CN-121983893-A - Main manipulator easily-detachable design layered wiring structure based on electromagnetic shielding

CN121983893ACN 121983893 ACN121983893 ACN 121983893ACN-121983893-A

Abstract

The invention discloses a layered wiring structure based on electromagnetic shielding and easy-to-detach design of a main operator. The structure comprises a structural member serving as a supporting framework and a detachable shell detachably arranged on the outer side of the structural member, wherein the structural member and the detachable shell are matched to form a wiring space, a guide shielding piece is arranged in the wiring space, the space is divided into at least two physical layers, and the guide shielding piece is used for guiding main wiring harnesses of different types to conduct layered wiring and realize electromagnetic shielding. In addition, a first closed space formed by a fixed plate and an electromagnetic shielding cover is arranged inside the base frame to accommodate the control element, and the tail end holding and rotating mechanism is arranged in a stranding manner through a wiring slot and an axial channel. The invention effectively inhibits electromagnetic crosstalk through layered shielding wiring, improves signal precision, simplifies maintenance flow by utilizing the easily-detachable shell, prevents abrasion and shearing risks of cables under complex movement through scientific wiring paths, and remarkably enhances the reliability and durability of a main operator of the surgical robot.

Inventors

PAN LIZHI
Dong Kailun
CAI CHENGCHENG
MA ZHIKANG
LU BAOYUE
SUN WENZE
XU YIMING
LI JINHUA

Assignees

天津大学医疗机器人与智能系统研究院

Dates

Publication Date: 20260505
Application Date: 20260107

Claims (10)

1. A layered wiring structure based on electromagnetic shielding and designed for a main manipulator is characterized by comprising a structural member serving as a motion supporting framework of the main manipulator, and a detachable shell detachably arranged on the outer side of the structural member and matched with the structural member to form a wiring space, wherein a guide shielding piece is arranged in the wiring space and divides the wiring space into at least two mutually independent physical layers for guiding main bundles of different types to conduct layered wiring and realizing electromagnetic shielding among the physical layers.
2. The layered routing structure of claim 1, wherein the guiding shield comprises a baffle mounted inside the detachable housing, the baffle cooperates with an inner wall of the detachable housing and the structural member to construct a closed or semi-closed multi-layer shielding routing channel inside the detachable housing.
3. The layered routing structure of claim 1, wherein the primary manipulator comprises multiple stages of articulated assemblies, adjacent assemblies being connected by a hollow shaft through which the primary wire harness passes into a routing space created by the frangible housing and guide shield.
4. The layered routing structure of claim 1, further comprising an electrical protection device comprising a fixed plate and an electromagnetic shield that cooperate to form a first enclosed space for receiving a control element, the first enclosed space in communication with the routing space on the structural member.
5. The layered wiring structure according to claim 1, wherein the tail end of the main manipulator is provided with a holding and rotating mechanism, the holding and rotating mechanism comprises an opening and closing base, and a wiring channel extending along the axial direction and a radial wire slot communicated with the channel are arranged inside the opening and closing base and used for guiding the handle cable to be laid in a split manner and preventing motion interference.
6. The layered routing structure of claim 4, wherein an edge of the electromagnetic shield is provided with an extension flange that is connected to a base frame structural beam of the main manipulator by fasteners.
7. The layered routing structure according to claim 2, wherein the detachable housing comprises a housing body and a housing cover covering the housing body, and the blocking piece is fixed inside the housing body by a fastener.
8. The layered routing structure of claim 1, wherein the guide shield is made of a metallic material or a conductive shield layer is attached to a surface of the guide shield.
9. The layered routing structure of claim 1, further comprising a base portion and a protective housing surrounding the base portion, the protective housing being configured to isolate external static electricity.
10. The layered routing structure of claim 9, wherein a drag chain mechanism is provided on the base frame portion, and the main harness is introduced into the routing space of the structural member through the drag chain mechanism.

Description

Main manipulator easily-detachable design layered wiring structure based on electromagnetic shielding Technical Field The invention belongs to the technical field of medical robots, and particularly relates to a layered wiring structure based on electromagnetic shielding and easy-to-detach design of a main manipulator. Background The main manipulator is used as a core man-machine interaction device in the fields of robot assisted surgery, precision assembly, teleoperation and the like, and the basic function of the main manipulator is to accurately capture and transmit the action intention of an operator in real time. With the continuous iteration of medical robotics, modern major operators have evolved into highly integrated mechatronic systems, in which a large number of electronic components, including high resolution encoders, multi-axis force/torque sensors, miniature dc servomotors, drivers, and high frequency signal processing circuits, are integrated within a very limited space. In order to realize stable movement with multiple degrees of freedom, an extremely complex wire harness system needs to be laid inside a main operator, and a power wire, a power driving wire, a high-speed communication bus, a weak signal feedback wire and the like are covered. Therefore, the internal structural design of the main operator not only needs to meet the flexibility requirement of mechanical movement, but also has to have extremely high electrical performance stability and physical reliability so as to ensure that accurate and fine feedback can be provided in long-time and high-load operation. However, the main handler in the prior art has significant drawbacks in terms of wiring structure and electromagnetic compatibility. Firstly, the traditional scheme generally adopts simple ribbon bundling or bundling wiring, so that strong electromagnetic pulses generated by a power line are extremely easy to generate inductive coupling interference on parallel precise sensing signals, the accuracy of capturing operation intention is seriously influenced, and even system misoperation is caused. Secondly, in the frequent degree of freedom rotation and opening and closing process of the main operator, the internal wire harness is easy to interfere or abrade with the mechanical framework due to lack of effective physical guiding and limiting, and even the risk that the cable is sheared by the motion joint occurs. In addition, because the cable is arranged in disorder and lacks the modularization shell support, when equipment needs to be overhauld or cable is changed, often need dismantle a large amount of mechanical main body structures, maintenance process is extremely loaded down with trivial details, inefficiency and extremely easily cause secondary assembly damage. Therefore, how to design a wiring structure which can effectively realize electromagnetic shielding, ensure wiring safety and facilitate disassembly and maintenance is a technical problem to be solved in the field at present. Disclosure of Invention Aiming at the problems of serious electromagnetic crosstalk caused by the bundling wiring of the wire harness in the main manipulator, easy abrasion and cutting of cables under complex movement, difficult overhaul and maintenance caused by closed structure and the like in the prior art, the invention provides a layered wiring structure based on the easily-detachable design of the main manipulator of electromagnetic shielding. The invention discloses a layered wiring structure based on an electromagnetic shielding main manipulator easy-to-detach design, which is characterized by comprising a structural member serving as a motion supporting framework of the main manipulator, and an easy-to-detach shell detachably arranged on the outer side of the structural member and matched with the structural member to form a wiring space, wherein a guide shielding piece is arranged in the wiring space and divides the wiring space into at least two mutually independent physical layers for guiding main bundles of different types to conduct layered wiring and realizing electromagnetic shielding among the physical layers. In the above technical solution, preferably, the guide shielding member includes a blocking piece mounted inside the detachable casing, the blocking piece cooperates with an inner wall of the detachable casing and the structural member, and a closed or semi-closed multilayer shielding routing channel is constructed inside the detachable casing. In the above technical solution, preferably, the main manipulator includes a multi-stage hinge assembly, adjacent assemblies are connected by a hollow shaft, and the main harness passes through the hollow shaft and enters a wiring space formed by the detachable housing and the guide shield. In the above technical scheme, the electric protection device preferably further comprises an electric protection device, wherein the electric protection device comprises a fixing plate and a