CN112894774A - Two-degree-of-freedom focusing operation mechanism of robot - Google Patents
Two-degree-of-freedom focusing operation mechanism of robot Download PDFInfo
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- CN112894774A CN112894774A CN202110112037.3A CN202110112037A CN112894774A CN 112894774 A CN112894774 A CN 112894774A CN 202110112037 A CN202110112037 A CN 202110112037A CN 112894774 A CN112894774 A CN 112894774A
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- actuator
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- degree
- arc rack
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention provides a two-degree-of-freedom focusing operation mechanism of a robot, which comprises: the supporting component is provided with a transmission component; a rotation operation member provided on the support member; the rotating operation part drives the transmission part to rotate around the circle center of the operation target; a linear operation member connected to the transmission member; the linear operating part can do linear motion, and the supporting part drives the linear operating part to rotate around the center of a circle of an operating target; the linear operation part drives the actuator to do linear motion, so that the focusing position control of focusing operation on the actuator is realized; the attitude control of focusing operation on the actuator is realized by the movement of the rotary operation part; the linear motion direction of the actuator is orthogonal to the rotation direction of the transmission component, so that the two-degree-of-freedom motion of the whole mechanism is completely decoupled. The invention has the characteristics of high precision, simple and flexible structure, fast dynamic response, complete decoupling, low control cost and the like.
Description
Technical Field
The invention relates to the field of robot automation, in particular to a two-degree-of-freedom focusing operation mechanism of a robot.
Background
The two-degree-of-freedom robot is a closed-loop mechanism connected through two independent kinematic chains and is divided into a series mechanism and a parallel mechanism. Compared with a series mechanism, the parallel mechanism has the advantage of higher precision; but the tandem mechanism also has the advantage of simple structure. Compared with a more-freedom-degree series mechanism, the two-freedom-degree series mechanism not only has simple structure and smaller volume, but also has lower control cost.
Through retrieval, the Chinese patent with the publication number of CN105619398A provides a branched-chain coupled two-degree-of-freedom parallel mechanism which has a larger action range and bearing capacity, but the mechanism has the problems of branched-chain coupling, complex motion solution, higher control cost and the like; another chinese patent with publication number CN102126212A proposes a motion decoupling two-degree-of-freedom rotation parallel mechanism, in which two rotational degrees of freedom are completely decoupled, but the mechanism adopts a hooke hinge structure to limit the range of motion of the mechanism; the Chinese patent with the publication number of CN104308833A provides a two-degree-of-freedom parallel mechanism with a hemispherical working range, but the whole volume is large, and the position relation between a movable platform and a static platform is limited; chinese patent publication No. CN106426109A proposes a two-degree-of-freedom parallel mechanism for global working space, which can realize decoupling and full spherical range of motion, but has a complex overall structure and low carrying capacity.
It can be seen that the existing two-degree-of-freedom parallel mechanism still has the problems of complex structure, limited action range, high control cost, coupling of the mechanism and the like, and cannot be applied to the decoupling control of the attitude and the position of the focusing operation.
Therefore, it is necessary to develop a two-degree-of-freedom mechanism which has a simple structure and is applicable to the control of the focusing operation of the robot.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a two-degree-of-freedom focusing operation mechanism of a robot.
The first aspect of the present invention provides a two-degree-of-freedom focusing operation mechanism for a robot, comprising:
a support member; the supporting component is provided with a transmission component;
a rotation operation member provided on the support member; the rotary operation part is matched with the transmission part and drives the transmission part to rotate around the circle center of an operation target;
a linear operation member connected to the transmission member; the linear operation part can do linear motion, and meanwhile, the support part can drive the linear operation part to rotate around the center of a circle of an operation target;
the actuator is connected with the linear operation part and used for executing focusing operation, an extension line of the actuator and the transmission part are positioned on the same plane, and the actuator is driven to do linear motion through the linear operation part, so that the focusing position control of the actuator for carrying out focusing operation is realized; the rotating operation component drives the transmission component to move, so that the attitude control of focusing operation on the actuator is realized; the linear motion direction of the actuator is orthogonal to the rotation direction of the transmission component, so that the two-degree-of-freedom motion of the whole mechanism is completely decoupled.
Preferably, the transmission part is an arc rack, and the center of the arc rack is concentric with the operation target.
Preferably, the support member includes:
fixing the housing; the fixed shell is provided with an inner cavity matched with the outer contour of the arc rack, one end of the inner cavity is an open end, the arc rack is embedded into the inner cavity through the open end, and the arc rack is in constraint fit with the inner cavity of the fixed shell and can move relatively, so that the arc rack can slide in the inner cavity;
a first jacking hole is formed in the side wall of the fixed shell and used for locking the arc rack;
the fixed shell is provided with a flange stand column, and the upper end face of the flange stand column is provided with a connecting component for mounting external equipment.
Preferably, the connecting member includes:
the positioning pin is used for positioning with a positioning hole of the external equipment;
and the mounting hole is used for being connected with the positioning hole of the external equipment.
Preferably, the fixed housing is a circular arc-shaped housing.
Preferably, the rotational operation member includes:
the gear is arranged on the fixed shell and meshed with the arc rack;
the rotating handle is connected with one coaxial side of the gear; the gear is driven to rotate through rotation of the rotating handle, and the gear drives the arc rack to rotate through meshing transmission.
Preferably, the rotational operation member further includes:
the angle sensor is connected with the other side of the gear which is coaxial; the angle sensor and the gear rotate synchronously and is used for detecting the rotation angle of the rotating handle.
Preferably, the linear operation member includes:
the fixed seat is connected with the tail end of the arc rack, and a track extending along the length direction is arranged on the fixed seat;
the sliding block is arranged on the track and used for mounting the actuator, and the sliding block can move along the track direction to drive the actuator to move along the track direction;
and the locking component is arranged on the fixed seat and used for locking the actuator.
Preferably, the locking member comprises:
a jacking plate; the puller plate is connected to the bottom of the fixed seat, one end of the puller plate is embedded into one side of the fixed seat, the other end of the puller plate is connected with the sliding block, and the puller plate and the fixed seat are in constraint fit and can move relatively, so that the puller plate and the sliding block synchronously move along the track direction;
and after the actuator moves to a specified operation position along the fixed seat, the second jacking hole jacks the jacking plate, so that the position of the actuator is fixed.
Preferably, the linear operation member further includes:
the linear sensor is used for detecting the linear position of the actuator, a shell of the linear sensor is connected to the fixed seat, and a detection end of the linear sensor is connected with the tightening plate.
Compared with the prior art, the invention has at least one of the following beneficial effects:
the structure of the invention adopts a two-degree-of-freedom series mechanism structure of a two-rod mechanism, is designed based on the principle of a ring concentric mechanism, and consists of a supporting part, a rotating operation part and a linear operation part, wherein the linear direction is orthogonal to an arc and points to the circle center, so that the posture and the linear motion of the whole mechanism are completely decoupled; because the whole mechanism is completely decoupled, the control complexity is greatly reduced, and the practicability of the mechanism is improved; the method is suitable for concentric operation control, and has more excellent performance on position and posture control of concentric operation.
According to the structure, the rotary operation part is fixed on the supporting part, so that the weight of the posture adjusting transmission part is reduced, and the flexibility of posture angle operation is improved.
According to the structure, the linear transmission part adopts a linear sliding mode in the structure, and the linear motion range can be adjusted to adapt to arc rack mechanisms with different radiuses.
According to the structure, the two-degree-of-freedom rotation concentric series mechanism is completely decoupled, the problems of complex motion control and the like caused by mechanism coupling are solved, the control cost is reduced, and the motion control precision is improved; the method has the characteristics of high precision, flexible structure, quick dynamic response, low control cost and the like.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of a two-degree-of-freedom focusing mechanism of a robot according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from another angle;
the scores in the figure are indicated as: the device comprises a fixed shell 1, a flange upright column 2, a positioning pin 3, a mounting hole 4, a circular arc rack 5, a gear 6, an angle sensor 7, a first jacking hole 8, a rotating handle 9, a fixed seat 10, a sliding block 11, an actuator 12, a jacking plate 13, a linear sensor 14, a second jacking hole 15 and an operation target 16.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1, a two-degree-of-freedom focusing operation mechanism for a robot according to a preferred embodiment of the present invention includes a support member, a rotational operation member, and a linear operation member.
The supporting component is provided with a transmission component; preferably, the transmission component is an arc rack 5, and the center of the arc rack 5 is concentric with the operation target 16. The manipulation target 16 may be regarded as an object of the focusing manipulation.
The rotary operation component is fixed on the supporting component; the rotating operation part is matched with the transmission part, and the transmission part is driven to rotate around the circle center of the operation target 16 by rotating the rotating operation part. The rotary operation component is fixed on the supporting component, so that the weight of the posture adjustment transmission component is reduced, and the flexibility of posture angle operation is improved.
The linear operating component is connected with the transmission component; the linear operating member is capable of linear motion while the support member is capable of rotating the linear operating member about the center of the operational target 16. The linear transmission part adopts a linear sliding mode, and the linear motion range can be adjusted to adapt to arc rack 5 mechanisms with different radiuses.
The actuator 12 is used to perform a focusing operation. The actuator 12 is connected with the linear operation part, the extension line of the actuator 12 points to the center of the operation target 16, the extension line of the actuator 12 and the transmission part are positioned on the same plane, and the actuator 12 is driven to do linear motion through the linear operation part, so that the focusing position control of the actuator 12 for focusing operation is realized; the rotating operation part drives the transmission part to move, so that the attitude control of the focusing operation of the actuator 12 is realized; the linear motion direction of the actuator 12 is orthogonal to the rotation direction of the transmission component and points to the center of the operation target 16, so that the two-degree-of-freedom motion of the whole mechanism is completely decoupled, namely the motion of the transmission component only affects the posture of the actuator 12, and the operation point of the extension line of the actuator 12 is not changed. Because the posture and the linear motion of the whole mechanism are completely decoupled, the control complexity is greatly reduced, and the practicability of the mechanism is improved.
In other partially preferred embodiments, as shown with reference to fig. 1, the support member comprises a stationary housing 1. Preferably, the fixed housing 1 is a circular arc-shaped housing. The fixed shell 1 is provided with an inner cavity matched with the outer contour of the arc rack 5, one end of the inner cavity is an open end, the arc rack 5 is embedded into the inner cavity through the open end, the arc rack 5 is in constraint fit with the inner cavity of the fixed shell 1 and can move relatively, the arc rack 5 is partially embedded into the inner cavity of the fixed shell 1, and the arc rack 5 can slide in the inner cavity of the fixed shell 1.
Referring to fig. 2, a first tightening hole 8 is formed in the side wall of the fixed housing 1 to lock the circular arc rack 5. Namely, after the arc rack 5 rotates to a certain angle, the arc rack 5 can be locked through the first jacking hole 8.
Referring to fig. 1, a flange post 2 is coupled to an outer wall of a stationary casing 1, and a coupling member for mounting an external device is provided on an upper end surface of the flange post 2. The flange column 2 is connected to the middle position of the outer wall of the fixed shell 1. Preferably, the connecting part comprises a positioning pin 3 and a mounting hole 4, wherein the positioning pin 3 is used for positioning with a positioning hole of an external device; the positioning hole is used for being connected with a positioning hole of external equipment. The number of the positioning holes can be multiple. The specific number may be 4.
In other partially preferred embodiments, referring to fig. 2, the rotary operating part comprises a gear 6 and a rotary handle 9, wherein the gear 6 is arranged on the fixed casing 1 and close to the open end of the fixed casing 1, and the gear 6 is arranged below the circular arc rack 5 and is in meshing transmission with the circular arc rack.
The rotary handle 9 is connected to one coaxial side of the gear 6; the driving gear 6 is rotated by rotating the rotating handle 9, and the gear 6 drives the arc rack 5 to rotate through meshing transmission. When the rotating handle 9 is rotated, the driving gear 6 rotates, and the gear 6 rotates and simultaneously drives the arc rack 5 to simultaneously slide in the cavity in the fixed shell 1.
In other partially preferred embodiments, the rotational operating member includes an angle sensor 7. The angle sensor 7 is connected to the other coaxial side of the gear 6, namely the angle sensor 7 is coaxial with the gear 6 and the rotating handle 9; when the gear 6 rotates, the angle sensor 7 rotates in synchronization with the gear 6 for detecting the rotation angle of the rotary knob 9. The rotation angle of the rotating handle 9 corresponds to the posture angle adjusted by the actuator 12, the detection of the posture angle adjusted by the actuator 12 is also realized by detecting the rotation angle of the rotating handle 9 through the angle sensor 7, and the feedback of the adjustment angle of the posture angle of the actuator 12 is favorable for the posture control of the posture focusing operation.
In other preferred embodiments, referring to fig. 1, the linear operating member includes a fixed seat 10 and a sliding block 11.
One end of the fixed seat 10 is connected with the tail end of the arc rack 5, and a track extending along the length direction is arranged on the fixed seat 10; preferably, the fixing base 10 is an elongated member.
The sliding block 11 is arranged on the track, and the sliding block 11 can move along the track direction; the actuator 12 is mounted on the skid 11. The actuator 12 is moved in the track direction by the movement of the sliding block 11.
A locking member for locking the actuator 12 is also provided on the holder 10.
In other preferred embodiments, referring to fig. 2, the locking member includes a tightening plate 13 and a second tightening hole 15, wherein the tightening plate 13 is connected to the bottom of the fixing base 10, one end of the tightening plate 13 is embedded into one side of the fixing base 10, the other end of the tightening plate 13 is connected to the sliding block 11, and the tightening plate 13 is constrained by the fixing base 10 and can move relatively, so that the tightening plate 13 and the sliding block 11 move synchronously along the track direction.
The second pushing hole 15 is disposed at one end of the pushing plate 13, and after the actuator 12 moves to a designated operating position along the fixing base 10, the pushing plate 13 is pushed tightly through the second pushing hole 15, so that the position of the actuator 12 is fixed.
In other partially preferred embodiments, as shown with reference to FIG. 1, the linear operating member further includes a linear sensor 14. The purpose of detecting the linear position of the actuator 12 is to control the distance of the end of the actuator from the manipulation target 16, for example, by detecting the linear position of the actuator 12 for a puncturing operation, the depth of the puncture can be quantified; for focused cautery operations, the intensity of cauterization may be quantified by detecting the linear position of the actuator 12.
The housing of the linear sensor 14 is connected to the fixed seat 10, and the detection end of the linear sensor 14 is connected with the tightening plate 13. When the actuator 12 slides with the tightening plate 13 through the slide block 11, the linear position of the actuator 12 can be detected.
The two-degree-of-freedom focusing operation mechanism of the robot in the embodiment is a two-degree-of-freedom series mechanism structure adopting a two-rod mechanism. The flange column 2 can be conveniently installed at the tail end of external equipment such as a robot through the flange column 2 of the supporting component, and the flange column can be applied to medical intervention operations such as puncture and energy beams, and can also be applied to industrial operations such as grinding and drilling, and the operation target 16 can be regarded as an object of focusing operation, such as organs such as thyroid gland, mammary gland, liver and lung, and can also be an operated part in any fields such as industry.
In specific implementation, for example, the posture of the puncture needle can be controlled by the movement of the rotating operation component; the focusing position control of the puncture needle can be realized through the movement of the linear operation part, and the mechanism is completely decoupled, so that the control complexity is greatly reduced, and the practicability of the mechanism is improved.
Through the structure optimization design, the device has the characteristics of high precision, simple and flexible structure, fast dynamic response, complete decoupling, low control cost and the like.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. A two-degree-of-freedom focusing operation mechanism of a robot is characterized by comprising:
a support member; the supporting component is provided with a transmission component;
a rotation operation member provided on the support member; the rotary operation part is matched with the transmission part and drives the transmission part to rotate around the circle center of an operation target;
a linear operation member connected to the transmission member; the linear operation part can do linear motion, and meanwhile, the support part can drive the linear operation part to rotate around the center of a circle of an operation target;
the actuator is connected with the linear operation part and used for executing focusing operation, an extension line of the actuator and the transmission part are positioned on the same plane, and the actuator is driven to do linear motion through the linear operation part, so that the focusing position control of the actuator for carrying out focusing operation is realized; the rotating operation component drives the transmission component to move, so that the attitude control of focusing operation on the actuator is realized; the linear motion direction of the actuator is orthogonal to the rotation direction of the transmission component, so that the two-degree-of-freedom motion of the whole mechanism is completely decoupled.
2. The robot two-degree-of-freedom focusing operation mechanism according to claim 1, wherein the transmission member is an arc rack, and a center of the arc rack is concentrically arranged with the operation target.
3. The robotic two-degree-of-freedom focus actuator of claim 2, wherein the support member comprises:
fixing the housing; the fixed shell is provided with an inner cavity matched with the outer contour of the arc rack, one end of the inner cavity is an open end, the arc rack is embedded into the inner cavity through the open end, and the arc rack is in constraint fit with the inner cavity of the fixed shell and can move relatively, so that the arc rack can slide in the inner cavity;
a first jacking hole is formed in the side wall of the fixed shell and used for locking the arc rack;
the fixed shell is provided with a flange stand column, and the upper end face of the flange stand column is provided with a connecting component for mounting external equipment.
4. The robot two-degree-of-freedom focus actuator of claim 3, wherein the connecting means comprises:
the positioning pin is used for positioning with a positioning hole of the external equipment;
and the mounting hole is used for being connected with the positioning hole of the external equipment.
5. The two degree-of-freedom focusing manipulator of claim 3, wherein the fixed housing is a circular arc type housing.
6. The robot two-degree-of-freedom focus actuator of claim 3, wherein the rotary actuator comprises:
the gear is arranged on the fixed shell and meshed with the arc rack;
the rotating handle is connected with one coaxial side of the gear; the gear is driven to rotate through rotation of the rotating handle, and the gear drives the arc rack to rotate through meshing transmission.
7. The robot two-degree-of-freedom focus actuator of claim 6, wherein the rotary actuator further comprises:
the angle sensor is connected with the other side of the gear which is coaxial; the angle sensor and the gear rotate synchronously and is used for detecting the rotation angle of the rotating handle.
8. The robotic two degree-of-freedom focus actuator of claim 6 wherein the linear actuator comprises:
the fixed seat is connected with the tail end of the arc rack, and a track extending along the length direction is arranged on the fixed seat;
the sliding block is arranged on the track and used for mounting the actuator, and the sliding block can move along the track direction to drive the actuator to move along the track direction;
and the locking component is arranged on the fixed seat and used for locking the actuator.
9. The robotic two degree-of-freedom focus actuator of claim 8, wherein the locking assembly comprises:
a jacking plate; the puller plate is connected to the bottom of the fixed seat, one end of the puller plate is embedded into one side of the fixed seat, the other end of the puller plate is connected with the sliding block, and the puller plate and the fixed seat are in constraint fit and can move relatively, so that the puller plate and the sliding block synchronously move along the track direction;
and after the actuator moves to a specified operation position along the fixed seat, the second jacking hole jacks the jacking plate, so that the position of the actuator is fixed.
10. The robotic two degree-of-freedom focus actuator of claim 9, wherein the linear actuator further comprises:
the linear sensor is used for detecting the linear position of the actuator, a shell of the linear sensor is connected to the fixed seat, and a detection end of the linear sensor is connected with the tightening plate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110112037.3A CN112894774A (en) | 2021-01-27 | 2021-01-27 | Two-degree-of-freedom focusing operation mechanism of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110112037.3A CN112894774A (en) | 2021-01-27 | 2021-01-27 | Two-degree-of-freedom focusing operation mechanism of robot |
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| CN112894774A true CN112894774A (en) | 2021-06-04 |
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| CN202110112037.3A Pending CN112894774A (en) | 2021-01-27 | 2021-01-27 | Two-degree-of-freedom focusing operation mechanism of robot |
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| US5749362A (en) * | 1992-05-27 | 1998-05-12 | International Business Machines Corporation | Method of creating an image of an anatomical feature where the feature is within a patient's body |
| CN101530347A (en) * | 2008-03-12 | 2009-09-16 | 普罗苏吉科斯有限公司 | Telescopic support |
| CN103919610A (en) * | 2014-04-25 | 2014-07-16 | 哈尔滨工程大学 | Multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure |
| CN104739512A (en) * | 2015-02-28 | 2015-07-01 | 天津大学 | Thoracocentesis surgical robot based on CT or MRI image navigation |
| CN108670411A (en) * | 2018-06-04 | 2018-10-19 | 哈尔滨工业大学 | A kind of space apocenter motion using Double-stroke arc-shaped slide rail |
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2021
- 2021-01-27 CN CN202110112037.3A patent/CN112894774A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5749362A (en) * | 1992-05-27 | 1998-05-12 | International Business Machines Corporation | Method of creating an image of an anatomical feature where the feature is within a patient's body |
| CN101530347A (en) * | 2008-03-12 | 2009-09-16 | 普罗苏吉科斯有限公司 | Telescopic support |
| CN103919610A (en) * | 2014-04-25 | 2014-07-16 | 哈尔滨工程大学 | Multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure |
| CN104739512A (en) * | 2015-02-28 | 2015-07-01 | 天津大学 | Thoracocentesis surgical robot based on CT or MRI image navigation |
| CN108670411A (en) * | 2018-06-04 | 2018-10-19 | 哈尔滨工业大学 | A kind of space apocenter motion using Double-stroke arc-shaped slide rail |
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Application publication date: 20210604 |