CN105397838B - Main hand operating wrist of master-slave robot - Google Patents
Main hand operating wrist of master-slave robot Download PDFInfo
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- CN105397838B CN105397838B CN201510962685.2A CN201510962685A CN105397838B CN 105397838 B CN105397838 B CN 105397838B CN 201510962685 A CN201510962685 A CN 201510962685A CN 105397838 B CN105397838 B CN 105397838B
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 210000003797 carpal joint Anatomy 0.000 claims description 64
- 230000008878 coupling Effects 0.000 claims description 54
- 238000010168 coupling process Methods 0.000 claims description 54
- 238000005859 coupling reaction Methods 0.000 claims description 54
- 210000004247 hand Anatomy 0.000 claims description 48
- 238000009434 installation Methods 0.000 claims 1
- 210000003857 wrist joint Anatomy 0.000 abstract description 7
- 230000009975 flexible effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 6
- 230000004899 motility Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 210000001519 tissue Anatomy 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 206010016256 fatigue Diseases 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 238000013341 scale-up Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a main hand operating wrist of a master-slave robot, relates to the main hand operating wrist, and aims to solve the problems that a mechanical arm of a main hand end in the prior art is relatively small in working space, not high in flexibility, lack of force and moment of force feedback information, great in mechanism, lack of sense of force, low in space utilization rate, limited in application occasion, not flexible to operate, complex to operate, incapable of realizing force balance of any position of the mechanical arm, great in load for a doctor to drive the main hand to operate, and fatigable. The main hand operating wrist comprises an arm connector, a first wrist joint assembly, a second wrist joint assembly, a third wrist joint assembly, a fourth wrist joint assembly and a clamping mechanism connector, wherein the first wrist joint assembly comprises a first driver, a first motor, a first shaft coupler, a first shaft, a first absolute type angle encoder, a first housing and two first bevel gears. The main hand operating wrist is used for the field of medical robots.
Description
Technical field
The present invention relates to a kind of main handss operate wrist, and in particular to a kind of main handss of robot controller operate wrist.
Background technology
In order to realize good real-time status feedback, the complex situations in operation process are tackled, for the medical treatment of operation
Robot system is usually used master-slave mode mechanical arm.Operator drives main handss end movement, and each joint of main handss mechanical arm is mainly
Passive exercise, measurement obtains joint motions information, is mapped to from mechanical arm end, and driving realizes corresponding sports from handss.
Being commonly used for the mechanical arm at main handss end at present mainly has following several.Computer Motion companies of the U.S. develop
ZEUS system mechanics arms, but its work space is smaller, and motility is not high, lacks power/torque-feedback information.Intuitive
The da Vinci systemic-functions of Surgical companies research and development are powerful, but the monopolization of industry brings the price of costliness, and mechanism's mistake
In huge, lack force feeling, low space utilization.The main handss of PHANTOM that SensAble companies of the U.S. develop not only have three-dimensional
Force feedback, also three-dimensional moment are fed back, and can be ideal in virtual reality technology closer to from the real operational circumstances of handss
Force feedback equipment.But its price is very expensive, client also cannot be according to self-demand software for editing program, so as to the day of one's doom
Its application scenario is made.Delta that the Force Dimension companies of Switzerland release according to delta parallel principles,
Sigma and omega series is that presently most successful parallel connection type power feels main handss, and its mechanical arm adopts parallel institution, with fortune
The shortcomings of dynamic coupling height, malfunction and complicated control.Seminar is awarded by University Of Tianjin's Wang Shu Protestantisms to take the lead, Tianjin doctor
Hospital general of university of section and MicroHand A (highly skilled man A) main manipulator of Nankai University's cooperative research and development, its wrist joint does not have entirely
There is the passive joint of drive system, its dead-weight balanced design can only can be only achieved balance in specific position and attitude, to making
More with limiting, structure has much room for improvement.
The main handss mechanical arm price of import is very expensive, and the mechanical arm for currently using is entirely mostly passive joint, it is impossible to
The dynamic balance of mechanical arm optional position itself is realized, doctor drives main handss operational load big, fatiguability.It is existing from mechanical arm end
Power when end and tissue contact can be measured, but can only be passed to behaviour by transition forms such as image, sound
The doctor of work, not intuitively.After the main handss start of tradition, because principal and subordinate's handss pose all may have occurred change during power down, need
Adjust main handss attitude to adapt to be attached again from after handss attitude, this proficiency level's requirement to doctor is higher, and may cause
Principal and subordinate's is uncoordinated.In Theoretical Calculation there is singular point in continuous rotary joint, and the motility near its singularity can be reduced.Now only
It is difficult to keep consistent motility by mechanism itself.For these present situations, carry out in main handss wrist innovative design can with gram
The most of problem of clothes, study it is a with independent intellectual property right and disclosure satisfy that robot micro-wound operation needs for main behaviour
The mechanical wrist for making handss is very important.
The content of the invention
The present invention in order to solve prior art in the mechanical arm at main handss end have the following problems that 1, work space is smaller, spirit
Activity is not high, lacks power and torque-feedback information, 2, mechanism it is excessively huge, lack force feeling, low space utilization, 3, its application
Occasion is restricted, and 4, malfunction and control are complicated, and 5, the dynamic balance of mechanical arm optional position itself can not be realized, cure
Green tape moves main handss operational load greatly, fatigable problem, and then provides a kind of robot controller main handss operation wrist.
The technical scheme that adopts to solve the above problems of the present invention is：It include arm connector, the first carpal joint component,
Second carpal joint component, the 3rd carpal joint component, the 4th carpal joint component and clamping device connector, the first carpal joint component bag
Include the first driver, the first motor, first shaft coupling, first axle, the first absolute angle coder, the first housing and two
One bevel gear；Arm connector is bar shaped framework, and the first housing is rectangular hollow housing, one end of the first housing and arm connector
Bottom be fixedly connected, and central axis of the first housing centrage along its length with arm connector along its length set
Put, the first driver is fixedly mounted on the side wall of the first housing, first axle is vertically arranged on the other end of the first housing, the
The outfan of one machine shaft is fixedly connected with one end of first shaft coupling, and the other end of first shaft coupling is set with one first
Bevel gear, another first bevel gear is sleeved in first axle, and the first absolute angle coder is fixedly mounted on the first housing
On, and the rotating shaft of the first absolute angle coder is fixedly connected with the bottom of first axle, the top of first axle passes through first shell
Body is simultaneously fixedly mounted on the second carpal joint component, two first bevel gear tooth engagements, the first motor, first shaft coupling and two
First bevel gear is fixedly mounted in first shell body, and the first driver is by wire and the first motor connection, the 3rd carpal joint group
Part is fixedly mounted on the second carpal joint component, and the 4th carpal joint component is fixedly mounted on the 3rd carpal joint component, clamping machine
Structure connector is fixedly mounted on the 4th carpal joint component.
The invention has the beneficial effects as follows：The present invention is by the first carpal joint component 2, the second carpal joint component 3, the 3rd carpal joint
Component 4, the 4th carpal joint component 5 are in series, and the two neighboring rotary joint axis is orthogonal.Described each rotation is closed
Section have independent Motor drive, respectively by shaft coupling, bevel gear, axle and absolute angle coder based part band movable joint turn
It is dynamic.Described each motor has independent driver drives.The shaft end in each joint is provided with absolute angle coder.This
Invention has torque compensation and the concrete effect of feedback function as follows：
1st, mechanism of the invention and its control can apply to the wrist of master slave control robot, realize more preferable
Human-computer exchange information transmission.
2nd, mechanism has compact conformation, and good rigidity, strong adaptability, practicality is high, the advantages of powerful, with wide
Prospect of the application.
3rd, the joint institute of Attitude Calculation current operation mechanism that mechanism can be measured according to each absolute angle coder
The power for needing and torque, export opposite force and torque are compensated by motor, the balance of real-time force and torque are realized, so as to doctor
Can operate in the case of without power load, reduce doctor's operation difficulty, reduce degree of fatigue.
4th, each motor in mechanism can in real time carry out the reverse output of torque according to the power measured from handss end, while
Impact of the operating mechanism to torque size itself is excluded, allows doctor to experience the size from handss end contact force constantly, side
Just doctor carries out more accurate operation technique to pathological tissues in sufferer body and organ.
5th, mechanism can after powering, according to the position angle message fed back to from handss, directly by each handss of Motor drive
Carpal joint rotates, and extremely matches from handss attitude with reference to the measured value adjust automatically attitude of angular encoder, then sets up connection, reduces
The original complex process for needing manually to be matched, reduces the requirement to doctor's skilled operation degree.
6th, there is redundant degree of freedom in the four-degree-of-freedom of the wrist joint of mechanism, the flexible of wrist not only can be improved
Property, more can carry out positive adjustment in active joint when attitude in motor process is be close near dumb point, it is ensured that motion is flexible
Property.
Description of the drawings
Fig. 1 is overall structure diagram of the present invention, and the arrow in figure on R1, R2, R3 and R4 represents respectively the present invention first
Carpal joint component 2, the second carpal joint component 3, the 3rd carpal joint component 4 and the rotation direction of the 4th carpal joint component 5, Fig. 2 is
The structural representation of one carpal joint component 2, Fig. 3 be first axle 2-5 be arranged on the second carpal joint component 3 structural representation, Fig. 4
It is structure that the second axle 3-5, the 3rd carpal joint component 4, the 4th carpal joint component 5 and clamping device connector 6 are installed together
Schematic diagram.
Specific embodiment
Specific embodiment one：Present embodiment, a kind of main handss manipulator of robot controller are illustrated with reference to Fig. 1-Fig. 4
Wrist, it includes arm connector 1, the first carpal joint component 2, the second carpal joint component 3, the 3rd carpal joint component 4, the 4th carpal joint
Component 5 and clamping device connector 6, the first carpal joint component 2 includes the first driver 2-1, the first motor 2-2, the first shaft coupling
Device 2-3, first axle 2-5, the first absolute angle coder 2-6, the first housing 2-7 and two first bevel gears 2-4；Arm connects
Part 1 is bar shaped framework, and the first housing 2-7 is rectangular hollow housing, one end of the first housing 2-7 and the bottom of arm connector 1
It is fixedly connected, and central axis of the first housing 2-7 centrages along its length with arm connector 1 along its length set
Put, the first driver 2-1 is fixedly mounted on the side wall of the first housing 2-7, first axle 2-5 is vertically arranged in the first housing 2-7
The other end on, the outfan of the first motor 2-2 rotating shafts is fixedly connected with one end of first shaft coupling 2-3, first shaft coupling 2-3
The other end be set with first bevel gear 2-4, another first bevel gear 2-4 is sleeved in first axle 2-5, and first is absolute
Formula angular encoder 2-6 is fixedly mounted on the first housing 2-7, and the rotating shaft and first of the first absolute angle coder 2-6
The bottom of axle 2-5 is fixedly connected, and the top of first axle 2-5 passes through the first housing 2-7 and is fixedly mounted on the second carpal joint component 3
On, two first bevel gear 2-4 tooth engagements, the first motor 2-2, first shaft coupling 2-3 and two first bevel gears 2-4 fix peace
It is mounted in the first housing 2-7, the first driver 2-1 is connected by wire with the first motor 2-2, and the 3rd carpal joint component 4 is fixed
On the second carpal joint component 3, the 4th carpal joint component 5 is fixedly mounted on the 3rd carpal joint component 4, and clamping device connects
Fitting 6 is fixedly mounted on the 4th carpal joint component 5.
Specific embodiment two：Present embodiment, a kind of main handss manipulator of robot controller are illustrated with reference to Fig. 1-Fig. 3
Wrist, the second carpal joint component 3 include the second driver 3-1, the second motor 3-2, second shaft coupling 3-3, the second axle 3-5,
Second absolute angle coder 3-6, the second housing 3-7 and two second bevel gears 3-4；Second housing 3-7 is ' L ' shape shell
Body, the second driver 3-1 is arranged on the second housing 3-7 horizontal plates, and the top of first axle 2-5 is fixedly mounted on the second housing 3-
On 7 horizontal plates, the outfan of the second motor 3-2 rotating shafts is fixedly connected with the bottom of second shaft coupling 3-3, a second bevel gear
3-4 is fixedly set on the top of second shaft coupling 3-3, and another second bevel gear 3-4 is fixedly set on the second axle 3-5,
Second absolute angle coder 3-6 is fixedly mounted on the second housing 3-7 vertical plates, and the second absolute angle coder 3-
6 rotating shaft is fixedly connected with one end of the second axle 3-5, and the other end of the second axle 3-5 is fixedly mounted on the 3rd carpal joint component 4
On, the second axle 3-5 is horizontally arranged at the top of the second housing 3-7 vertical plates, and the second motor 3-2 and second shaft coupling 3-3 are vertical
In the second housing 3-7 vertical plates, and the engagement of two second bevel gear 3-4 teeth, the second driver 3-1 is by wire and the
Two motor 3-2 connect, and other are identical with specific embodiment one.
Specific embodiment three：Present embodiment, a kind of main handss manipulator of robot controller are illustrated with reference to Fig. 1-Fig. 4
Wrist, the 3rd carpal joint component 4 include the 3rd driver 4-1, the 3rd motor 4-2, the 3rd shaft coupling 4-3, the 3rd axle 4-5,
3rd absolute angle coder 4-6, the 3rd housing 4-7 and two third hand tap gears 4-4；3rd housing 4-7 is ' L ' shape shell
Body, the second axle 3-5 is fixedly mounted on the vertical plate of the 3rd housing 4-7, and the 3rd driver 4-1 is fixedly mounted on the 3rd housing 4-
On 7 vertical plate, the outfan of the 3rd motor 4-2 rotating shafts is fixed with one end of the 3rd shaft coupling 4-3, third hand tap gear 4-
4 are fixedly set on the other end of the 3rd shaft coupling 4-3, and the 3rd absolute angle coder 4-6 is fixedly mounted on the 3rd shell
On the horizontal plate of body 4-7, and the rotating shaft of the 3rd absolute angle coder 4-6 is fixedly connected with the 3rd shaft coupling 4-3, and the 3rd
Absolute angle coder 4-6 is coaxially disposed with the 3rd shaft coupling 4-3, and the 3rd motor 4-2 and the 3rd shaft coupling 4-3 is fixedly mounted
In the 3rd housing 4-7, the 3rd driver 4-1 is connected by wire with the 3rd motor 4-2, the horizontal plate of the 3rd housing 4-7
Upper end is machined with raised 4-8, and the 3rd axle 4-5 is vertically installed on the raised 4-8 of the 3rd housing 4-7 horizontal plates, the 3rd axle 4-5's
Bottom fixed cover is equipped with third hand tap gear 4-4, and two third hand tap gear 4-4 tooth engagements, and the top of the 3rd axle 4-5 is fixed
On the 4th carpal joint component 5, other are identical with specific embodiment one.
Specific embodiment four：Present embodiment, a kind of main handss manipulator of robot controller are illustrated with reference to Fig. 1-Fig. 4
Wrist, the 4th carpal joint component 5 include fourth drive 5-1, the 4th motor 5-2, the 4th shaft coupling 5-3, the 4th axle 5-5,
4th absolute angle coder 5-6, the 4th housing 5-7 and two the 4th bevel gear 5-4；4th housing 5-7 is ' L ' shape shell
Body, side wall of the 4th housing 5-7 vertical plates near bottom is machined with cuboid 5-8, and fourth drive 5-1 is fixedly mounted on the 3rd
On the vertical plate of housing 4-7, the top of the 3rd axle 4-5 is fixedly mounted on the cuboid 5-8 of the 4th housing 5-7, the 4th motor
The outfan of 5-2 rotating shafts is fixedly connected with the bottom of the 4th shaft coupling 5-3, and a 4th bevel gear 5-4 is fixedly set in the 4th
The top of shaft coupling 5-3, the 4th absolute angle coder 5-6 is fixedly mounted on the top of the 4th housing 5-7 horizontal plates, and
The rotating shaft of the 4th absolute angle coder 5-6 is fixedly mounted on the top of the 4th shaft coupling 5-3, and the 4th absolute type angle
The rotating shaft of encoder 5-6 and the 4th shaft coupling 5-3 are coaxially disposed, and another the 4th bevel gear 5-4 is fixedly set in the 4th axle 5-5
One end, the 4th motor 5-2 and the 4th shaft coupling 5-3 is vertically fixedly mounted in the vertical plate of the 4th housing 5-7, and the 4th drives
Device 5-1 is connected by wire with the 4th motor 5-2, and the 4th axle 5-5 is arranged in the horizontal plate of the 4th housing 5-7, and two the
Four bevel gear 5-4 teeth are engaged, and clamping device connector 6 passes through the horizontal plate of the 4th housing 5-7 and in the other end of the 4th axle 5-5
It is fixedly connected, other are identical with specific embodiment one.
Specific embodiment five：Present embodiment is illustrated with reference to Fig. 4, a kind of main handss of robot controller operate wrist, institute
Manhole is machined with the cuboid 5-8 for stating the 4th housing 5-7, the top of the arm connector 1 is machined with two circles and leads to
Hole, other are identical with specific embodiment one.
Operation principle
The main handss operation wrist of the present invention is fixedly mounted on arm structure, the first driver 2-1 is passed through when R1 is rotated
The first motor 2-2 is controlled, in first shaft coupling 2-3 and first shaft coupling 2-3 is driven successively by the first motor 2-2
One bevel gear 2-4 is rotated, and due to two first bevel gear 2-4 tooth engagements, therefore drives first axle 2-5 and the first absolute type angle
The rotating shaft synchronous axial system of encoder 2-6, by the first absolute angle coder 2-6 to the rotational angle of the second carpal joint component 3
Measure and feed back, and then drive the second carpal joint component 3 to be rotated by first axle 2-5, while the second carpal joint group
Part 3 can carry out voluntarily its rotation, the second motor 3-2 be controlled by the second driver 3-1, by the second motor 3-2 successively band
Second bevel gear 3-4 in dynamic second shaft coupling 3-3 and second shaft coupling 3-3 is rotated, due to two second bevel gears 3-4
Tooth is engaged, so the rotating shaft synchronous axial system of the second axle 3-5 and the second absolute angle coder 3-6 is driven, it is absolute by second
Formula angular encoder 3-6 is measured and fed back to the rotational angle of the 3rd carpal joint component 4, and then is driven by the second axle 3-5
3rd carpal joint component 4 is rotated, while the 3rd carpal joint component 4 can also carry out own rotation, is controlled by the 3rd driver 4-1
3rd motor 4-2, a third hand tap on the 3rd shaft coupling 4-3 and the 3rd shaft coupling 4-3 is driven successively by the 3rd motor 4-2
Gear 4-4 is rotated, and due to two third hand tap gear 4-4 tooth engagements, and then drives the 3rd axle 4-5 to rotate, by the 3rd axle 4-5 bands
Dynamic 4th carpal joint component 5 is rotated, and because the 3rd absolute angle coder 4-6 and the 3rd shaft coupling 4-3 are fixedly connected, is passed through
3rd absolute angle coder 4-6 is measured and fed back to the rotational angle of the 4th carpal joint component 5, while the 4th carpal joint
Component 5 can also carry out own rotation, and by fourth drive 5-1 the 4th motor 5-2 is controlled, and be controlled successively by the 4th motor 5-2
The 4th bevel gear 5-4 made on the 4th shaft coupling 5-3 and the 4th shaft coupling 5-3 is rotated, due to two the 4th bevel gear 5-4
Tooth is engaged, therefore drives the 4th axle 5-5 to rotate, and then drives clamping device connector 6 to rotate, and is compiled by the 4th absolute type angle
Code device 5-6 is measured and fed back to the angle that clamping device connector 6 is rotated, and reaches the purpose of the present invention.Above schematically
Ground is described to the structure of the present invention, and the description does not have limitation, and the form in accompanying drawing is the implementation of the present invention
One of, actual mechanism's not limited to this.Therefore inspired by the present invention and adopt it in the case of without departing from the invention objective
His type of drive, actuation types, all should be within the scope of the present invention without the design of novelty.
Illustrate that a kind of main handss with torque compensation and feedback function operate the action implementation process of wrist below：
1st, structure implementation
Handss operation wrist, as an ingredient of main handss, is typically seated on arm structure, end based on the present invention
Connection clamping device is conveniently operated.In the present invention, the clamping device connector 6 connects required clamping device, arm
The space reserved on connector 1 can be stably connected with wrist on arm structure.Operator is driven by controlling clamping device
Wrist is moved,
2nd, start seeks position certainly
After switching on power, determine that from handss attitude calculating will make main handss according to each joint angles information measured from handss
With the angle from each joint of wrist required for handss attitude.Then according to the first absolute angle coder 2-6, second absolute
Formula angular encoder 3-6, the 3rd absolute angle coder 4-6 and the 4th absolute angle coder 5-6 obtain current main handss
The position in each joint of wrist, it is determined that not opening a joint needs the angle of rotation.With the first driver 2-1, the second driver 3-
1st, the 3rd driver 4-1 and fourth drive 5-1 drive respectively the first motor 2-2, the second motor 3-2, the 3rd motor 4-2 and
Four motor 5-2 rotate respective angles, are consistent with target location to each absolute angle coder return information, you can set up
Main handss and matching from handss, complete start and seek a process certainly.
Equalising torque and torque-feedback when the 3, operating
Doctor drives whole Wrist-sport by operation structure end hand, and now remaining is passive behaviour in addition to active joint
Make joint.By joint position information real-time Transmission to control centre, control centre calculates and works as each angle absolute angle coder
Under front attitude, for the torque reversely exported required for each motor of trimming moment.Meanwhile, according to the mechanical arm that measures from handss end and
The size of contact tissue power, control centre calculates should scale up the contact force experienced to operator, and power is turned
Change the signal of motor output torque into.The final reverse output torque of motor is the superposition of described two torques, makes doctor break away from behaviour
Make the muscle power that mechanical arm needs to pay, and can purely experience the size from handss end and tissue power.
Motility when the 4th, operating keeps
By Theoretical Calculation, there is singular point in design structure of the present invention in some positions, and in these positions spirit can be reduced
Activity.In order to ensure certain motility, in these near its singularities, active joint one is led under the control of control algolithm
Active exercise is helped wrist through singular point by dynamic adjustment joint rotation angle, motor, it is ensured that wrist flexibility will not be reduced.
Claims (5)
1. a kind of main handss of robot controller operate wrist, it is characterised in that：It includes arm connector (1), the first carpal joint group
Part (2), the second carpal joint component (3), the 3rd carpal joint component (4), the 4th carpal joint component (5) and clamping device connector
(6), the first carpal joint component (2) includes the first driver (2-1), the first motor (2-2), first shaft coupling (2-3), first axle
(2-5), the first absolute angle coder (2-6), the first housing (2-7) and two first bevel gears (2-4)；Arm connector
(1) it is bar shaped framework, the first housing (2-7) is rectangular hollow housing, one end of the first housing (2-7) and arm connector (1)
Bottom be fixedly connected, and the first housing (2-7) centrage along its length and arm connector (1) center along its length
Line is vertically arranged, and the first driver (2-1) is fixedly mounted on the side wall of the first housing (2-7), and first axle (2-5) is vertically arranged
On the other end of the first housing (2-7), the outfan of the first motor (2-2) rotating shaft is consolidated with one end of first shaft coupling (2-3)
Fixed connection, the other end of first shaft coupling (2-3) is set with a first bevel gear (2-4), another first bevel gear (2-4)
It is sleeved in first axle (2-5), the first absolute angle coder (2-6) is fixedly mounted on the first housing (2-7), and first
The rotating shaft of absolute angle coder (2-6) is fixedly connected with the bottom of first axle (2-5), and the top of first axle (2-5) passes through
First housing (2-7) is simultaneously fixedly mounted on the second carpal joint component (3), two first bevel gear (2-4) tooth engagements, and first is electric
Machine (2-2), first shaft coupling (2-3) and two first bevel gears (2-4) are fixedly mounted in the first housing (2-7), and first drives
Dynamic device (2-1) is connected by wire with the first motor (2-2), and the 3rd carpal joint component (4) is fixedly mounted on the second carpal joint group
On part (3), the 4th carpal joint component (5) is fixedly mounted on the 3rd carpal joint component (4), and clamping device connector (6) is fixed
On the 4th carpal joint component (5).
2. according to claim 1 a kind of main handss of robot controller operate wrist, it is characterised in that：Second carpal joint
Component (3) includes the second driver (3-1), the second motor (3-2), second shaft coupling (3-3), the second axle (3-5), second absolute
Formula angular encoder (3-6), the second housing (3-7) and two second bevel gears (3-4)；Second housing (3-7) is ' L ' shape shell
Body, the second driver (3-1) is arranged on the second housing (3-7) horizontal plate, and the top of first axle (2-5) is fixedly mounted on second
On housing (3-7) horizontal plate, the outfan of the second motor (3-2) rotating shaft is fixedly connected with the bottom of second shaft coupling (3-3), and one
Individual second bevel gear (3-4) is fixedly set on the top of second shaft coupling (3-3), and another second bevel gear (3-4) is fixed
It is sleeved on the second axle (3-5), the second absolute angle coder (3-6) is fixedly mounted on the second housing (3-7) vertical plate,
And second the rotating shaft of absolute angle coder (3-6) be fixedly connected with one end of the second axle (3-5), the second axle (3-5) it is another
One end is fixedly mounted on the 3rd carpal joint component (4), and the second axle (3-5) is horizontally arranged at the second housing (3-7) vertical plate
Top, the second motor (3-2) and second shaft coupling (3-3) are vertically installed in the second housing (3-7) vertical plate, and two second
Bevel gear (3-4) tooth is engaged, and the second driver (3-1) is connected by wire with the second motor (3-2).
3. according to claim 2 a kind of main handss of robot controller operate wrist wrist, it is characterised in that：3rd wrist is closed
Section component (4) includes the 3rd driver (4-1), the 3rd motor (4-2), the 3rd shaft coupling (4-3), the 3rd axle (4-5), the 3rd exhausted
To formula angular encoder (4-6), the 3rd housing (4-7) and two third hand tap gears (4-4)；3rd housing (4-7) is ' L ' shape shell
Body, the second axle (3-5) is fixedly mounted on the vertical plate of the 3rd housing (4-7), and the 3rd driver (4-1) is fixedly mounted on the 3rd
On the vertical plate of housing (4-7), outfan and one end of the 3rd shaft coupling (4-3) of the 3rd motor (4-2) rotating shaft are fixed, one
Third hand tap gear (4-4) is fixedly set on the other end of the 3rd shaft coupling (4-3), and the 3rd absolute angle coder (4-
6) it is fixedly mounted on the horizontal plate of the 3rd housing (4-7), and the rotating shaft and the 3rd of the 3rd absolute angle coder (4-6)
Axle device (4-3) is fixedly connected, and the 3rd absolute angle coder (4-6) is coaxially disposed with the 3rd shaft coupling (4-3), and the 3rd is electric
Machine (4-2) and the 3rd shaft coupling (4-3) are fixedly mounted in the 3rd housing (4-7), and the 3rd driver (4-1) is by wire and the
Three motors (4-2) connect, and the upper end of the horizontal plate of the 3rd housing (4-7) is machined with raised (4-8), and the 3rd axle (4-5) is vertically pacified
It is mounted in the projection (4-8) of the 3rd housing (4-7) horizontal plate, the bottom fixed cover of the 3rd axle (4-5) is equipped with a triconodont
Wheel (4-4), and two third hand tap gear (4-4) tooth engagements, the top of the 3rd axle (4-5) is fixedly mounted on the 4th carpal joint component
(5) on.
4. according to claim 3 a kind of main handss of robot controller operate wrist, it is characterised in that：4th carpal joint
Component (5) includes fourth drive (5-1), the 4th motor (5-2), the 4th shaft coupling (5-3), the 4th axle (5-5), the 4th absolute
Formula angular encoder (5-6), the 4th housing (5-7) and two the 4th bevel gears (5-4)；4th housing (5-7) is ' L ' shape shell
Body, side wall of the 4th housing (5-7) vertical plate near bottom is machined with cuboid (5-8), fourth drive (5-1) fixed installation
On the vertical plate of the 3rd housing (4-7), the top of the 3rd axle (4-5) is fixedly mounted on the cuboid (5- of the 4th housing (5-7)
8) on, the outfan of the 4th motor (5-2) rotating shaft is fixedly connected with the bottom of the 4th shaft coupling (5-3), the 4th bevel gear
(5-4) top of the 4th shaft coupling (5-3) is fixedly set in, the 4th absolute angle coder (5-6) is fixedly mounted on the 4th
On the top of housing (5-7) horizontal plate, and the rotating shaft of the 4th absolute angle coder (5-6) is fixedly mounted on the 4th shaft coupling
(5-3) on top, and the 4th absolute angle coder (5-6) rotating shaft and the 4th shaft coupling (5-3) be coaxially disposed, it is another
Individual 4th bevel gear (5-4) is fixedly set in one end of the 4th axle (5-5), and the 4th motor (5-2) and the 4th shaft coupling (5-3) are perpendicular
Directly it is fixedly mounted in the vertical plate of the 4th housing (5-7), fourth drive (5-1) is connected by wire and the 4th motor (5-2)
Connect, the 4th axle (5-5) is arranged in the horizontal plate of the 4th housing (5-7), and two the 4th bevel gear (5-4) tooth engagements, clamping
Mechanism's connector (6) is fixedly connected through the horizontal plate and the other end in the 4th axle (5-5) of the 4th housing (5-7).
5. according to claim 4 a kind of main handss of robot controller operate wrist, it is characterised in that：4th housing
(5-7) manhole is machined with cuboid (5-8), the top of the arm connector (1) is machined with two manholes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510962685.2A CN105397838B (en) | 2015-12-18 | 2015-12-18 | Main hand operating wrist of master-slave robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510962685.2A CN105397838B (en) | 2015-12-18 | 2015-12-18 | Main hand operating wrist of master-slave robot |
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| Publication Number | Publication Date |
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| CN105397838A CN105397838A (en) | 2016-03-16 |
| CN105397838B true CN105397838B (en) | 2017-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510962685.2A Active CN105397838B (en) | 2015-12-18 | 2015-12-18 | Main hand operating wrist of master-slave robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107440800A (en) * | 2017-08-07 | 2017-12-08 | 重庆金山医疗器械有限公司 | Seven freedom main operation manipulator |
| CN107901043A (en) * | 2017-12-25 | 2018-04-13 | 哈尔滨思哲睿智能医疗设备有限公司 | Pitch freedom redundancy posture structure in a kind of link mechanism manipulator |
| CN108378922A (en) * | 2018-02-28 | 2018-08-10 | 哈尔滨工业大学 | A kind of micro-wound operation robot force feedback main manipulator with redundant degree of freedom |
| CN111096805A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096803A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
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| CN111265303B (en) * | 2020-03-04 | 2021-05-14 | 武汉中科医疗科技工业技术研究院有限公司 | Main hand clamping mechanism, main operating hand and minimally invasive surgery robot |
| CN111449758B (en) * | 2020-04-09 | 2021-01-26 | 山东大学 | Main manipulator for continuum surgical robot and surgical robot |
| CN113081288A (en) * | 2021-03-23 | 2021-07-09 | 华中科技大学 | Puncture surgery robot master hand and system based on ball joint driving |
| CN114469356B (en) * | 2022-01-24 | 2023-09-15 | 重庆金山医疗机器人有限公司 | Driving method of master hand and surgical robot doctor control console |
| CN114869481B (en) * | 2022-05-12 | 2024-01-12 | 重庆金山医疗机器人有限公司 | Surgical robot and main hand mechanical arm for maintaining pose form |
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| CN105397838A (en) | 2016-03-16 |
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