CN101862223A - Operating robot - Google Patents
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- CN101862223A CN101862223A CN201010208955A CN201010208955A CN101862223A CN 101862223 A CN101862223 A CN 101862223A CN 201010208955 A CN201010208955 A CN 201010208955A CN 201010208955 A CN201010208955 A CN 201010208955A CN 101862223 A CN101862223 A CN 101862223A
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Abstract
The invention relates to an operating robot comprising a base, a first arm, a second arm, a main shaft, an oscillating arm, a first rotary joint, a second rotary joint, a third rotary joint and a fourth rotary joint. The base is connected with a first arm shaft through the first rotary joint; the first arm is connected with a second arm shaft through the second rotary joint; the second arm is connected with the main shaft through the third rotary joint; the main shaft is connected with an oscillating shaft through the fourth rotary joint; at least one of the first rotary joint, the second rotary joint, the third rotary joint and the fourth rotary joint comprises a motor and a speed reduction box, wherein the speed reduction box is connected with the motor and is used for decreasing the rotation speed outputted by the motor, increasing the moment of force and driving the first arm, the second arm, the main shaft or the oscillating arm to move, and the motor is used for supplying power. The components of the novel operating robot are connected into a whole body by the four rotary joints, thus the novel operating robot has simple structure. In addition, the motor of the rotary joint is matched with the speed reduction box to control, thus the operating robot is easy to operate.
Description
[technical field]
The present invention relates to a kind of medical instruments field, relate in particular to a kind of operating robot.
[background technology]
Along with computer and microelectric technique and medical science applied fast development, a large amount of medical apparatus and instruments obtain promotion and application.In numerous medical apparatus and instruments, the Medical Robot of various uses is just obtaining application more and more widely in medical domain.Medical robot has obtained at aspects such as neuro-surgery, cardiac repair, gallbladder excising operation, artificial joint conversion, plastic surgery, Urology Surgery operations using widely, when improving surgical effect and precision, also constantly to other field expansion.
Operating robot is as the important component part of medical instruments field, and it has been widely used in all over the world many operating rooms, and these robots provide strong help for operation under the support of computer and microelectric technique.Simultaneously, these machines also need operative doctor to operate them.
Existing operating robot, great majority are used for the surgical operation of high accuracy such as abdominal cavity, and they all are under the guiding of high accuracy equipment such as endoscope or microscope, control operating robot by the surgeon and finish various operation techniques.Famous operating robot also has Da Vinci operating robot, RoboDoc orthopaedics repair robot and the ZEUS robot of the U.S., domestic " highly skilled man " microsurgery robot and " Li Yuan " cerebral surgery operation auxiliary robot.
Yet, above-mentioned operating robot complex structure, operating difficulties.
[summary of the invention]
Based on this, be necessary to provide a kind of operating robot of simple in structure, easy operating.
A kind of operating robot comprises pedestal, the first arm, second arm, main shaft and swing arm, and first rotary joint, second rotary joint, the 3rd rotary joint and the 4th rotary joint; Described pedestal is connected with described first arm axle by first rotary joint, described the first arm is connected with described second arm axle by second rotary joint, described second arm is connected with described main shaft axle by the 3rd rotary joint, and described main shaft is connected with described arm shaft by the 4th rotary joint; At least one rotary joint of described first rotary joint, second rotary joint, the 3rd rotary joint or the 4th rotary joint comprises motor, and the reduction box that is connected with motor; Described motor provides power, and described reduction box reduces the rotating speed of described motor output and increases moment, drives the motion of the first arm, second arm, main shaft or swing arm.
Preferably, described first rotary joint, second rotary joint or the 4th rotary joint also comprise harmonic speed reducer, described harmonic speed reducer is connected with reduction box, reduces the rotating speed of reduction box output and increases moment, and drive the motion of the first arm, second arm or swing arm.
Preferably, first rotary joint, second rotary joint or the 4th rotary joint also comprise electromagnetic clutch, and described electromagnetic clutch is arranged between reduction box and the harmonic speed reducer, the output of control motor power.
Preferably, described first rotary joint, second rotary joint or the 4th rotary joint also comprise encoder and control system, described encoder is arranged between electromagnetic clutch and the harmonic speed reducer, be used to detect the corner displacement and the angular velocity of electromagnetic clutch and harmonic speed reducer, and detected corner displacement and angular velocity are converted to the signal of telecommunication, and are sent to described control system; Described control system is handled according to the signal of telecommunication that receives, according to result, and the rotating speed and the moment of the output of control motor, and the disconnection of electromagnetic clutch or closure.
Preferably, described the 3rd rotary joint comprises first driving device, second driving device and actuating unit, and described first driving device, second driving device drive the main shaft by described first driving device or second driving device by described actuating unit respectively and vertical axis moves up and down and/or around this main shaft rotation; Described actuating unit comprises: ball nut, spline housing and mounting flange, described mounting flange are fixed in the second arm inside, and two ends are provided with ball nut and spline housing respectively, and envelope ball nut and spline housing; Described first driving device, second driving device comprise first motor, second motor that connects successively, first reduction box, second reduction box, first electromagnetic clutch, second electromagnetic clutch and first synchronous belt, second synchronous belt respectively; Described first synchronous belt is connected with the ball nut of described actuating unit, and described second synchronous belt is connected with the spline housing of described actuating unit.
Preferably, described first driving device, second driving device also comprise first encoder, second encoder respectively, described first encoder, second encoder respectively and corresponding being arranged between first electromagnetic clutch, second electromagnetic clutch and first synchronous belt, second synchronous belt are used to detect the corner displacement and the angular velocity of described first electromagnetic clutch, second electromagnetic clutch and first synchronous belt, second synchronous belt.
Preferably, the electromagnetic clutch of described first rotary joint, second rotary joint and the 4th rotary joint, first electromagnetic clutch, second electromagnetic clutch that reach the 3rd rotary joint are released state, and the described under external force the first arm of described operating robot, second arm, main shaft or swing arm are rotated.
Preferably, the encoder of described first rotary joint, second rotary joint and the 4th rotary joint, first encoder, second encoder that reach the 3rd rotary joint are converted to the signal of telecommunication according to the corner displacement of first rotary joint, second rotary joint, the 3rd rotary joint and the 4th rotary joint of record, and are sent to described control system; Described control system is controlled the closed or disconnection of the electromagnetic clutch of described first rotary joint, second rotary joint and the 4th rotary joint, the operation of control reduction box and harmonic speed reducer according to the signal of telecommunication of described corner displacement; And first electromagnetic clutch of the 3rd rotary joint, second electromagnetic clutch closed or disconnect, the position of described operating robot is finely tuned in the operation of first reduction box, second reduction box.
Preferably, electromagnetic clutch, the motor of described first rotary joint, second rotary joint and the 4th rotary joint, first electromagnetic clutch, second electromagnetic clutch and first motor, second motor that reach the 3rd rotary joint disconnect and being electrically connected; Described reduction box, motor, first reduction box, second reduction box and first motor, second motor are in the lock state, and described operating robot is fixed on desired location.
Preferably, an end of described swing arm is provided with a clamping part, and described clamping part is installed operating theater instruments and carried out surgical action.
This operating robot is connected pedestal, the first arm, second arm, main shaft with the 4th rotary joint successively by first rotary joint, second rotary joint, the 3rd rotary joint with arm shaft, this first, second and third or four rotary joints comprise motor, and the reduction box that is connected with motor, for the operation of this operating robot provides power source.Brand-new operating robot design but only has four rotary joints to connect, and is simple in structure; And by cooperating reduction box to control to the motor of each rotary joint, low by the speed of service of reduction box robot, be easy to control, the kinematic accuracy height, safe and reliable, can accurately in small scope, adjust the pose of robot.
In addition, the operating robot of optimization, structure is lighter and handier; Have five degree of freedom, work space is big.
The operating robot that has harmonic speed reducer makes that further this operating robot is controlled at a slow speed, further improves the degree of accuracy of this operating robot; Adopt harmonic speed reducer to reduce the load of robot simultaneously, and therefore reduced the size and the weight of robot.
The operating robot that has electromagnetic clutch can be controlled the closed and disconnected of this electromagnetic clutch by control system or external control device, makes that this operating robot is more convenient.
The operating robot that has encoder, corner displacement and angular velocity that can be by detected electromagnetic clutch of encoder and harmonic speed reducer also is converted to the signal of telecommunication, and be sent to control system, this control system is carried out corresponding action according to this signal of telecommunication, make this operating robot intelligent more, locate more accurate.
[description of drawings]
Fig. 1 is the overall schematic of the operating robot of an embodiment;
Fig. 2 is the structural representation of the operating robot of an embodiment;
Fig. 3 is the structural representation of first rotating mechanism of the operating robot of an embodiment;
Fig. 4 is the structural representation of the 3rd rotating mechanism of the operating robot of an embodiment;
[specific embodiment]
Consult Fig. 1～2, Fig. 1 is the overall schematic of the operating robot of first embodiment; Fig. 2 is the structural representation of the operating robot of first embodiment.The operating robot of this first embodiment is pedestal 10, the first arm 20, second arm 30, main shaft 40 and the swing arm 50 that connects by axle successively; Finish the execution pattern of operating robot, comprise passive pattern, microbit appearance adjustment modes and the station-keeping mode of pulling.Operating robot to this first embodiment is elaborated below.
The first arm 20, an end of the first arm 20 is connected with the other end axle of pedestal 10 by first rotary joint 100, is used to be centered around the vertical axis of this pedestal 10, and rotates on a horizontal plane.
One end of second arm, 30, the second arms 30 is connected with the other end axle of the first arm 20 by second rotary joint 200, is used to be centered around the vertical axis of this first arm 20, and rotates on another horizontal plane.
In another embodiment, an end of this swing arm 50 is provided with a clamping part, and operating theater instruments 60 is affixed by this clamping part and this swing arm 50; This clamping part is installed different operating theater instruments 60, can carry out different surgical action, finishes various surgical tasks.
Consulting above-mentioned first rotary joint 100 of Fig. 3 comprises: motor 110, reduction box 120, electromagnetic clutch 130 and harmonic speed reducer 140.
Motor 110 is embedded in pedestal 10, and is fixedly mounted on pedestal 10 inside, and the outputting power source; In one embodiment, this motor 110 is servomotor preferably, is stable power output source.
One end and this reduction box 120 of electromagnetic clutch 130 are affixed, and an end of the other end and harmonic speed reducer 140 is affixed; One end of the other end of this harmonic speed reducer 140 and this first arm 20 is affixed, and is embedded in the inside of these the first arm 20 1 ends; Further, this harmonic speed reducer 140 carries out secondary deceleration, increases moment, makes its rotating speed further meet the job requirement of operating robot, improves the performance of first rotary joint 100.When this electromagnetic clutch 130 in when outage, these electromagnetic clutch 130 closures, the power of motor 110 by reduction box 120 is output in harmonic speed reducer 140, and this harmonic speed reducer 140 drives the first arms 20 and is centered around the vertical axis of this pedestal 10, and rotates on a horizontal plane; When this electromagnetic clutch 130 in when energising, this electromagnetic clutch 130 disconnects, and disconnects the power output of motor 110.In another embodiment, when this electromagnetic clutch 130 in when energising, this electromagnetic clutch 130 closures, and then reach the power of motor 110 is output in harmonic speed reducer 140 make the first arm 20 rotations; In like manner, when this electromagnetic clutch 130 in when outage, this electromagnetic clutch 130 disconnects, and disconnects the power output of motor 110.
Concrete, above-mentioned harmonic speed reducer 140 comprises: the axle wave producer 141 that links to each other successively, axle steel wheel 142, axle flexbile gear 143.One end of axle wave producer 141 is connected with electromagnetic clutch 130, and the other end is connected with an end of axle steel wheel 142; This steel wheel 142 is arranged on the inside of pedestal 10, and affixed with this pedestal 10, and the other end is connected with axle flexbile gear 143; Axle flexbile gear 143 is arranged on the inside of the first arm 20 1 ends, and affixed with this first arm 20.
In one embodiment, this operating robot also comprises control system (figure does not show), and this control system is connected with motor 110, electromagnetic clutch 130.Simultaneously, above-mentioned first rotary joint 100 also comprises encoder 150, and this encoder 150 is arranged between electromagnetic clutch 130 and the harmonic speed reducer 140.This encoder 150 is used to detect the corner displacement and the angular velocity of electromagnetic clutch 130 and harmonic speed reducer 140, and detected corner displacement and angular velocity are converted to the signal of telecommunication, and is sent to control system.This control system is handled according to the signal of telecommunication that receives, according to result, and the rotating speed and the moment of 110 outputs of control motor, and the disconnection of electromagnetic clutch 130 or closure.
Second rotary joint 200, the 4th rotary joint 400 are identical with the structure of first rotary joint 100, and difference is the mounting means difference.200 of second rotary joints connect the first arm 20 and second arm 30, make second arm 30 be centered around the vertical axis of this first arm 20, horizontally rotate; The motor of this second rotary joint 200 is embedded in an end of second arm 30, and affixed with this second arm 30; The axle flexbile gear of the harmonic speed reducer of second rotary joint 200 is arranged on the inside of the other end of the first arm 20, and affixed with this first arm 20.The rectangular platform 41 and the swing arm 50 of 400 connection main shafts 40 of the 4th rotary joint make swing arm 50 be centered around this rectangular platform 41 lateral vertical side axis rotation; The motor of the 4th rotary joint 400 is embedded in the inside of this rectangular platform 41, and affixed with this rectangular platform 41; The axle flexbile gear of the harmonic speed reducer of the 4th rotary joint 400 is embedded in the inside of this swing arm 50, and affixed with this swing arm 50.
Consult Fig. 4 the 3rd rotary joint 300 and comprise first driving device 310, second driving device 320 and the actuating unit 330 that is embedded in second arm, 30 other ends; First driving device 310 and second driving device 320 move up and down, center on these main shaft 40 rotations, perhaps these coupled motions that main shaft 40 moves up and down and rotation is carried out simultaneously by the main shaft 40 that this actuating unit 330 drives by this driving device along this vertical axis respectively.
Concrete, this first driving device 310 comprises: first motor 311, first reduction box 312, first electromagnetic clutch 313, first encoder 314 and first synchronous belt 315.First motor 311 is fixedly mounted on the inside of second arm 30, and the outputting power source; In one embodiment, this first motor 311 is preferably servomotor, stable outputting power source.First reduction box 312 is connected with first motor 311, and the output shaft of concrete is first motor 311 links to each other with the power shaft of first reduction box 312; In one embodiment, this first reduction box 312 is the multi-stage speed-reducing case, and multiple other rotating speed of level and output torque can be provided, and meets the job requirement of operating robot.One end of first electromagnetic clutch 313 and first reduction box 312 are affixed, and an end of the other end and first synchronous belt 315 is affixed, and an end of the other end of this first synchronous belt 315 and actuating unit 330 is affixed; The output of this first electromagnetic clutch 313 controls first motor 311 power makes the rotation of this first synchronous belt 315, output speed and moment.
In one embodiment, be provided with first encoder 314 between this first electromagnetic clutch 313 and first synchronous belt 315, this first encoder 314 detects the corner displacement and the angular velocity of this first electromagnetic clutch 313 and first belt and is converted to first signal of telecommunication, and send this first signal of telecommunication to control system, this control system is controlled rotating speed and the moment that first motor 311 is exported according to first signal of telecommunication that receives, and disconnection or the closure of controlling first electromagnetic clutch 313.
Similar, second driving device 320 has identical structure with this first driving device 310, and difference is that second arm, 30 inside are inverted and are fixedly mounted on to this second driving device 320.Second synchronous belt, 325 1 ends of this second driving device 320 are fixed in second electromagnetic clutch 323, and the other end of the other end of this second synchronous belt 325 and actuating unit 330 is affixed; The output of second electromagnetic clutch 323 control, second motor, 321 power of this second driving device 320 makes the rotation of this second synchronous belt 325, output speed and moment.
In one embodiment, be provided with second encoder 324 between this second electromagnetic clutch 323 and second synchronous belt 325, this second encoder 324 detects the corner displacement and the angular velocity of this second electromagnetic clutch 323 and second belt and is converted to second signal of telecommunication, and send this second signal of telecommunication to control system, this control system is controlled rotating speed and the moment that second motor 321 is exported according to second signal of telecommunication that receives, and disconnection or the closure of controlling second electromagnetic clutch 323.
This actuating unit 330 comprises: ball nut 331, spline housing 333 and mounting flange 332.Mounting flange 332 is embedded in second arm, 30 inside, and affixed; These mounting flange 332 two ends are provided with ball nut 331 and spline housing 333 respectively, and envelope ball nut 331 and spline housing 333.Other is connected this ball nut 331, spline housing 333 minutes by the main shaft 40 of this actuating unit 330, and this main shaft 40 is preferably ball screw-splined shaft, and higher rotation and mobile precision are provided.Concrete, this ball nut 331 is connected with the other end of first synchronous belt 315, this first synchronous belt 315 rotates, and the power that transmits first motor 311 arrives this ball nut 331, and makes this main shaft 40 move up and down along this vertical axis by this ball nut 331.Similar, this spline housing 333 is connected with the other end of second synchronous belt 325, and this second synchronous belt 325 rotates, and the power that transmits second motor 321 is to this spline housing 333, and makes these main shaft 40 rotations by this spline housing 333.Further, the rotation by first synchronous belt 315 and second synchronous belt 325 cooperate by the motion coupling of ball nut 331 and spline housing 333, drives main shaft 40 and moves up and down and rotation respectively.
Comprise three kinds of mode of operations during this operating robot work, be respectively: passive pattern, microbit appearance adjustment modes and the station-keeping mode of pulling.
This operating robot carry out passive when pulling pattern, the electromagnetic clutch of first rotary joint 100, second rotary joint 200, the 4th rotary joint 400, and first electromagnetic clutch 313, second electromagnetic clutch 323 of the 3rd rotary joint 300 are released state, operating robot is under the effect of less external force, the first arm 20, second arm 30, main shaft 40 or swing arm 50 are rotated, can be passive be drawn to the approximate region that needs operation technique, reach coarse positioning, the speed of service that can accelerate to perform the operation, the work efficiency of raising operating robot.Write down the corner displacement of each rotary joint simultaneously at the encoder of each rotary joint, and the corner displacement signal that this records has been sent to control system.
This operating robot is when carrying out microbit appearance adjustment modes, the encoder of first rotary joint 100, second rotary joint 200, the 4th rotary joint 400, and first encoder 314, second encoder 324 of the 3rd rotary joint 300 are converted to the signal of telecommunication according to the corner displacement of each rotary joint that formerly writes down, and are sent to control system; This control system is controlled the closed and disconnected of electromagnetic clutch, first electromagnetic clutch 313 and second electromagnetic clutch 323 of each rotary joint according to the signal of telecommunication of this corner displacement, the harmonic speed reducer that cooperates each rotary joint simultaneously, and the operation of reduction box, first reduction box 312 and second reduction box 322, reduce the speed of service of operating robot, be easy to control, the precision height of motion, and it is safe and reliable, can in small scope, adjust the position of operating robot.
This operating robot is when station-keeping mode, and the electromagnetic clutch of each rotary joint, motor reach first electromagnetic clutch 313, second electromagnetic clutch 323 and first motor 311, the 321 disconnection electrical connections of second motor; Not having electric energy to supply with then reduction box, first reduction box 312, second reduction box 322 can self-locking, motor, first motor 311, second motor 321 also are in the lock state, the position of operating robot and attitude are also accurately fixed, and carry out surgical work by operating theater instruments 60 then.
Encoder in above-mentioned each rotary joint can be installed this encoder in different positions according to different encoders and different working methods, for example is installed in the outside of each rotary joint etc.
In a second embodiment, the difference of itself and first embodiment is not for having encoder and control system; Be that each rotary joint does not have encoder or first encoder 314, second encoder 324, and the control system of accepting this encoder or first encoder 314, second encoder, 324 signals.The electromagnetic clutch of each rotary joint or first electromagnetic clutch, second electromagnetic clutch 323 can pass through an external control appliance, the closed or disconnection of artificial control.In the process of carrying out operation, can pass through the external control appliance solenoidoperated cluthes or first electromagnetic clutch, second electromagnetic clutch 323, and then reach the output of power; And then the work of control operating robot.Operating robot among this second embodiment is not that operation very high, that the operating time requirement is long then relatively has superiority carrying out required precision, and this operating robot is simple in structure, cost is low, can extensively push away it.
In the 3rd embodiment, the difference of itself and first embodiment is not for having electromagnetic clutch, first electromagnetic clutch and second electromagnetic clutch 323; Promptly control the power output of each rotary joint by control system.Total electric energy by the control operating robot is supplied with, and the work of control operating robot is moved, finely tuned and locatees.
In the 4th embodiment, the difference of itself and first embodiment is not for having electromagnetic clutch, first electromagnetic clutch and second electromagnetic clutch 323, harmonic speed reducer, encoder, first encoder 314 and second encoder 324 and the control system; The motor that is each rotary joint provides power source, reduces the output speed of motor and increases moment by reduction box, and drive the motion of the first arm 20, second arm 30, main shaft 40 or swing arm 50.The operating robot of the 4th embodiment can be carried out comparatively simple or general operation, and structure is very simple, is easy to mass production and practicality, the medical level of raising entire society that can be comparatively general.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. an operating robot is characterized in that, comprises pedestal, the first arm, second arm, main shaft and swing arm, and first rotary joint, second rotary joint, the 3rd rotary joint and the 4th rotary joint; Described pedestal is connected with described first arm axle by first rotary joint, described the first arm is connected with described second arm axle by second rotary joint, described second arm is connected with described main shaft axle by the 3rd rotary joint, and described main shaft is connected with described arm shaft by the 4th rotary joint;
At least one rotary joint of described first rotary joint, second rotary joint, the 3rd rotary joint or the 4th rotary joint comprises motor, and the reduction box that is connected with motor; Described motor provides power, and described reduction box reduces the rotating speed of described motor output and increases moment, drives the motion of the first arm, second arm, main shaft or swing arm.
2. operating robot according to claim 1, it is characterized in that, described first rotary joint, second rotary joint or the 4th rotary joint also comprise harmonic speed reducer, described harmonic speed reducer is connected with reduction box, reduce the rotating speed of reduction box output and increase moment, and drive the motion of the first arm, second arm or swing arm.
3. operating robot according to claim 2, it is characterized in that, first rotary joint, second rotary joint or the 4th rotary joint also comprise electromagnetic clutch, and described electromagnetic clutch is arranged between reduction box and the harmonic speed reducer, the output of control motor power.
4. operating robot according to claim 3, it is characterized in that, described first rotary joint, second rotary joint or the 4th rotary joint also comprise encoder and control system, described encoder is arranged between electromagnetic clutch and the harmonic speed reducer, be used to detect the corner displacement and the angular velocity of electromagnetic clutch and harmonic speed reducer, and detected corner displacement and angular velocity are converted to the signal of telecommunication, and are sent to described control system;
Described control system is handled according to the signal of telecommunication that receives, according to result, and the rotating speed and the moment of the output of control motor, and the disconnection of electromagnetic clutch or closure.
5. operating robot according to claim 4, it is characterized in that, described the 3rd rotary joint comprises first driving device, second driving device and actuating unit, and described first driving device, second driving device drive the main shaft by described first driving device or second driving device by described actuating unit respectively and vertical axis moves up and down and/or around this main shaft rotation;
Described actuating unit comprises: ball nut, spline housing and mounting flange, described mounting flange are fixed in the second arm inside, and two ends are provided with ball nut and spline housing respectively, and envelope ball nut and spline housing;
Described first driving device, second driving device comprise first motor, second motor that connects successively, first reduction box, second reduction box, first electromagnetic clutch, second electromagnetic clutch and first synchronous belt, second synchronous belt respectively; Described first synchronous belt is connected with the ball nut of described actuating unit, and described second synchronous belt is connected with the spline housing of described actuating unit.
6. operating robot according to claim 5, it is characterized in that, described first driving device, second driving device also comprise first encoder, second encoder respectively, described first encoder, second encoder respectively and corresponding being arranged between first electromagnetic clutch, second electromagnetic clutch and first synchronous belt, second synchronous belt are used to detect the corner displacement and the angular velocity of described first electromagnetic clutch, second electromagnetic clutch and first synchronous belt, second synchronous belt.
7. operating robot according to claim 6, it is characterized in that, the electromagnetic clutch of described first rotary joint, second rotary joint and the 4th rotary joint, first electromagnetic clutch, second electromagnetic clutch that reach the 3rd rotary joint are released state, and the described under external force the first arm of described operating robot, second arm, main shaft or swing arm are rotated.
8. operating robot according to claim 6, it is characterized in that, the encoder of described first rotary joint, second rotary joint and the 4th rotary joint, first encoder, second encoder that reach the 3rd rotary joint are converted to the signal of telecommunication according to the corner displacement of first rotary joint, second rotary joint, the 3rd rotary joint and the 4th rotary joint of record, and are sent to described control system;
Described control system is controlled the closed or disconnection of the electromagnetic clutch of described first rotary joint, second rotary joint and the 4th rotary joint, the operation of control reduction box and harmonic speed reducer according to the signal of telecommunication of described corner displacement; And first electromagnetic clutch of the 3rd rotary joint, second electromagnetic clutch closed or disconnect, the position of described operating robot is finely tuned in the operation of first reduction box, second reduction box.
9. operating robot according to claim 6, it is characterized in that, electromagnetic clutch, the motor of described first rotary joint, second rotary joint and the 4th rotary joint, first electromagnetic clutch, second electromagnetic clutch and first motor, second motor that reach the 3rd rotary joint disconnect and being electrically connected; Described reduction box, motor, first reduction box, second reduction box and first motor, second motor are in the lock state, and described operating robot is fixed on desired location.
10. operating robot according to claim 1, an end of described swing arm is provided with a clamping part, and described clamping part is installed operating theater instruments and is carried out surgical action.
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| CN2010102089558A CN101862223B (en) | 2010-06-24 | 2010-06-24 | Operating robot |
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| CN2010102089558A CN101862223B (en) | 2010-06-24 | 2010-06-24 | Operating robot |
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