CN109171987A - A kind of double gimbal suspension control devices of operating robot - Google Patents
A kind of double gimbal suspension control devices of operating robot Download PDFInfo
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- CN109171987A CN109171987A CN201811155464.4A CN201811155464A CN109171987A CN 109171987 A CN109171987 A CN 109171987A CN 201811155464 A CN201811155464 A CN 201811155464A CN 109171987 A CN109171987 A CN 109171987A
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- gimbal suspension
- inductive component
- control devices
- tube channel
- operating robot
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- 239000000725 suspension Substances 0.000 title claims abstract description 58
- 230000001939 inductive effect Effects 0.000 claims abstract description 46
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- 230000006698 induction Effects 0.000 claims abstract description 26
- 230000008878 coupling Effects 0.000 claims description 19
- 238000010168 coupling process Methods 0.000 claims description 19
- 238000005859 coupling reaction Methods 0.000 claims description 19
- 241000239290 Araneae Species 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 11
- 238000012544 monitoring process Methods 0.000 description 11
- 210000003811 finger Anatomy 0.000 description 9
- 239000002783 friction material Substances 0.000 description 5
- 210000001503 joint Anatomy 0.000 description 5
- 210000003813 thumb Anatomy 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
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- 230000008054 signal transmission Effects 0.000 description 2
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- 210000003857 wrist joint Anatomy 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 230000008713 feedback mechanism Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000002757 inflammatory effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000000811 metacarpophalangeal joint Anatomy 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000002432 robotic surgery Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of double gimbal suspension control devices of operating robot, has 6 freedom degrees.Including the multi-freedom joint arm that at least two gimbal suspensions form, there is inductive component induction gimbal suspension movement in gimbal suspension；It is connected between adjacent gimbal suspension by tube channel, there is the movement of inductive component induction channels pipe in tube channel.The center sequence of gimbal suspension is equipped with rotating channel pipe, advance and retreat tube channel and control-rod.Present invention simultaneously provides the control devices based on identical structural principle.The present invention simplifies the structure of operating robot and control device using the three-dimensional rotation ability of gimbal suspension, and control device is identical with executive device structure, tactile to feed back to operator, improves the portability and operability of operating robot control device.
Description
Technical field
The present invention relates to a kind of operation devices, and in particular to a kind of double gimbal suspension control devices of operating robot.
Background technique
With the development of science and technology surgical instrument is completed by the fixed small notch of body surface into internal in micro-wound surgical operation
Operation, more and more micro-wound surgical operations begin to use operating robot.Leonardo da Vinci robot is to be commercialized in the world at present
The open loop parallelogram telecentricity positioning mechanism used with the most successful minimally invasive robot of clinicization, the robot, by steel band
The shortcomings that parallel four sides mechanism is realized in synchronous constraint, the mechanism is to need to find telecentricity anchor point by device in assembly.
The shortcomings that passive arm is integrated using the mechanical arm based on mobile platform, this mode is that entire mechanical system volume is larger, in order to
Needing passive arm tool convenient for preoperative adjustment, there are four freedom degrees, cause cantilever beam longer, so that robot overall stiffness reduces.Together
When consider for Leonardo da Vinci's minimally invasive robot patent barrier in this respect, and the sense of most of Surgical instrument now
Should directly be incuded by motor, inductor is often made to be arranged in the top of platform in this way, cause top-heavy, increase pass
The induced moment of section, so that mechanical arm system is easy to produce vibration.
Endoscope sensing device uses the nut screw kind of drive, but this mode is not easy to manually implemented preoperative adjustment,
Vertically movable device drives nut screw mode to move up and down to realize using motor, and overall volume is bigger.Adjust camera lens
When direction, operating doctor needs to stop all armed arm operations, is switched to and holds handel control system, is adjusted and held jointly with two hands
The position of handel after adjustment, then switches armed arm control system, restarts the operation interrupted.Repeatedly when switching waste
Between, it can not be as neatly controlling lens direction and angle by assistant in conventional laparoscopy operation.
Leonardo da Vinci's minimally invasive robot also lacks touch feedback, and touch feedback can make operative doctor distinguish tissue, " touching
Touch " to infected or by inflammatory effect delicate tissue, and more careful carry out diagnostic analysis.There is touch feedback,
Doctor can more perfect, more accurately sew up a wound in Minimally Invasive Surgery.
The arm of the mankind has multiple joints, and wherein shoulder joint and wrist joint are all the cup-and-ball joints there are two freedom degree.Elbow
Joint can shorten the distance between shoulder joint and wrist joint, be equivalent to the freedom degree of an advance and retreat.Ulna and scratch can between bone
The freedom degree of a rotation is equivalent to come rotary wrist by intersecting.Entire arm has six-freedom degree, can allow hand
It is moved freely in space again.The metacarpophalangeal joints of hand are the cup-and-ball joints there are two freedom degree, as redundant degree of freedom, Ke Yirang
Finger tip is more flexible.As operating robot, six-freedom degree can satisfy operation demand, and current operating robot is
The six degree of freedom that three joints of arm are realized is simulated by the joint of six single-degree-of-freedoms, causes the volume of robot huge
Greatly, weight is huge and with high costs, also more complicated in terms of control.
Therefore it imitates human arm and researches and develops novel minimally invasive robot mechanical arm system to China minimally invasive robot field hair
Exhibition is of great significance.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, it is double universal that the present invention provides a kind of operating robot
Joint control device.
Technical solution: in order to solve the above technical problems, the double gimbal suspension control devices of operating robot provided by the invention,
With the multi-freedom joint arm that at least two gimbal suspensions form, there is inductive component to incude gimbal suspension in the gimbal suspension
Movement；It is connected between adjacent gimbal suspension by tube channel, there is the movement of inductive component induction channels pipe in the tube channel.
Specifically, the inductive component includes induction pieces and inductor, and induction pieces and inductor are directly connected to or pass through biography
Dynamic device connection.
Specifically, sense base is installed on the tube wall of the tube channel, is equipped in sense base for incuding across object edge
The first inductive component that tube channel is retreated, first inductive component are engaged with object is passed through, and the object that passes through is across tube channel
Control-rod.
Specifically, the second inductive component is installed in the gimbal suspension, second inductive component for incude across
Object is rotated along channel inside pipe wall.
Specifically, the tube channel includes rotating channel pipe and advance and retreat tube channel:
The rotating channel pipe is fixedly connected directly or by coupling tube with gimbal suspension, and the rotating channel pipe, which is installed, to be had
Induction is across object along the third inductive component of tube channel axial-rotation.
The advance and retreat tube channel is formed directly into or is penetrated in rotating channel pipe or ball-type part by coupling tube, and described retreat is led to
The 4th inductive component that induction is axially retreated across object along tube channel is installed on deferent.
Specifically, the socket joint is mounted in joint motion frame by spring, the joint motion frame and surgical machine
The fixed bracket connection of people.
Specifically, the gimbal suspension is cup-and-ball joint, and the cup-and-ball joint includes ball-type part and socket joint.
Specifically, the gimbal suspension includes inner ring and outer rings, and the inner ring is suspended on the outer ring, and outer ring is suspended on
In socket joint；Inner ring and the rotary shaft of outer ring are mutually perpendicular to, and the angle of axial line is 90 degree.
Specifically, the gimbal suspension is universal coupling with spider.
A kind of double gimbal suspension control device control devices of operating robot are in the double universal passes of above-mentioned operating robot
It further include driving motor in the inductive component, induction pieces and driving motor are directly connected to or lead on the basis of saving control device
Cross transmission device connection, the rotary motion of the driving motor driving induction pieces.
A kind of double gimbal suspension operating robots, are in the structure basis of above-mentioned robot controller, using driving
Component replaces the inductive component of robot controller, and receives the control of control device of the present invention.
The utility model has the advantages that
1. Simple portable.Complicated mechanical arm is replaced with gimbal suspension.Each gimbal suspension can independent packed and transported, volume
It is small, light-weight, easy to carry and assembling.It can also be applied in field rescue, space flight and aviation.
2. convenient for batch production.Since control device is identical with executive device structure, when use, can be replaced mutually.Production
When can share same production line, same packaging and same storage.New component can be replaced after damage at any time, can also be made
For medical disposable material use.
3. structure is simple, installation, debugging are simple.The component for needing to control is few, and system is simple, breaks down few, maintenance is held
Easily.Good economy performance reduces the financial burden of patient.
4. possessing haptic feedback system.
Except it is above-described present invention solves the technical problem that, constitute technical solution technical characteristic and by these technologies
Outside advantage brought by the technical characteristic of scheme.To keep the object of the invention, technical scheme and beneficial effects clearer, below will
In conjunction with the attached drawing in the embodiment of the present invention, to other for including in the other technologies problem of the invention that can solve, technical solution
The advantages of technical characteristic and these technical characteristics are brought does apparent, complete description, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the invention provided in the accompanying drawings
The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of selected implementation of the invention
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
Every other embodiment, shall fall within the protection scope of the present invention.
Detailed description of the invention
Fig. 1 is control device schematic diagram of internal structure in the embodiment of the present invention one；
Fig. 2 is the structural schematic diagram of the second gimbal suspension in embodiment one, handle and control-rod；
Fig. 3 is the diagrammatic cross-section of the second gimbal suspension, handle and control-rod in embodiment one；
Fig. 4 is the schematic diagram of internal structure of inductive component in embodiment one；
Fig. 5 is the inductive component schematic diagram in embodiment one including rotary encoder；
Fig. 6 is the driving assembly schematic diagram in embodiment one including servo motor；
Fig. 7 is the control device schematic diagram that universal coupling with spider is used in embodiment two；
Fig. 8 is the control device schematic diagram for doing driving device in embodiment three using hollow sphere；
Fig. 9 is control device diagrammatic cross-section in embodiment three；
Figure 10 is the schematic diagram that hollow sphere rotates to the left in embodiment three；
Figure 11 is the schematic diagram that hollow sphere rotates forward in embodiment three；
Figure 12 is the schematic diagram for having finger control device in example IV on hollow sphere；
Figure 13 is that control device is mounted on the schematic diagram on console in embodiment five；
Wherein: the first gimbal suspension of 1-, 2- support device, 3- inductive component, 4- driving device, the second gimbal suspension of 5-, 6- control
Bar processed；8- driving assembly
11- universal coupling with spider, 12- are actively pitched, and 13- is from moving fork, 14- cross axle, 15- curved bar, 16- ball seat, 17- ball
Head, 18- direction control unit；
20- trigger, 21- support spring, 22- support rod, 23- support frame, 24- handle, 25- loop-drive, 26- execute drag-line, and 27- is pulled
Machine locking teeth, 28- execute drag-line hole, 29- shell；
31- induction pieces, 32- rotary encoder, 33- incude roller bearing, 34- reaction magnetic ring, 35- Hall sensor and circuit board, 37-
Transmission device, 38- swingle, 39- servo motor；
41- hollow sphere, 42- notch, 43- connecting rod, 44- hemispherical head；
51- ball-type part, 52- rotating channel pipe, 53- socket joint, 54- advance and retreat tube channel, 55- sense base；
61- fingerstall, 62- fingerstall sensor.
Specific embodiment
Embodiment one
The robotic surgery control device of the present embodiment is as shown in Figure 1-Figure 3, and the first gimbal suspension 1 is fixed on console.The
Two gimbal suspensions 5 connect control-rod 6, and control-rod 6 is sequentially inserted into 52 first gimbal suspension 1 of advance and retreat tube channel 54 and rotating channel pipe
Interior ball-type part 51.For the ease of operating by the way of manual, it is mounted with to be suitble to the handle 24 of holding on the second gimbal suspension,
It is bonded the bending direction of operator's hand, crooked radian meets ergonomics.
Operator controls the cup-and-ball joint movement of multi-directionally movement, and driving inductive component 3 generates electric signal to control hand
Art robot motion.First gimbal suspension 1 and the second gimbal suspension 5 are all cup-and-ball joints.The cup-and-ball joint of second gimbal suspension 5
It is made of the ball seat 16 and bulb 17 of dome-type.There is dome-type recess in 16 bottom surface of ball seat, and size is matched with bulb 17, common shape
At cup-and-ball joint.
Bulb 17 is connected on support rod 22, is mounted with that support spring 21, support spring 21 are mounted on branch on support rod 22
Between support 23 and bulb 17.Support frame 23 is fixedly connected with control device shell 29, the part that shell 29 is contacted with ball seat 16
For dome-type spherical shell, there is circular through hole at rear portion, and through-hole diameter is less than the ball-type diameter of ball seat 16, so that limiting ball seat 16 can only be
29 internal motion of shell of hollow hemisphere type.
It is fixedly connected at least one inductive component 3 on shell 29,2 driving assemblies 8 are also mounted in the present embodiment,
Driving direction is mutually perpendicular to.Inductive component 3 and driving assembly 8 are all fixedly connected on shell 29 by curved bar 15.
3 structure of inductive component is as shown in figure 4, the induction pieces 31 of its ball-type are tight by small through hole on shell 29 and ball seat 16
Contiguity touching can be driven by ball seat 16 and rotate.The rotation of induction pieces 31 can dynamic answer roller bearing 33 rotate, be mounted on induction roller bearing
Reaction magnetic ring 34 on 33 can rotate with it.The Hall sensor 35 of installation on circuit boards senses 34 upper magnetic pole of reaction magnetic ring
Variation, generate pulse signal, operating robot is sent to by signal transmission system.
As shown in figure 5, inductive component 3 has the induction pieces 31 of ball-type in a non-limiting embodiments, pass through shell 29
On small through hole and ball seat 16 be in close contact.The rotation of induction pieces 31 can drive swingle 38 to rotate, and be passed by transmission device 37
Rotary encoder 32 is passed, pulse signal is generated, operating robot is sent to by signal transmission system.
In a non-limiting embodiments, inductive component 3 is equipped with Magnetic Sensor, and induction magnetic pole is equipped on ball seat 16.
When 16 rotary motion of ball seat, incude the distance between magnetic pole and Magnetic Sensor and magnetism changes, to generate signal, passes through
The signal of effective control robot motion is formed after computer disposal.
As shown in fig. 6, driving assembly 8 has the actuator 30 of ball-type, it is tight by small through hole on shell 29 and ball seat 16
Contiguity touching, can drive ball seat 16 to rotate.The rotation of servo motor 39 passes to swingle 38 by transmission device 37, can drive
Actuator 30 rotates, so that the movement to ball seat 16 brings certain resistance, certain force feedback is generated to user.
Direction control unit 18 can select spherical, ring-like, cylindricality and bowl-type etc., preferably bowl-type, below all by taking bowl-type as an example,
It is connected on ball seat 16, operator just can control the multi-direction rotation of ball seat 16 with thumb.Flexible cylinder type thumb can also be connected
Set, the operator for facilitating thumb shorter use.
There is friction lock between 29 inner surface of outer surface and shell of ball seat 16, friction lock is to be mounted with great friction coefficient
Friction material.Friction material can be fixed on the inner surface of shell 29 or the outer surface of ball seat 16, can also both have.Ball
There is smooth recess at 16 section centers of seat, form friction free cup-and-ball joint with smooth bulb 17.Ball seat 16 is pushed up by bulb 17
When pressure, it can be close to the friction material in shell 29, be locked in current location.When operator presses pressure ball by direction control unit 18
When seat 16, ball seat 16 and friction material are detached from, can on smooth cup-and-ball joint flexible rotating direction.It is satisfied when going to operator
Direction when, reduce pressing dynamics, ball seat 16 contacts with friction material again, and contact more friction-tight power is bigger.Operator stops
When pressing, ball seat 16 can be locked in current location by frictional force.Curved bar 15 has elasticity, can be always to inductive component 3 and driving
Component 8 keeps induction pieces 31 and actuator 30 to be in close contact always with ball seat 16 with pressure.
Grip part includes handle 24, loop-drive 20, trigger 25, executes drag-line hole 28, trigger lock fixed tooth 27.In use, trigger
After 25 pull back, it can drive and execute drag-line 26, execution drag-line 26 is pierced by from executing drag-line hole 28 to be connected with trigger 25, separately
One end stiff spring.It executes and is equipped with inductive component 3 in drag-line hole 28, it, can be by sense group when execution drag-line 26 moves back and forth
Part 3 records moving displacement.
The loop-drive 20 of trigger 25 prevents maloperation for blocking trigger 25.It covers additionally, due to thumb needs in control direction,
It cannot participate in gripping handle 25.Biggish loop-drive 20 is designed, middle finger can be inserted in, loop-drive 20 is clipped in middle finger and the third finger
Between, make to hold more stable strong.
There is trigger lock fixed tooth 27 on loop-drive 20, trigger 25 is inwardly hooked tooth socket and can locked trigger 25 by finger, is maintained
It executes drag-line 26 and is fixed on a certain position.Finger continues to draw trigger 25, and trigger can slide into next tooth socket along the inclined-plane of tooth socket.
Gently side, which pushes away, can skid off trigger lock fixed tooth 27, and trigger 25 is allowed to move freely.Trigger 25 is unclamped, executes drag-line 26 in the bullet of spring
Initially restore state under power.
Control-rod 6 is inserted into rotating channel pipe 52, and rotating channel pipe 52 is connect with the first gimbal suspension 1,
First universal joint 1 is made of ball-type part 51 and socket joint 53, has inductive component 3 in socket joint 53, and inductive component 3 is used for
Incude the movement of ball-type part 51.There is hole at 53 center of socket joint, and diameter is less than 51 maximum gauge of ball-type part, can be used as locating part
Limitation ball-type part 51 can only rotate in socket joint 53.Socket joint 53 is two symmetric parts to being combined into, by ball-type part after pairing
51 are positioned in joint shell 53, are clamped jointly by the fixed mutually perpendicular inductive component 3 in inside.Inductive component 3 has fixing card
Seat is fixed, is symmetric with the contact point of ball-type part 51 around 51 central point of ball-type part, and all in the same plane.
Socket joint 53 is connect with rotating channel pipe 52, and rotating channel pipe 52 is connect with advance and retreat tube channel 54, on the tube wall of channel
There is sense base 55, there is inductive component 3 in sense base 55, rotation and advancing and retreating movement of the control-rod 6 in tube channel can be incuded.
Embodiment two
The present embodiment is as shown in fig. 7, be to the improvement is that a kind of improvement of cup-and-ball joint in embodiment one by cup-and-ball joint
It is changed to universal coupling with spider 11.
Actively pitching for universal coupling with spider 11 12 is connected in hemispherical head 44, is connected to support rod 22 from moving fork 13
On, the two is connected by cross axle 14, while can be swung in any direction around spider center again.Universal-joint-pin type universal shaft coupling
Device 11 can provide flexible support for hemispherical head 44, and also will limit hemispherical head 44 can not 22 using support rod be axle center rotation.
In one embodiment, universal coupling with spider 11 is substituted by curved grooved type Hooks coupling universal coupling.In another reality
It applies in example, ball cage type Hooks coupling universal coupling 11 is substituted by ball cage type Hooks coupling universal coupling.
Embodiment three
As shown in figures s-11, the operation device of the present embodiment uses hollow driving device 4, and internal cavities are ball-type, external
The surface for having suitable hand to hold, the present embodiment select hollow sphere 41 to be used as driving device 4.Gimbal suspension 1 wraps in hollow sphere 41
The heart, the center of cross axle 14 are also the centre of sphere of hollow sphere 41, can be in gimbal suspension 1 when user holds hollow sphere 41
Heart rotation.
Gimbal suspension 1 selects universal coupling with spider 11, and it is fixed by connecting rod 43 and hollow sphere 41 actively to pitch 12
Connection, connect from moving fork 13 with control-rod 6.Control-rod 6 is connect with cup-and-ball joint control device 7, can control internal ball-and-socket
Joint motions drive inductor to generate control signal.
Inductive component 3 is fixedly connected on above moving fork 13 or control-rod 6 by curved bar 15.Curved bar 15 has elasticity, can
Keep induction pieces 31 to be in close contact always with the inner wall of hollow sphere 41 with pressure to inductive component 3 always.When hollow sphere 41 rotates
When, it will drive inductive component 3 and generate control signal.
In a non-limiting embodiments, driving assembly 8 is fixedly connected on also by curved bar 15 from moving fork 13 or control-rod 6
Above.Curved bar 15 has elasticity, can keep the inner wall with hollow sphere 41 always of actuator 30 always to driving assembly 8 with pressure
It is in close contact.When servo motor 39 drives actuator 30 to rotate, it will drive the movement of hollow sphere 41, user generated centainly
Force feedback.
Example IV
As shown in figure 12, the present embodiment is similar to three structure of embodiment, and difference is to be also equipped with similar scissors on hollow sphere 41
Structure finger control device, the fingerstall 61 equipped with index finger and thumb, is connected in the same rotary shaft, the folding of fingerstall by rotating handle
Cause the rotation of rotary shaft, drives and generate control electric signal with the fingerstall sensor 62 of rotation axis connection.
Embodiment five
As shown in figure 13, the robot control dress of the station control device and control robot arm running that are connect with station
It sets, and station control device is connect with robot controller.In use, robot arm is controlled by station, station
Instruction assigned by station control device, by RTC instant messaging reach from end robot controller, robot control dress
It would be communicated to robot arm after setting reception instruction and acted accordingly.The status summary of robot arm is controlled to robot
Device is communicated by RTC by robot controller and reaches station control device, while the state letter of station control device
The status information aggregation process of breath and robot arm reaches station, and feeds back to staff.
Be provided on station control device for monitoring personnel whether monitoring device in place and for showing behaviour
Make the display of the status information of platform and robot.Monitoring device, then can be according to monitoring result when monitoring abnormal condition
Braking or power operation are carried out, is carried out with the safety for ensuring to perform the operation.Preferably, above-mentioned monitoring device includes the photography of 3D body-sensing
Machine (Kinect) and floor push can carry out robot arm when 3D body-sensing video camera monitors staff in place
Partial function operation, when staff steps on floor push at this time, robot arm just can start operation；In staff
When not in place, and floor push is not stepped on, robot arm braking, to avoid the running of operation interface caused by improper factor
Caused by robot arm it is mobile.
It is provided on robot controller for recording the inductive component 6 for executing instrument arm 4, inductive component 6 can be remembered
Record executes the displacement of instrument arm 4, to record the motion profile for executing instrument arm 4.It can by the information that inductive component 6 records
It, can when with multiple execution instrument arms 4 to judge automatically whether the motion path of execution instrument arm 4 meets operation demand
It monitors whether each motion path for executing instrument arm 4 can interfere, to plan new motion path again, guarantees to hold
The safety of the movement of row instrument arm 4.
The motor driver and reaction machine for obtaining motor status information are also provided on robot controller
The dynamic braking device of people's state, when monitoring danger signal, dynamic braking device automatic braking.Above-mentioned motor driver
It can be used cooperatively, be deposited when abnormal in the motion path of encoders monitor to robot arm, encoder can with encoder
Information is fed back into motor driver, and motor driver driving motor is made to start new operating path.
Further include having motor communication device on above-mentioned robot controller, is filled with real-time monitoring motor and motor driven
It sets, the feedback states between motor driver and robot arm, and monitoring information is fed back into staff, event occurring
In the case where barrier, motor communication device can carry out Brake lamp operation according to monitoring information, to guarantee the normal of operating robot
Running, or fault message is fed back into staff, enable the quick handling failure of staff.
In addition, station control device is for recorder human arm parameter information and/or the number of station parameter information
According to logging modle, in order to search fault message.Specifically, the data recordin module include running log and control hand data,
For example in control hand data, staff's operation handle is passed to robot arm end by station controller, makes machine
Human arm movement, information when robot arm acts pass through encoder, motor driver feedback to station controller, shape
At feedback mechanism, if there is inconsistent, system adjust automatically with encoder or motor data in operation data, if not adjusting,
It then breaks down, needs to check data and tracing for troubles place in control hand data.
Preferably, being provided with the emergency stop switch for emergency braking on station control device with right in the event of a failure
Robot carries out emergency braking, and then reduces loss caused by failure.
In one embodiment of the application, monitoring is also respectively provided on robot controller and station control device
Voltage and the first ups power (uninterruptible power supply) and the second ups power for protecting circuit.Size and power grid for monitoring voltage
Stable case enable above-mentioned ups power and in the event of a power failure, guarantee the smooth progress of operation, and will monitor resulting
Information feeds back to staff by station controller.
Each position circuit shape of monitor controller is also respectively provided on robot controller and station control device
The the first power monitor and second source power monitor of state, the voltage of circuit, current values are in preset parameter range
It is then worked normally when interior, when being more than parameter preset, then faulty presence is braked immediately or powered off.
Display robot arm working condition is also respectively provided on robot controller and station control device
Second status indicator lamp of first state indicator light and display operation platform working condition.Above-mentioned indicator light can by robotic end and
The working condition of station is most intuitively presented to staff, and staff passes through inspection according to the display situation of indicator light
Error code can quickly find out guilty culprit.Specifically, above-mentioned indicator light can specifically be provided with it is normal, await orders, warn
Announcement, danger etc. indicate situation, so as to the use state of personnel monitoring robot.
Control device provided in an embodiment of the present invention specifically includes station control device and robot controller, with
The state of station and robot arm is controlled respectively, and station control device is connect with robot controller,
To realize information connection and feedback between the two, staff is enable to operate in operation end to robot arm
To implement operation.In surgical procedure, monitoring device can real-time monitoring staff whether in place, to judge whether to make
It is dynamic, effectively avoid the running of robot arm under the maloperation of part；Display can be by all of station and robot
Status information, which is shown, is presented directly to staff, enable staff fast and accurately find system there are the problem of, into
And quickly solve the problems, such as, guarantee the safety of operation；In addition, the encoder on robot controller is able to record the rotation of motor
Motion path can be judged automatically by the information system of encoder feedback to record the motion profile of mechanical arm by enclosing number
With the presence or absence of problem, and judge whether interfere when the movement of multiple robot arms, can be ensured respectively according to its feedback information
The more accurate trouble free service of robot arm, and then improve the safety of operation.
The control device provided based on the above embodiment, the embodiment of the present invention also provide a kind of operating robot, including behaviour
Make platform, robot arm, and the control device connecting respectively with station and robot arm；And control device is any of the above-described
The control device of item.For the structure of the rest part of above-mentioned operating robot, the prior art is referred to, repeats no more herein.
Since the operating robot has above-mentioned control device, to a certain extent, which also has
Higher safety in utilization.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied, in the range of the principle of the present invention and technical idea, to this
A little embodiments carry out a variety of variations, modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of double gimbal suspension control devices of operating robot, it is characterised in that: at least two gimbal suspensions composition
Multi-freedom joint arm has inductive component induction gimbal suspension movement in the gimbal suspension；Lead between adjacent gimbal suspension
Tube channel connection is crossed, there is the movement of inductive component induction channels pipe in the tube channel.
2. the double gimbal suspension control devices of operating robot according to claim 1, it is characterised in that: the inductive component
Including induction pieces and inductor, induction pieces and inductor are directly connected to or are coupled by transmission device.
3. the double gimbal suspension control devices of operating robot according to claim 1, it is characterised in that: the tube channel
Sense base is installed on tube wall, is equipped in sense base for incuding the first inductive component retreated across object along tube channel, institute
It states the first inductive component and is engaged with object is passed through, the object that passes through is the control-rod across tube channel.
4. the double gimbal suspension control devices of operating robot according to claim 3, it is characterised in that: the gimbal suspension
Second inductive component is inside installed, second inductive component is rotated across object along channel inside pipe wall for incuding.
5. the double gimbal suspension control devices of operating robot according to claim 1, it is characterised in that: the tube channel packet
Rotating channel pipe is included, the rotating channel pipe is fixedly connected directly or by coupling tube with gimbal suspension, the rotating channel pipe
Upper installation has induction across object along the third inductive component of tube channel axial-rotation.
6. the double gimbal suspension control devices of operating robot according to claim 5, it is characterised in that: the tube channel is also
Including advance and retreat tube channel, the advance and retreat tube channel is formed directly into or is penetrated in rotating channel pipe or ball-type part by coupling tube, institute
It states and the 4th inductive component that induction is axially retreated across object along tube channel is installed in advance and retreat tube channel.
7. the double gimbal suspension control devices of operating robot according to claim 1, it is characterised in that: the gimbal suspension
It is cup-and-ball joint, the cup-and-ball joint includes ball-type part and socket joint.
8. the double gimbal suspension control devices of operating robot according to claim 1, it is characterised in that: the gimbal suspension
It is universal coupling with spider.
9. a kind of double gimbal suspension control devices of operating robot, it is characterised in that: in any hand of claim 1-8
It further include driving motor, induction pieces and driving in the inductive component on the basis of the double gimbal suspension control devices of art robot
Motor is directly connected to or is coupled by transmission device, the rotary motion of the driving motor driving induction pieces.
10. a kind of double gimbal suspension operating robots, it is characterised in that: be any robot control in claim 1-8
In the structure basis of device processed, using the inductive component of driving assembly replacement robot controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811155464.4A CN109171987A (en) | 2018-09-30 | 2018-09-30 | A kind of double gimbal suspension control devices of operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811155464.4A CN109171987A (en) | 2018-09-30 | 2018-09-30 | A kind of double gimbal suspension control devices of operating robot |
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| CN109171987A true CN109171987A (en) | 2019-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811155464.4A Pending CN109171987A (en) | 2018-09-30 | 2018-09-30 | A kind of double gimbal suspension control devices of operating robot |
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| CN114305536A (en) * | 2022-01-15 | 2022-04-12 | 元创医学技术(江苏)有限公司 | Multi-degree-of-freedom flexible instrument based on flexible chain belt |
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Application publication date: 20190111 |