合。
齿轮系统240包括第一齿轮组件250，其可转动地支撑在腕组件210的近侧毂212中。第一齿轮组件250包括第一锥齿轮或外锥齿轮252a，其支撑在第一驱动管或外驱动管252b的远侧端上。外锥齿轮252a限定第一直径或相对较大的直径。外驱动管252b限定穿过其中的腔体，其具有与第一纵轴“X1-X1”共轴或平行的纵轴。可以通过控制设备4的相应电动机(电动机1...n)直接地或间接地作用于外驱动管252a的近侧端以便绕其纵轴转动。
第一齿轮组件250还包括第二锥齿轮或中间锥齿轮254a，其支撑在第二驱动管或中间驱动管254b的远侧端。中间锥齿轮254a限定比外锥齿轮252a的直径小的第二直径或相对中等的直径。中间驱动管254b限定穿过其中的腔体，其具有与第一纵轴“X1-X1”共轴或平行的纵轴。中间驱动管254b具有的大小和尺寸限定为可转动地设置在外驱动管252b的腔体内。可以通过控制设备4的相应电动机(电动机1...n)直接地或间接地作用于中间驱动管254b的近侧端以便绕其纵轴转动。
第一齿轮组件250进一步还包括第三锥齿轮或内锥齿轮256a，其支撑在第三驱动管或内驱动管256b的远侧端。内锥齿轮256a限定比中间锥齿轮254a的直径小的第三直径或相对较小的直径。内驱动管256b限定穿过其中的腔体，其具有与第一纵轴“X1-X1”共轴或平行的纵轴。内驱动管256b的大小和尺寸限定为可转动地设置在中间驱动管254b的腔体内。可以通过控制设备4的相应电动机(电动机1...n)直接地或间接地作用于内驱动管256b的近侧端以便绕其纵轴转动。
如图5至图7所示，第一齿轮组件250的锥齿轮252a、254a和256a以同心堆叠布置来布置，其中中间锥齿轮254a堆叠或设置在外锥齿轮252a的远侧并与其同心，且内锥齿轮256a堆叠或设置在中间锥齿轮254a的远侧并与其同心。
齿轮系统240包括第二齿轮组件260，其可转动地支撑在远侧毂组件216的近侧支架218中/上，并可转动地支撑在第一枢销214a上。具体而言，第二齿轮组件260包括第一锥齿轮或外锥齿轮262a，其不可转动地支撑在近侧支架218的近侧直立支撑部218a、218b之一上，或与近侧直立支撑部218a、218b之一形成为整体。第二齿轮组件260的外锥齿轮262a限定第一直径或相对较大的直径。第二齿轮组件260的外锥齿轮262a与第一齿轮组件250的外锥齿轮252a以啮合方式接合。
第二齿轮组件260还包括第二锥齿轮或中间锥齿轮264a，其可转动地支撑在第一枢销214a上。第二齿轮组件260的中间锥齿轮264a限定第二直径或中等直径。第二齿轮组件260的中间锥齿轮264a与第一齿轮组件250的中间锥齿轮254a以啮合方式接合。
第二齿轮组件260还包括第三锥齿轮或内锥齿轮266a，其可转动地支撑在第一枢销214a上。第二齿轮组件260的内锥齿轮266a限定第三直径或较小的直径。第二齿轮组件260的内锥齿轮266a与第一齿轮组件250的内锥齿轮256a以啮合方式接合。
第二齿轮组件260的锥齿轮262a、264a和266a以同心堆叠布置来布置，其中中间锥齿轮264a堆叠或设置在外锥齿轮262a的顶上并与其同心，且内锥齿轮266a堆叠或设置在中间锥齿轮264a的顶上并与其同心。
齿轮系统240包括第三齿轮组件270，其可转动地支撑在远侧毂组件216的近侧支架218中/上，具体而言，支撑在近侧支架218在直立支撑部218a、218b之间以及在直立支撑部218d、218e之间的后跨部218c上。第三齿轮组件270包括锁至杆部274c或不可转动地支撑在杆部274c上的近侧中间锥齿轮274a，其不可转动地支撑远侧中间锥齿轮274b，该杆部274c延伸穿过后跨部218c。
近侧中间锥齿轮274a和远侧中间锥齿轮274b沿第二纵轴“X2-X2”轴向地设置。第三齿轮组件270的近侧中间锥齿轮274a和远侧中间锥齿轮274b各自限定中等直径。第三齿轮组件270的近侧中间锥齿轮274a与第二齿轮组件260的中间锥齿轮264a以啮合方式接合。
第三齿轮组件270还包括锁至杆部276c或不可转动地支撑在杆部276c上的近侧内锥齿轮276a，杆部276c不可转动地支撑远侧内锥齿轮276b，该杆部276c穿过杆部274c并且穿过后跨部218c延伸。近侧内锥齿轮276a和远侧内锥齿轮276b沿第二纵轴“X2-X2”轴向地设置。第三齿轮组件270的近侧内锥齿轮276a和远侧内锥齿轮276b各自限定较小直径。第三齿轮组件270的近侧内锥齿轮276a与第二齿轮组件260的内锥齿轮266a以啮合方式接合。
第三齿轮组件270的近侧锥齿轮274a和276a以同心堆叠布置来布置，其中近侧内锥齿轮276a堆叠或设置在近侧中间锥齿轮274a的近侧并与其同心，且其中远侧内锥齿轮276b堆叠或设置在远侧中间锥齿轮274b的远侧并与其同心。
齿轮系统240另外还包括第四齿轮组件280，其可转动地支撑在远侧毂组件216的近侧支架218中/上，且可转动地支撑在第二枢销214b上。具体而言，第四齿轮组件280包括在近侧支架218的远侧直立支撑部218d、218e之间可转动地支撑在第二枢销214b上的中间锥齿轮284a。具体而言，第四齿轮组件280的中间锥齿轮284a与近侧支架218的远侧直立支撑部218d、218e之一不可转动地连接，或者与其形成为整体。第四齿轮组件280的中间锥齿轮284a限定中等直径。第四齿轮组件280的中间锥齿轮284a与第三齿轮组件270的远侧中间锥齿轮274b以啮合方式接合。
第四齿轮组件280还包括内锥齿轮286a，其可转动地支撑在第二枢销214b上。第四齿轮组件280的内锥齿轮286a限定小直径。第四齿轮组件280的内锥齿轮286a与第三齿轮组件270的内锥齿轮276b以啮合方式接合。
第四齿轮组件280的锥齿轮284a和286a以同心堆叠布置来布置，其中内锥齿轮286a堆叠在中间锥齿轮284a顶上并与其同心。
齿轮系统240包括第五齿轮组件290，其可转动地支撑在远侧毂组件216的远侧支架220中/上，具体而言，支撑在远侧支架220在直立支撑部220a、220b之间以及在直立支撑部220d、220e之间的后跨部220c上。第五齿轮组件290包括锁至杆部296c或不可转动地支撑在杆部296c上的近侧内锥齿轮296a，其不可转动地支撑设置在远侧支架220的后跨部220c的远侧的远侧内锥齿轮296b，该杆部296c延伸穿过后跨部220c。近侧内锥齿轮296a和远侧内锥齿轮296b沿第二纵轴“X2-X2”轴向地设置。第五齿轮组件290的近侧内锥齿轮296a和远侧内锥齿轮296b各自限定小直径。第五齿轮组件290的近侧内锥齿轮296a与第四齿轮组件280的内锥齿轮286a以啮合方式接合。
如图5至图7所示，钳夹232的近侧端232a限定或不可转动地支撑锥齿轮232c，且钳夹234的近侧端234a限定或不可转动地支撑锥齿轮234c。每个锥齿轮232c、234c与第五齿轮组件290的远侧内锥齿轮296b以啮合方式接合。
根据本公开，限定了第一齿轮系，其包括第一齿轮组件250的外锥齿轮252a以及第二齿轮组件260的外锥齿轮262a。此外，限定了第二齿轮系，其包括第一齿轮组件250的中间锥齿轮254a、第二齿轮组件260的中间锥齿轮264a、第三齿轮组件270的中间近侧锥齿轮274a和中间远侧锥齿轮274b以及第四齿轮组件280的中间锥齿轮284a。此外，限定了第三齿轮系，其包括第一齿轮组件250的内锥齿轮256a、第二齿轮组件260的内锥齿轮266a、第三齿轮组件270的内近侧锥齿轮276a和内远侧锥齿轮276b、第四齿轮组件280的内锥齿轮286a、第五齿轮组件290的内近侧锥齿轮296a和内远侧锥齿轮296b以及钳夹232、234的锥齿轮232c、234c。
在操作中，当第一齿轮系被致动时，末端执行器200绕第一枢轴“Y-Y”枢转或关节式运动。具体而言，在操作时，外管252b的转动引起第一齿轮组件250的外锥齿轮252a的转动，这引起第二齿轮组件260的外锥齿轮262a的转动以使远侧毂组件216的近侧支架218绕第一枢轴“Y-Y”转动，从而使枢转钳夹232、234绕第一枢轴“Y-Y”转动，如箭头“A”所示。
而且在操作中，当第二齿轮系被致动时，末端执行器200绕第二枢轴“W-W”枢转或关节式运动。具体而言，在操作时，中间管254b的转动引起第一齿轮组件250的中间锥齿轮254a的转动，这引起第二齿轮组件260的中间锥齿轮264a的转动，这引起第三齿轮组件270的中间近侧锥齿轮274a和远侧锥齿轮274b的转动，这引起第四齿轮组件280的中间锥齿轮284a的转动以使远侧毂组件216的远侧支架220绕第二枢轴“W-W”转动，从而使钳夹232、234绕第二枢轴“W-W”转动，如箭头“B”所示。
此外，在操作时，当第三齿轮系被致动时，末端执行器200被致动以使钳夹232、234打开/闭合。具体而言，在操作时，内管256b的转动引起第一齿轮组件250的内锥齿轮256a的转动，这引起第二齿轮组件260的内锥齿轮266a的转动，这引起第三齿轮组件270的内近侧锥齿轮276a和内远侧锥齿轮276b的转动，这引起第四齿轮组件280的内锥齿轮286a的转动，这引起第五齿轮组件290的内近侧锥齿轮296a和远侧锥齿轮296b的转动，并引起钳夹232、234的锥齿轮232c、234c如箭头“C”所示绕第三枢轴“Z”的反向转动，使得钳夹232、234打开或闭合。
现参照图8至图10，将根据本公开的另一实施例的用于与机器人手臂2、3连接并用于通过控制设备4进行操纵的末端执行器总体地标记为300。末端执行器300包括腕组件310，和与腕组件310枢转地连接的钳夹组件330。腕组件310包括呈向远侧延伸的U形夹形式的近侧毂312，其限定第一纵轴“X1-X1”。近侧毂312限定定向为与第一纵轴“X1-X1”正交的第一枢轴“Y-Y”。在实施例中，第一枢轴“Y-Y”可以延伸穿过第一纵轴“X1-X1”。近侧毂312呈U形夹形式，包括间隔开且相对的一对直立支撑部312a、312b，第一枢轴“Y-Y”延伸穿过该对支撑部。
腕组件310还包括与近侧毂312的直立支撑部312a、312b枢转地连接的远侧毂组件316。远侧毂组件316包括近侧U形支架318，其具有通过后跨部318c互相连接的、间隔开的、相对且向近侧延伸的一对直立支撑部318a、318b。近侧U形支架318的直立支撑部318a、318b通过沿第一枢轴“Y-Y”设置的枢销(未示出)与近侧毂312的相应直立支撑部312a、312b枢转地连接。
远侧毂组件316还包括远侧U形支架320，其具有通过后跨部320c互相连接的、间隔开的、相对且向远侧延伸的一对直立支撑部320a、320b。远侧U形支架320的直立支撑部320a、320b限定在其间的第二枢轴“Z-Z”。远侧U形支架320的后跨部320c与近侧U形支架318的后跨部318c绕第二纵轴“X2-X2”枢转地连接。第二枢轴“Z-Z”定向为与第一纵轴“X1-X1”正交。
继续参照图8至图10，如上所述，末端执行器300包括钳夹组件330，其枢转地支撑在枢销336上，该枢销在远侧U形支架320的直立支撑部320a、320b之间沿第二枢轴“B-B”延伸。钳夹组件330包括一对钳夹332、334，其与远侧U形支架320的直立支撑部320a、320b枢转地连接。具体而言，每个钳夹332、334包括通过枢销336与远侧U形支架320的直立支撑部320a、320b枢转地连接的相应近侧端332a、334a；以及相应远侧端332b、334b。一对钳夹332、334的每个远侧端332b、334b限定彼此并置的夹持部或齿部。
根据本公开以及本实施例，末端执行器300包括齿轮系统340，其配置成并适于将通过控制设备4的电动机(电动机1...n)所产生的转动力转换/传输成腕组件310沿第一枢轴“Y-Y”的关节式运动、钳夹组件330沿第二纵轴“X2-X2”的转动以及钳夹组件330的打开/闭合。
齿轮系统340包括锥齿轮352a，其支撑在外驱动管352b的远侧端上。外驱动管352b限定穿过其中的腔体，该腔体具有与第一纵轴“X1-X1”共轴或平行的纵轴。可以通过控制设备4的相应电动机(电动机1...n)直接地或间接地作用于外驱动管352b的近侧端以便绕其纵轴转动。
齿轮系统340还包括：第一锥齿轮362a，其可转动地支撑在近侧U形支架318的直立支撑部318a上；以及第二锥齿轮362b，其可转动地支撑在近侧U形支架318的直立支撑部318b之一上。第一锥齿轮362a和第二锥齿轮362b与锥齿轮352a以啮合方式接合。
齿轮系统340还包括锁至杆部372c或不可转动地支撑在杆部372c上的第一锥齿轮372a，该杆部372c从第二锥齿轮372b延伸，其中杆部372c穿过远侧U形支架320的后跨部320c并穿过近侧U形支架318的后跨部318c而延伸。第一锥齿轮372a和第二锥齿轮372b沿第二纵轴“X2-X2”轴向地设置。第一锥齿轮372a与第一锥齿轮362a和第二锥齿轮362b以啮合方式接合。
如图8至图10所示，钳夹332的近侧端332a限定或不可转动地支撑锥齿轮332c，且钳夹334的近侧端334a限定或不可转动地支撑锥齿轮334c。每个锥齿轮332c、334c与第二锥齿轮372b以啮合方式接合。
根据本公开，限定了齿轮系，其包括锥齿轮352a、第一和第二锥齿轮362a、362b、第一和第二锥齿轮372a、372b以及钳夹332、334的锥齿轮332c、334c。在操作时，当末端执行器300的齿轮系被致动时，末端执行器300被致动来使钳夹332、334进行打开/闭合。具体而言，在操作时，管352b的转动引起锥齿轮352a的转动，其引起第一和第二锥齿轮362a、362b的转动，这引起第一和第二锥齿轮372a、372b的转动，这引起钳夹332、334的锥齿轮332c、334c如箭头“C”所示绕第二枢轴“Z”反向转动，使得钳夹332、334进行打开或闭合。
尽管锥齿轮已经示出并描述为包含至文中描述的末端执行器中，但可以设想在本公开的范围内可以单独地或以互相组合方式来采用其他类型的齿轮，诸如(例如)正齿轮、冠齿轮、蜗轮、链齿轮等。
参照图8至图10，单根第一线缆322至少部分地缠绕在凸轮盘或卷轴326上并固定至其至少一个点上，或单根第一线缆322可以以绞盘的方式绕卷轴326缠绕至少一周。单根第一线缆322可以包括近侧端，其延伸穿过机器人手臂2或3并与控制设备4的相应第一电动机和第二电动机(未示出)操作地关联。尽管示出并描述了单根第一线缆322，但仍然可以设想第一对线缆(未示出)包括可以固定至卷轴326的相对两侧或绕卷轴326缠绕至少180度并固定在其上的相应远侧端，并包括延伸穿过机器人手臂2或3并与控制设备4的相应第一电动机和第二电动机(未示出)操作地关联的相应近侧端。
单根第二线缆324至少部分地缠绕在卷轴326上并固定至其至少一个点上，或者单根第二线缆324可以以绞盘的方式绕卷轴326缠绕至少一周。单根第二线缆324可以包括延伸穿过机器人手臂2或3并与控制设备4的相应第一电动机和第二电动机(未示出)操作地关联的近侧端。尽管示出并描述了单根第二线缆324，但仍然可以设想第一对线缆(未示出)包括可以固定至卷轴326的相对两侧或绕卷轴326缠绕至少180度并固定在其上的相应远侧端，并包括延伸穿过机器人手臂2或3并与控制设备4的相应第一电动机和第二电动机(未示出)操作地关联的相应近侧端。
轴326沿第一枢轴“Y-Y”可转动地支撑在近侧毂312的直立支撑部312a、312b之间。
在操作时，由于通过对应的电动机牵引第一线缆322或第二线缆324的一个近侧端，因此释放了第一线缆322或第二线缆324的另一相对端。这样，钳夹组件330可以在箭头“A”的方向上绕第一枢轴“Y-Y”枢转。
根据本公开，设想并描述了末端执行器，其设计紧凑，还可以传输相对较大的力或实现相对较大范围的枢转运动和转动运动。文中所公开的齿轮系可以实现相对较高负载的传输，并可以利用紧密容限来实现。此外，实现了相对较高精度的末端执行器运动的控制。
应理解，可以针对文中所公开的实施例进行各种改进。例如，尽管以连接至钳夹的近侧端的方式示出并描述了文中所公开的凸轮带轮，但仍可以设想，在本公开的范围内，凸轮带轮与钳夹的远侧部操作地连接。因此，上述描述不应理解为限制，而仅仅是各种实施例的范例。本领域技术人员会在所附权利要求的范围和精神内联想出其他的改进。
Claims (6)
1.一种末端执行器，其能够与机器人手术系统的机器人手臂连接并通过所述机器人手术系统的控制设备的至少一个电动机致动，所述末端执行器包括：
腕组件，其包括：
限定相应纵轴和第一枢轴的近侧毂；以及
限定相应纵轴的远侧毂组件，所述远侧毂组件包括：
与所述近侧毂枢转地连接的近侧支架；
与所述近侧支架枢转地连接的远侧支架，所述远侧支架能够相对所述近侧支架沿所述远侧毂组件的所述纵轴转动；以及
延伸穿过所述近侧支架和所述远侧支架的杆部；以及
钳夹组件，其包括枢转地支撑在所述远侧支架上的一对钳夹，每个钳夹包括：
与所述远侧支架枢转地连接的近侧部；以及
向其所述近侧部的远侧延伸的远侧部；以及
外驱动管，其具有与所述纵轴共轴或平行的纵轴，所述至少一个电动机中的相应电动机作用于所述外驱动管的近侧端使所述外驱动管绕其纵轴转动，并且所述外驱动管的远侧端具有齿轮；
齿轮系，其包括所述外驱动管的远侧端的齿轮、可转动地支撑在所述近侧支架的直立支撑部上的齿轮、不可转动地支撑在所述杆部的近侧端和远侧端上的齿轮以及所述一对钳夹的齿轮，所述齿轮系实现所述钳夹组件的打开或闭合；以及
线缆，其具有与所述至少一个电动机的第一电动机和第二电动机操作地关联的近侧端，所述线缆缠绕在可转动构件上，其中所述可转动构件可转动地支撑在所述近侧毂的直立支撑部之间，所述线缆和所述可转动构件实现所述钳夹组件绕所述第一枢轴的转动。
2.根据权利要求1所述的末端执行器，其中，所述线缆包括单根第一线缆和单根第二线缆。
3.根据权利要求1所述的末端执行器，其中，所述线缆包括第一对线缆和第二对线缆。
4.根据权利要求1至3中任一项所述的末端执行器，其中，所述线缆至少部分地缠绕在所述可转动构件上并固定至其至少一个点上。
5.根据权利要求1至3中任一项所述的末端执行器，其中，所述线缆以绞盘的方式绕所述可转动构件缠绕至少一周。
6.根据权利要求1所述的末端执行器，其中，所述可转动构件为凸轮盘或卷轴。
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- 2014-10-23 CN CN201480067486.9A patent/CN105813580B/zh not_active Expired - Fee Related
- 2014-10-23 CN CN201910869819.4A patent/CN110448377A/zh active Pending
- 2014-10-23 WO PCT/US2014/061863 patent/WO2015088655A1/en active Application Filing
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| CN1155833A (zh) * | 1995-06-20 | 1997-07-30 | 伍云升 | 用于医疗处理的活节机械手 |
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Also Published As
| Publication number | Publication date |
|---|---|
| US10220522B2 (en) | 2019-03-05 |
| EP3079609A1 (en) | 2016-10-19 |
| US20160303745A1 (en) | 2016-10-20 |
| CN105813580A (zh) | 2016-07-27 |
| EP3079609A4 (en) | 2018-04-18 |
| CN105813580B (zh) | 2019-10-15 |
| WO2015088655A1 (en) | 2015-06-18 |
| EP3079609B1 (en) | 2019-07-17 |
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