Keith Marshall,Nikki Priyam Su-Ling Phoolchund,Thomas Bates Jackson
申请号：
GB201606848
公开号：
GB2538859A
申请日:
2016.04.20
申请国别(地区):
GB
年份:
2016
代理人:
摘要：
A drive unit for providing drive from a robot arm to an instrument, the drive-unit comprising: a plurality of drive elements 45a,b,c for engaging corresponding elements of the instrument, each drive-element 45a,b,c moves along a drive axis and the drive axes of the drive-elements 45a,b,c are substantially parallel； and a load cell structure 63 comprising a plurality of deflectable bodies 65a,b,c coupled to the drive-elements 45a,b,c for sensing load on the drive-elements 45a,b,c parallel to their drive axes and a frame comprising an integral member supporting the deflectable bodies 65a,b,c in such a way as to isolate each deflectable body 65a,b,c from load applied to the, or each other deflectable body 65a,b,c. The drive-unit may comprise a plurality of lead screws 40a,b,c, where each drive-element 45a,b,c is in threaded engagement with its respective lead-screw 40a,b,c. The drive-unit may comprise a plurality of motors 43a,b,c to move the drive-elements 65a,b,c. Each deflectable body 65a,b,c may be coupled to its respective lead-screw 40a,b,c via at least one bearing. The drive-unit may further comprise a splined coupling 90abc,91,abc,92,abc between each motor 43a,b,c and its respective lead-screw 40a,b,c, where each splined coupling permits axial play between the respective motor 43a,b,c and its splined coupling.
