CN100425409C - Rope-driven two-dimensional virtual center rotation mechanism - Google Patents
Rope-driven two-dimensional virtual center rotation mechanism Download PDFInfo
- Publication number
- CN100425409C CN100425409C CNB200610165119XA CN200610165119A CN100425409C CN 100425409 C CN100425409 C CN 100425409C CN B200610165119X A CNB200610165119X A CN B200610165119XA CN 200610165119 A CN200610165119 A CN 200610165119A CN 100425409 C CN100425409 C CN 100425409C
- Authority
- CN
- China
- Prior art keywords
- pulley
- joint
- steel wire
- shaft
- wire rope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The rope drive two dimensional virtual center rotary device comprises base unit, No.1 and No.2 joint sets, and end clamping unit, commonly used for micro wound operation auxiliary rotor end wrist structure. It can make the operation tools turning around the zero position outside the structure in two dimensional rotation. Being orthogonal decoupling between two rotations, one free from restraint, the other rotating related to the scope and coiling method of the steel wire, it can ensure smooth rotation from minus 180 degree to 180 degree. The mechanism enjoys the same mechanical features in each direction. The rotation scope can be set or restrained by using mechanical or control method. It is simple, small, and big in movement scope, light and low in cost.
Description
Technical field
The present invention relates to a kind of rotating mechanism, more particularly say, be meant a kind of virtual long-range centrostaltic two-dimentional rotating mechanism that has, generally be applied to the terminal wrist part structure of Minimally Invasive Surgery auxiliary robot.
Background technology
What the virtual center rotating mechanism was realized is that a member can rotate by the fixing point on the space, and there is not actual revolute pair in this fixed point, and this virtual fixing point is at mechanism's far-end.This mechanism can be called the virtual long-range centre of motion (Remote Center of Motion, RCM) mechanism.In recent years, the research to lower-mobility mechanism has become one of theory of mechanisms area research focus.This is because in case after the clear and definite application background demand, and the scheme of special mechanism is generally simpler than universal architecture, be easy to control and cheap.The mechanism described in the invention class that comes to this has specifically functional novel lower-mobility mechanism, and it more and more is considered to very wide application background.
Summary of the invention
The purpose of this invention is to provide a kind of two-dimensional virtual center rotating mechanism of restricting and driving, this rotating mechanism can make the instrument that need undergo surgery carry out two dimension around the point of the O on the space and rotate, and two turning cylinders: axis of pedestal rotation line and rotation are orthogonal; Base unit can rotate around X-axis, and the steel wire rope drive disk assembly makes article one connecting plate parallel with operation tool, and the second connecting plate is parallel with pedestal, makes operation tool rotate around Y-axis.The present invention is simple in structure, and volume is little, and range of movement is big, and is in light weight, and cost is low.Can be used for fields such as the auxiliary Minimally Invasive Surgery of robot, thereby do not need the many-degrees of freedom system of complexity is controlled, also need not simultaneously accurate image calibration device guarantee the to perform the operation insertion point fixed-site of trocar, minimizing equipment and debugging cost, reduce probability to the injury of corrective surgery incision, help the enforcement of Minimally Invasive Surgery, make surgical procedure safer reliable.
The present invention is a kind of two-dimensional virtual center rotating mechanism of restricting and driving, and is made up of base unit, first joint set, second joint group and terminal grip unit;
Described first joint set is made of first connecting plate, pulley A, pulley B, pulley C, pulley D, first steel wire rope, first joint shaft, first joint bearing block, pulley A and pulley B are installed in parallel on the end of first connecting plate, pulley C and pulley D are installed in parallel on the other end of first connecting plate, one end of first steel wire rope is fixed on the driving shaft bearing by screw, the other end of first steel wire rope pass through in turn pulley A, pulley C, first joint shaft, pulley D,
Be fixed on the driving shaft bearing by screw behind the pulley B, first joint shaft is installed on first joint bearing block, and first joint shaft is provided with the gathering sill of placing or sliding for steel wire rope; One end of first connecting plate is installed on the driving shaft, and the other end is installed on first joint shaft, between first joint shaft and first joint bearing block; The two ends of first steel wire rope are fixed on the driving shaft bearing by screw respectively, and the first steel wire rope interlude is fixed on first joint shaft;
Described second joint group is by second connecting plate, pulley E, pulley F, pulley G, pulley H, second steel wire rope, the second joint axle, the second joint bearing block constitutes, pulley E and pulley F are installed in parallel on the end of second connecting plate, pulley G and pulley H are installed in parallel on the other end of second connecting plate, one end of second steel wire rope is fixed on first joint bearing block by screw, the other end of second steel wire rope passes through pulley E in turn, pulley G, the second joint axle, pulley H, be fixed on first joint bearing block by screw behind the pulley F, the second joint axle is installed on the second joint bearing block, and the second joint axle is provided with the gathering sill of placing or sliding for second steel wire rope; One end of second connecting plate is installed on the bearing E by screw, and the other end is installed on the bearing B by screw; The two ends of second steel wire rope are fixed on first joint bearing block by screw respectively, and the second steel wire rope interlude is fixed on the second joint axle;
Described terminal grip unit is made of pressing plate, terminal holder, the middle part of terminal holder is provided with for clamping the V-shaped groove that the surgical end instrument is used, pressing plate is connected with terminal holder by screw, and terminal holder is fixed on the second joint bearing block of second joint group;
Described base unit comprises that base shell, gripper shoe, motor A, motor B, belt wheel A, belt wheel B, belt, bearing block, bearing, back shaft, bevel gear A and bevel gear B, output shaft constitute; The end, the back side of gripper shoe is provided with the through hole B that passes through for output shaft, and the end of the lateral plates of gripper shoe is provided with for bearings mounted through hole A; Motor A, motor B level are installed on the back side of gripper shoe, and the output shaft of motor A is connected with belt wheel A after passing the groove of connecting plate end, and connecting plate is fixed on the lateral plates of gripper shoe; Bearing block is fixed on the through hole A place of the lateral plates of gripper shoe, and belt wheel B is installed on the back shaft, and an end of back shaft is installed in the centre bore of bearing, and belt is installed on belt wheel A, the belt wheel B, and the other end of back shaft passes the through hole C on the base shell; The output shaft of motor B is connected with bevel gear B, and an end of output shaft is connected with bevel gear A, bevel gear A and bevel gear B engagement, and the other end of output shaft is connected with driving shaft; Be fixed with the driving shaft bearing on the upper face of gripper shoe end, the driving shaft bearing is provided with the gathering sill of placing for first steel wire rope; Gripper shoe and base shell are assembled together by screw.
The two-dimensional virtual center rotating mechanism that described rope drives, the axis of its operation tool is parallel with first connecting plate; Second connecting plate and axis of pedestal rotation line parallel.
The two-dimensional virtual center rotating mechanism that described rope drives, its base unit is realized 360 ° of rotations around the axis of pedestal rotation line; The operation tool that is installed on the terminal grip unit is realized-180 ° to 180 ° rotations around rotation.
The two-dimensional virtual center rotating mechanism that described rope drives, its long-range centre of motion point O carry out two dimension and rotate, and axis of pedestal rotation line and rotation are orthogonal.
The characteristics of the two-dimensional virtual center rotating mechanism that rope of the present invention drives are: (1) uses two cover steel wire rope drive units, alleviates construction weight, has reduced the quantity of revolute pair simultaneously; (2) in order to guarantee kinematic accuracy, steel wire rope can not skid, and steel wire rope has adopted screw fixation method with interlude endways; (3) mechanism rotates and comprises that a cover bevel gear drive unit drives connecting rod and rotates around Y-axis (rotation 8), and another set of synchronous cog belt drive unit drives base unit and rotates around X-axis (axis of pedestal rotation line 7); The length of (4) first connecting plates 201 and second connecting plate 301 can determine that the length of two connecting plates can be unequal according to the real work space requirement.For different connecting plate length, only need to change connecting plate, coiling again, mechanism's miscellaneous part does not need to change.
Description of drawings
Fig. 1 is the structure chart behind the two-dimensional virtual center rotating mechanism that drives of rope of the present invention folding.
Fig. 2 is the A-A cutaway view of Fig. 1.
Fig. 3 is the exploded view of base unit.
Fig. 4 is first joint set and the diagrammatic sketch that is connected of second joint group.
Fig. 5 is the movement relation diagrammatic sketch of the two-dimensional virtual center rotating mechanism of operation tool and rope of the present invention driving.
Among the figure: 1. base unit 101. base shells 102. gripper shoes 103. motor A
104. motor B 105. belt wheel A 106. belts 107. belt wheel B 108. bearing blocks
109. bearing 110. connecting plates 111. bevel gear A 112. bevel gear B 113, back shaft
114. output shaft 115. driving shaft bearings 116. driving shafts 117. bearing A 119. lateral plates
120. through hole A 121. back sides 122. through hole B, 123. through hole C
2. first joint set, 201. first connecting plates, 202. first joint shafts, 203. first joint bearing blocks
204. first steel wire rope, 205. pulley A, 206. pulley B, 207. pulley C, 208. pulley D
209. gathering sill 210. bearing B
3. second joint group 301. second connecting plates 302. second joint axles 303. second joint bearing blocks
304. second steel wire rope, 305. pulley E, 306. pulley F, 307. pulley G, 308. pulley H
309. gathering sill 310. bearing C
4. terminal grip unit 401. pressing plates 402. terminal holder 403.V shape grooves
5. surgical end instrument 6. axis 7. axis of pedestal rotation lines, 8. rotations
The specific embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
The present invention is a kind of two-dimensional virtual center rotating mechanism of restricting and driving, and is made up of base unit 1, first joint set 2, second joint group 3 and terminal grip unit 4, as shown in Figure 1.
See also shown in Figure 4, described first joint set 2 is by first connecting plate 201, four pulley (pulley A 205, pulley B 206, pulley C 207, pulley D 208), first steel wire rope 204, first joint shaft 202, first joint bearing block 203 constitutes, pulley A 205 and pulley B 206 are installed in parallel on the end of first connecting plate 201, pulley C 207 and pulley D 208 are installed in parallel on the other end of first connecting plate 201, one end of first steel wire rope 204 is fixed on the driving shaft bearing 115 by screw, the other end of first steel wire rope 204 passes through pulley A 205 in turn, pulley C 207, first joint shaft 202, pulley D 208, pulley B 206 backs are fixed on the driving shaft bearing 115 by screw, first joint shaft 202 is installed on first joint bearing block 203, and first joint shaft 202 is provided with the gathering sill 209 of placing or sliding for first steel wire rope 204; One end of first connecting plate 201 is installed on the driving shaft 116, and the other end is installed on first joint shaft 202, between first joint shaft 202 and first joint bearing block 203; The position that pulley A 205, pulley B 206, pulley C 207 and pulley D 208 are used for limiting first steel wire rope 204.The two ends of first steel wire rope 204 are fixed on the driving shaft bearing 115 by screw respectively, and first steel wire rope, 204 interludes are fixed on first joint shaft 202.When first connecting plate 201 and driving shaft 116 rotate a certain angle, because the effect of first steel wire rope 204, first joint shaft 202 also rotates a certain angle accordingly, make joint shaft 202 angles relative and base unit 1 of winning invariable, thereby make second connecting plate 301 keep parallel with axis of pedestal rotation line 7.
See also shown in Figure 4, described second joint group 3 is by second connecting plate 301, four pulley (pulley E 305, pulley F 306, pulley G 307, pulley H 308), second steel wire rope 304, second joint axle 302, second joint bearing block 303 constitutes, pulley E 305 and pulley F 306 are installed in parallel on the end of second connecting plate 301, pulley G 307 and pulley H 308 are installed in parallel on the other end of second connecting plate 301, one end of second steel wire rope 304 is fixed on first joint bearing block 203 by screw, the other end of second steel wire rope 304 passes through pulley E 305 in turn, pulley G 307, second joint axle 302, pulley H 308, pulley F 306 backs are fixed on first joint bearing block 203 by screw, second joint axle 302 is installed on the second joint bearing block 303, and second joint axle 302 is provided with the gathering sill 309 of placing or sliding for second steel wire rope 304; One end of second connecting plate 301 is installed on the bearing E 310 by screw, and the other end is installed on the bearing B210 by screw; The position that pulley E 305, pulley F 306, pulley G 307 and pulley H 308 are used for limiting second steel wire rope 304.The two ends of second steel wire rope 304 are fixed on first joint bearing block 203 by screw respectively, and second steel wire rope, 304 interludes are fixed on the second joint axle 302.When second connecting plate 301 and first joint shaft 202 rotate a certain angle (can be-180 ° to 180 °), because the effect of second steel wire rope 304, second joint axle 302 also rotates a certain angle accordingly, make that the angle of second joint axle 302 relative first connecting plates 201 is invariable, guarantee that the axis 6 of operation tool 5 is parallel with first connecting plate 201.
See also shown in Figure 1, described terminal grip unit 4 is made of pressing plate 401, terminal holder 402, the middle part of terminal holder 402 is provided with for the V-shaped groove 403 that clamps surgical end instrument 5 usefulness, pressing plate 401 is connected with terminal holder 402 by screw, and terminal holder 402 is fixed on the second joint bearing block 303 of second joint group 3;
See also Fig. 1, Fig. 2, shown in Figure 3, described base unit 1 comprises that base shell 101, gripper shoe 102, two direct current generators (motor A 103, motor B 104), belt transmission part (comprising belt wheel A 105, belt wheel B107, belt 106, bearing block 108, bearing 109), back shaft 113, gear train (comprising bevel gear A 111 and bevel gear B 112), output shafts 116 constitute; 121 ends, the back side of gripper shoe 102 are provided with the through hole B 122 that passes through for output shaft 114, and the end of the lateral plates 119 of gripper shoe 102 is provided with for the through hole A 120 that bearing 109 is installed; Motor A 103, motor B 104 levels are installed on the back side 121 of gripper shoe 102, and the output shaft of motor A 103 is connected with belt wheel A 105 after passing the groove of connecting plate 110 ends, and connecting plate 110 is fixed on the lateral plates 119 of gripper shoe 102; Bearing block 108 is fixed on through hole A 120 places of the lateral plates 119 of gripper shoe 102, and belt wheel B 107 is installed on the back shaft 113, one end of back shaft 113 is installed in the centre bore of bearing 109, belt 106 is installed on belt wheel A 105, the belt wheel B 107, and the other end of back shaft 113 passes the through hole C 123 on the base shell 101; The output shaft of motor B 104 is connected with bevel gear B112, and an end of output shaft 114 is connected with bevel gear A 111, bevel gear A 111 and bevel gear B 112 engagements, and the other end of output shaft 114 is connected with driving shaft 116; Be fixed with driving shaft bearing 115 on the upper face of gripper shoe 102 ends, driving shaft bearing 115 is provided with the gathering sill of placing for first steel wire rope 204; Gripper shoe 102 and base shell 101 are assembled together by screw.Motor A 103, motor B 104 are the direct current generators that have decelerator.Thereby motor B 104 changes outbound course rear drive output shaft 114 backs by bevel gear A 111, bevel gear B 112 rotates driving shaft 116.Thereby realize the rotation of operation tool 5 around rotation 8.Motor A103 drives back shaft 113 by synchronous cog belt (belt wheel A 105, belt wheel B 107, belt 106) transmission.Be connected with bearing 109 between back shaft 113 and the bearing block 108.Bearing block 108 is fixed on the gripper shoe 102.When back shaft 113 was clamped on the passive support, base unit 1 was rotated around back shaft 113 under the driving of motor A 103.
See also shown in Figure 5, entire mechanism of the present invention can be carried out 360 ° of rotations around axis of pedestal rotation line 7 by base unit 1, the operation tool 5 (being a trochar among the figure) that is installed on the terminal grip unit 4 rotates around rotation 8, rotating range can be-180 ° to 180 ° rotation by the canoe decision of first steel wire rope 204 and second steel wire rope 304.The axis 6 of operation tool 5 and axis of pedestal rotation line 7, rotation 8 O that intersects at a point, the O point is long-range centre of motion point (RCM).Base unit 1 can rotate around axis of pedestal rotation line 7 (X-axis).The steel wire rope drive disk assembly makes article one connecting plate 201 parallel with operation tool 5, and second connecting plate 301 is parallel with base shell 101, makes operation tool 5 rotate around rotation (Y-axis).The journey centre of motion point O that goes the long way round of mechanism of the present invention carries out two dimension and rotates, and axis of pedestal rotation line 7 is orthogonal with rotation 8.The present invention is an a kind of virtual long-range centre of motion mechanism, and this virtual long-range centrostaltic feature is not have actual revolute pair to be connected with mechanism, and when mechanism kinematic, the last member of mechanism is around virtual long-range centre of motion rotation.Entire mechanism can not fold to save the space, as shown in Figure 1 in time spent.
In the present invention, be made up of pressing plate 401 and terminal holder 402 for the adaptor-fixture (terminal grip unit 4) that operation tool 5 is installed, terminal holder 402 uses V-shaped groove 403 positioning operation instruments 5.Operation tool 5 for different-diameter should use different adaptor-fixture, intersects with axis 6 and the pedestal axis 7 of guaranteeing operation tool 5.
Mechanism proposed by the invention can make operation tool 5 carry out two dimension around certain a bit (RCM) outside the mechanism and rotate.Between two rotations is crossing decoupling, and one of them slewing area is unrestricted, can carry out 360 ° of rotations, and the scope of another rotation is relevant with the method for steel wire rope coiling, generally can guarantee to rotate smoothly between-180 ° to 180 °.Two rotations of mechanism all do not have unusual position shape, that is to say that all there is identical mechanical property in mechanism on arbitrary orientation.Can utilize method restriction machinery or control or set required slewing area.Entire mechanism uses 4 ball bearings as revolute pair, has simplified the quantity (needing 8 revolute pairs to connect at least as the RCM mechanism based on parallel four-bar) of the required revolute pair of RCM mechanism.By different operation tool adaptive devices, multiple different operation tool can be operated by this mechanism.
The length of first connecting plate 201 and second connecting plate 301 can determine that the length of two connecting plates can be unequal according to the real work space requirement among the present invention.For different connecting plate length, only need to change connecting plate, coiling again, mechanism's miscellaneous part does not need to change, and this also is an advantage of the present invention.Mechanism proposed by the invention can use separately, also can make up to increase its number of degrees of freedom, with other mechanisms.
Though illustrated the present invention in conjunction with above embodiment; yet also non-limiting the present invention, the engineers and technicians of any this area, without departing from the spirit and scope of the present invention; can do corresponding change and polishing, so protection scope of the present invention should be a standard with what claim was defined.
Claims (9)
1, a kind of two-dimensional virtual center rotating mechanism of restricting and driving is characterized in that: be made up of base unit (1), first joint set (2), second joint group (3) and terminal grip unit (4);
Described first joint set (2) is by first connecting plate (201), pulley A (205), pulley B (206), pulley C (207), pulley D (208), first steel wire rope (204), first joint shaft (202), first joint bearing block (203) constitutes, pulley A (205) and pulley B (206) are installed in parallel on the end of first connecting plate (201), pulley C (207) and pulley D (208) are installed in parallel on the other end of first connecting plate (201), one end of first steel wire rope (204) is fixed on the driving shaft bearing (115) by screw, the other end of first steel wire rope (204) passes through pulley A (205) in turn, pulley C (207), first joint shaft (202), pulley D (208), pulley B (206) back is fixed on the driving shaft bearing (115) by screw, first joint shaft (202) is installed on first joint bearing block (203), and first joint shaft (202) is provided with the gathering sill (209) of placing or sliding for first steel wire rope (204); One end of first connecting plate (201) is installed on the driving shaft (116), and the other end is installed on first joint shaft (202), is positioned between first joint shaft (202) and first joint bearing block (203); The two ends of first steel wire rope (204) are fixed on the driving shaft bearing (115) by screw respectively, and first steel wire rope (204) interlude is fixed on first joint shaft (202);
Described second joint group (3) is by second connecting plate (301), pulley E (305), pulley F (306), pulley G (307), pulley H (308), second steel wire rope (304), second joint axle (302), second joint bearing block (303) constitutes, pulley E (305) and pulley F (306) are installed in parallel on the end of second connecting plate (301), pulley G (307) and pulley H (308) are installed in parallel on the other end of second connecting plate (301), one end of second steel wire rope (304) is fixed on first joint bearing block (203) by screw, the other end of second steel wire rope (304) passes through pulley E (305) in turn, pulley G (307), second joint axle (302), pulley H (308), pulley F (306) back is fixed on first joint bearing block (203) by screw, second joint axle (302) is installed on the second joint bearing block (303), and second joint axle (302) is provided with the gathering sill (309) of placing or sliding for second steel wire rope (304); One end of second connecting plate (301) is installed on the bearing E (310) by screw, and the other end is installed on the bearing B (210) by screw; The two ends of second steel wire rope (304) are fixed on first joint bearing block (203) by screw respectively, and second steel wire rope (304) interlude is fixed on the second joint axle (302);
Described terminal grip unit (4) is made of pressing plate (401), terminal holder (402), the middle part of terminal holder (402) is provided with for the V-shaped groove (403) that clamps surgical end instrument (5) usefulness, pressing plate (401) is connected with terminal holder (402) by screw, and terminal holder (402) is fixed on the second joint bearing block (303) of second joint group (3);
Described base unit (1) comprises that base shell (101), gripper shoe (102), motor A (103), motor B (104), belt wheel A (105), belt wheel B (107), belt (106), bearing block (108), bearing (109), back shaft (113), bevel gear A (111) and bevel gear B (112), output shaft (116) constitute; The end, the back side (121) of gripper shoe (102) is provided with the through hole B (122) that passes through for output shaft (114), and the end of the lateral plates (119) of gripper shoe (102) is provided with for the through hole A (120) that bearing (109) is installed; Motor A (103), motor B (104) level are installed on the back side (121) of gripper shoe (102), the output shaft of motor A (103) is connected with belt wheel A (105) after passing the groove of connecting plate (110) end, and connecting plate (110) is fixed on the lateral plates (119) of gripper shoe (102); The through hole A (120) that bearing block (108) is fixed on the lateral plates (119) of gripper shoe (102) locates, and belt wheel B (107) is installed on the back shaft (113), one end of back shaft (113) is installed in the centre bore of bearing (109), belt (106) is installed on belt wheel A (105), the belt wheel B (107), and the other end of back shaft (113) passes the through hole C (123) on the base shell (101); The output shaft of motor B (104) is connected with bevel gear B (112), and an end of output shaft (114) is connected with bevel gear A (111), bevel gear A (111) and bevel gear B (112) engagement, and the other end of output shaft (114) is connected with driving shaft (116); Be fixed with driving shaft bearing (115) on the upper face of gripper shoe (102) end, driving shaft bearing (115) is provided with the gathering sill of placing for first steel wire rope (204); Gripper shoe (102) is assembled together by screw with base shell (101).
2, the two-dimensional virtual center rotating mechanism of rope driving according to claim 1, it is characterized in that: pulley A (205), pulley B (206), pulley C (207) and pulley D (208) are used for limiting the position of first steel wire rope (204).
3, the two-dimensional virtual center rotating mechanism of rope driving according to claim 1, it is characterized in that: pulley E (305), pulley F (306), pulley G (307) and pulley H (308) are used for limiting the position of second steel wire rope (304).
4, the two-dimensional virtual center rotating mechanism of rope driving according to claim 1, it is characterized in that: motor A (103), motor B (104) are the direct current generators that has decelerator.
5, the two-dimensional virtual center rotating mechanism of rope driving according to claim 1 is characterized in that: motor B (104) changes outbound course rear drive output shaft (114) by bevel gear A (111), bevel gear B (112) thereby the back is rotated driving shaft (116) realizes the rotation of surgical end instrument (5) around rotation (8).
6, the two-dimensional virtual center rotating mechanism of rope driving according to claim 1, it is characterized in that: the axis (6) of surgical end instrument (5) is parallel with first connecting plate (201); Second connecting plate (301) is parallel with axis of pedestal rotation line (7).
7, the two-dimensional virtual center rotating mechanism of rope driving according to claim 1, it is characterized in that: base unit (1) is realized 360 ° of rotations around axis of pedestal rotation line (7).
8, the two-dimensional virtual center rotating mechanism of rope driving according to claim 1 is characterized in that: the surgical end instrument (5) that is installed on the terminal grip unit (4) is realized-180 ° to 180 ° rotations around rotation (8).
9, the two-dimensional virtual center rotating mechanism of rope driving according to claim 1 is characterized in that: long-range centre of motion point O carries out two dimension and rotates, and axis of pedestal rotation line (7) is orthogonal with rotation (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200610165119XA CN100425409C (en) | 2006-12-13 | 2006-12-13 | Rope-driven two-dimensional virtual center rotation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200610165119XA CN100425409C (en) | 2006-12-13 | 2006-12-13 | Rope-driven two-dimensional virtual center rotation mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1970245A CN1970245A (en) | 2007-05-30 |
| CN100425409C true CN100425409C (en) | 2008-10-15 |
Family
ID=38111359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200610165119XA Expired - Fee Related CN100425409C (en) | 2006-12-13 | 2006-12-13 | Rope-driven two-dimensional virtual center rotation mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100425409C (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791802B (en) * | 2010-01-21 | 2012-07-04 | 上海大学 | Three-degree of freedom under-actuated robot wrist device |
| CN101879346B (en) * | 2010-07-03 | 2013-12-18 | 燕山大学 | Catheter screw device for minimally invasive vascular interventional surgical robot |
| CN102672715B (en) * | 2012-05-15 | 2015-08-26 | 华南理工大学 | One is help the disabled/is helped the elderly by rope driving machine mechanical arm |
| EP3200960A4 (en) * | 2014-09-30 | 2018-05-30 | Seiko Epson Corporation | Robot and robot system |
| CN105643658B (en) * | 2016-03-08 | 2017-06-27 | 北京理工大学 | The joint of robot device that a kind of bilateral rope sheave drives |
| JP2018001313A (en) * | 2016-06-29 | 2018-01-11 | セイコーエプソン株式会社 | Robot, robot control device, and robot system |
| CN107152988A (en) * | 2016-11-22 | 2017-09-12 | 北京航空航天大学 | A kind of static balance measurer based on RCM flexible hinges |
| CN112824258B (en) * | 2019-11-20 | 2023-03-21 | 安北合(天津)能源科技有限公司 | Intelligent garbage sorting system |
| CN113081475B (en) * | 2021-04-22 | 2022-03-29 | 北京航空航天大学 | Master manipulator of master-slave type intraocular surgery robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2215972Y (en) * | 1994-09-24 | 1995-12-27 | 北京理工大学 | Upper arm and wrist structure for robot |
| CN1136988A (en) * | 1995-05-31 | 1996-12-04 | 北京航空航天大学 | Driving method and use for joint driving mechanism |
| US6105454A (en) * | 1995-07-10 | 2000-08-22 | Kensington Laboratories, Inc. | Single and dual end effector, multiple link robot arm systems having triaxial drive motors |
| CN1436638A (en) * | 2003-03-13 | 2003-08-20 | 重庆大学 | Electric cord transverse joint of robot |
| CN1642696A (en) * | 2002-02-06 | 2005-07-20 | 约翰·霍普金斯大学 | Remote center of motion robotic system and method |
-
2006
- 2006-12-13 CN CNB200610165119XA patent/CN100425409C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2215972Y (en) * | 1994-09-24 | 1995-12-27 | 北京理工大学 | Upper arm and wrist structure for robot |
| CN1136988A (en) * | 1995-05-31 | 1996-12-04 | 北京航空航天大学 | Driving method and use for joint driving mechanism |
| US6105454A (en) * | 1995-07-10 | 2000-08-22 | Kensington Laboratories, Inc. | Single and dual end effector, multiple link robot arm systems having triaxial drive motors |
| CN1642696A (en) * | 2002-02-06 | 2005-07-20 | 约翰·霍普金斯大学 | Remote center of motion robotic system and method |
| CN1436638A (en) * | 2003-03-13 | 2003-08-20 | 重庆大学 | Electric cord transverse joint of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1970245A (en) | 2007-05-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100425409C (en) | Rope-driven two-dimensional virtual center rotation mechanism | |
| US9895798B2 (en) | Device for movement between an input member and an output member | |
| US5197846A (en) | Six-degree-of-freedom articulated robot mechanism and assembling and working apparatus using same | |
| JP5676756B2 (en) | Parallel motion device with gimbal holder | |
| EP2407767B1 (en) | Biaxial tensile testing machine | |
| CN2936617Y (en) | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism | |
| KR20080109755A (en) | Positioning device | |
| KR20090097196A (en) | High-speed parallel robot with four degrees of freedom | |
| WO2007114975A2 (en) | Center robotic arm with five-bar spherical linkage for endoscopic camera | |
| CN108555889A (en) | The space five-freedom series-parallel connection process unit and its application method of redundant bondage | |
| US20100275720A1 (en) | Two-axis non-singular robotic wrist | |
| CN105748153A (en) | Mechanical arm of assistant robot for minimally invasive surgery | |
| CN102649276A (en) | Articulated robot wrist | |
| WO2020090233A1 (en) | Parallel link device, master-slave system, and medical master-slave system | |
| CN103424269A (en) | Coupled four-DOF motion simulation platform comprising closed-loop subchain | |
| CN114523466B (en) | Completely-decoupled 3-rotation 2-movement parallel mechanism | |
| US20090145256A1 (en) | Device for Swiveling Objects | |
| CN109540513A (en) | A kind of abrasion of transmission shaft and cycle lie Detecting data | |
| CN111374780A (en) | Eight-degree-of-freedom series-connection type main manipulator and surgical robot applying same | |
| US11130245B2 (en) | Parallel integrated drive mechanism | |
| CN114603538B (en) | Complete decoupling spherical 3R rotation parallel mechanism | |
| US8701518B2 (en) | Sustaining manipulator arm | |
| JP2010099403A (en) | Surgery support manipulator with three shafts | |
| KR101483080B1 (en) | Rectangular coordinate robot combined with 3 degrees of freedom wrist structure | |
| JP2001121460A (en) | Parallel link mechanism for robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081015 Termination date: 20100113 |