CN104027172A - Fully-passive six-degree-of-freedom main manipulator - Google Patents
Fully-passive six-degree-of-freedom main manipulator Download PDFInfo
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- CN104027172A CN104027172A CN201410284253.6A CN201410284253A CN104027172A CN 104027172 A CN104027172 A CN 104027172A CN 201410284253 A CN201410284253 A CN 201410284253A CN 104027172 A CN104027172 A CN 104027172A
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Abstract
The invention discloses a fully-passive six-degree-of-freedom main manipulator which comprises a supporting frame. A first joint is fixed on the supporting frame, a first connecting rod is connected with the first joint and rotates around the same, a second joint is fixed at one end of the first joint, a third joint is arranged on the second joint and rotates around the same, a second connecting rod is connected with the third joint and rotates around the same, a second connecting rod balance weight is fixed on the second connecting rod, a fourth joint is fixed at one end of the second connecting rod, a third connecting rod is connected with the fourth joint and rotates around the same, a third connecting rod balance weight is fixed on the third connecting rod, a fifth joint is fixed on the third connecting rod, one end of a fourth connecting rod is connected with the fifth joint, the fourth connecting rod rotates around the fifth joint, a sixth joint is fixed on the fourth connecting rod, a clamping cover plate is connected with the sixth joint and rotates around the same, and a clamping cover plate balance weight is fixed at a free end of the clamping cover plate.
Description
Technical field:
The present invention relates to technical field of medical instruments, relate in particular a kind of six degree of freedom main manipulator.
Background technology:
In surgical operation, often have some accurate operations; the object of these operations is little; complex-shaped; and some operation often needs long time to finish; doctor is easy to tired out, easily causes thus trembling of staff to cause moving inaccurate, and machine operation hands can be avoided these potential safety hazards completely; completing exactly some needs complicated for a long time operation, thereby receives everybody concern.At present, comparatively successfully main manipulator system mainly contains the PHANTOM series main manipulator of Sensable company of the U.S. and the Omega series main manipulator of ForceDimension company of Switzerland.For the main manipulator of PHANTOM and Omega series, the volume that its mechanism takies is large, work space is less, and can not realize gravitational equilibrium by self, has limited to a great extent the range of application of main manipulator.Therefore, improved for fear of problems of the prior art.
Summary of the invention:
Object of the present invention is exactly the deficiency for prior art, and a kind of full passive-type six degree of freedom main manipulator is provided, and this main manipulator is realized gravitational equilibrium by the structure of self in the situation that not relying on motor, and compact conformation takes up room little, energy-conserving and environment-protective.
Technology solution of the present invention is as follows: a kind of full passive-type six degree of freedom main manipulator, comprise bracing frame, and the first arthrodesis is on support frame as described above; One end of first connecting rod is connected with described the first joint, and described first connecting rod rotates around the axis R1 in the first joint; Second joint is fixed on the other end with the first connecting rod of the first joint relative direction; The 3rd joint is arranged on the top of described second joint and rotates around the axis R2 of second joint; Second connecting rod is connected with described the 3rd joint and rotates around the axis R3 in the 3rd joint; Second connecting rod balancing weight is fixed on one end of described second connecting rod; The 4th arthrodesis with the other end of the second connecting rod of second connecting rod balancing weight relative direction; Third connecting rod is connected with described the 4th joint and rotates around the axis R4 in the 4th joint; Third connecting rod balancing weight is fixed on one end of described third connecting rod; The 5th arthrodesis is at the other end of third connecting rod; One end of the 4th connecting rod is connected with described the 5th joint, and described the 4th connecting rod rotates around the axis R5 in the 5th joint; The 6th arthrodesis is at the other end of the 4th connecting rod; Clamping cover plate is connected with the 6th joint and rotates around the axis R6 in the 6th joint; Clamping cover plate balancing weight is fixed on the free end of described clamping cover plate.
As technique scheme preferably, the first described joint is connected on first connecting rod by rotating shaft and pair of bearings; Described second joint is connected on the 3rd joint by rotating shaft and pair of bearings; Described the 3rd joint is connected on second connecting rod by rotating shaft and pair of bearings; Described the 4th joint is connected on third connecting rod by rotating shaft and pair of bearings; Described the 5th joint is connected on the 4th connecting rod by rotating shaft and pair of bearings; Described the 6th joint is connected on clamping cover plate by rotating shaft and pair of bearings;
Wherein, the position part of described first connecting rod, second connecting rod, the first joint, second joint, the 3rd joint and second connecting rod balancing weight composition main manipulator; The attitude part of third connecting rod, the 4th connecting rod, the 4th joint, the 5th joint, the 6th joint, third connecting rod balancing weight, clamping cover plate and clamping cover plate balancing weight composition main manipulator.
As technique scheme preferably, described first connecting rod and second connecting rod be shaped as vertical bar shape; Described third connecting rod and the 4th connecting rod be shaped as arc shaped.
As technique scheme preferably, the arc shape of described third connecting rod and the 4th connecting rod approaches half " U " type.
As technique scheme preferably, the axis R1 in the first described joint and the axis R2 of second joint are parallel to each other, the axis R3 in the 3rd joint is perpendicular to described axis R1, R2; Corresponding axis R4, R5, the R6 in described the 4th joint, the 5th joint, the 6th joint is orthogonal, and described three axes intersect are in a bit.
As technique scheme preferably, the first described joint is fixed by screws on bracing frame; Described second joint is fixed by screws on the bottom face of first connecting rod one end; Described the 4th joint is fixed by screws in one end of second connecting rod; The 5th joint is fixed by screws in one end of third connecting rod; The 6th joint is fixed by screws in one end of the 4th connecting rod.
As technique scheme preferably, described second connecting rod balancing weight is fixed by screws in one end of second connecting rod; Third connecting rod balancing weight is fixed by screws in one end of third connecting rod; Clamping cover plate balancing weight is fixed by screws in the free end of clamping cover plate.
As technique scheme preferably, the material of described second connecting rod balancing weight, third connecting rod balancing weight and clamping cover plate balancing weight is pyrite.
As technique scheme preferably, on described clamping cover plate balancing weight, be provided with the re-set channel of rectangle.
As technique scheme preferably, described position part and the setting of described attitude partly decoupled.
Beneficial effect of the present invention is: the first connecting rod of main manipulator is realized gravitational equilibrium by the first joint, and the gravitational moment of first connecting rod is applied on the first joint, is balanced by the stressed gravity that makes first connecting rod of the screw on the first joint, second connecting rod is realized gravitational equilibrium by second connecting rod balancing weight, due to the balanced action of second connecting rod balancing weight, makes second connecting rod no matter move to any position and can both realize gravitational equilibrium, the position part of described first connecting rod, second connecting rod, the first joint, second joint, the 3rd joint and second connecting rod balancing weight composition main manipulator, third connecting rod, the 4th connecting rod, the 4th joint, the 5th joint, the 6th joint, third connecting rod balancing weight, the attitude part of clamping cover plate and clamping cover plate balancing weight composition main manipulator, the attitude part of described main manipulator realizes gravitational equilibrium by third connecting rod balancing weight and clamping cover plate balancing weight, in the time that main manipulator moves to any attitude, due to the balanced action of third connecting rod balancing weight and clamping cover plate balancing weight, make attitude part keep gravitational equilibrium always, position part and the attitude part of described main manipulator are decoupling zeros, in the time that the attitude of main manipulator changes, can not affect the position of main hands, the re-set channel resetting by clamping cover plate balancing weight that makes zero of main manipulator mechanically realizes, and return-to-zero mode is simple and reliable, and compact overall structure of the present invention takes up room little, energy-conserving and environment-protective.
Brief description of the drawings:
Fig. 1 is the Facad structure schematic diagram of the full passive-type six degree of freedom of the present invention main manipulator;
Fig. 2 is the reverse side structural representation of the full passive-type six degree of freedom of the present invention main manipulator;
In figure, 10, first connecting rod; 20, the first joint; 21, second joint; 22, the 3rd joint; 23, the 4th joint; 24, the 5th joint; 25, the 6th joint; 30, second connecting rod; 31, second connecting rod balancing weight; 40, third connecting rod; 41, third connecting rod balancing weight; 50, the 4th connecting rod; 60, clamping cover plate; 61, clamping cover plate balancing weight; 70, bracing frame.
Detailed description of the invention:
Embodiment: below by particular specific embodiment explanation embodiments of the present invention, those skilled in the art can understand other advantages of the present invention and effect easily by content disclosed in the present specification, and the description such as " first ", " second " mentioned in the present embodiment, " the 3rd ", " 4th " is in order to distinguish each joint and connecting rod; " one end " of described connecting rod and " other end " refer to two of connecting rod, it is the difference of head and afterbody, these vocabulary that represent orientation are only clear for ease of narrating, but not in order to limit the enforceable scope of the present invention, the change of its relativeness or adjustment, changing under technology contents without essence, also ought be considered as the enforceable category of the present invention.
See shown in Fig. 1 to Fig. 2, full passive-type six degree of freedom main manipulator of the present invention comprises first connecting rod 10, the first joint 20, second joint 21, the 3rd joint 22, the 4th joint 23, the 5th joint 24, the 6th joint 25, second connecting rod 30, second connecting rod balancing weight 31, third connecting rod 40, third connecting rod balancing weight 41, the 4th connecting rod 50, clamping cover plate 60, clamping cover plate balancing weight 61, bracing frame 70; Described first connecting rod 10, second connecting rod 30, the first joint 20, second joint 21, the 3rd joint 22 and second connecting rod balancing weight 31 form the position part of main manipulator; Third connecting rod 40, the 4th connecting rod 50, the 4th joint 23, the 5th joint 24, the 6th joint 25, third connecting rod balancing weight 41, clamping cover plate 60 and clamping cover plate balancing weight 61 form the attitude part of main manipulator, described position part and described attitude partly decoupled arrange, the advantage of decoupling zero setting is in the time that the position of main manipulator attitude part changes, and can not affect the position part of main manipulator.
The first joint 20 is fixed by screws on support frame as described above 70, one end of first connecting rod 10 is connected with described the first joint 20, the first joint 20 is connected on first connecting rod 10 by rotating shaft and pair of bearings, described first connecting rod 10 rotates around the axis R1 in the first joint 20, first connecting rod 10 is realized gravitational equilibrium by the first joint 20, the gravitational moment of first connecting rod 10 is applied on the first joint 20, is balanced by the stressed gravity that makes first connecting rod 10 of the screw on the first joint 20.
Second joint 21 is fixed by screws on the bottom face with the other end of the first connecting rod 10 of the first joint 20 relative directions, described second joint 21 is connected on the 3rd joint 22 by rotating shaft and pair of bearings, and the 3rd joint 22 is arranged on the top of described second joint 21 and rotates around the axis R2 of second joint 21.
Second connecting rod 30 is connected with described the 3rd joint 22 and rotates around the axis R3 in the 3rd joint 22, between described second connecting rod 30 and the 3rd joint 22, be connected with pair of bearings by rotating shaft, the 3rd joint 22 is connected on second connecting rod 30 by rotating shaft and pair of bearings, second connecting rod balancing weight 31 is fixed by screws in one end of described second connecting rod 30, and described second connecting rod balancing weight 31 materials are preferably pyrite; Second connecting rod 30 is realized gravitational equilibrium by second connecting rod balancing weight 31, due to the balanced action of second connecting rod balancing weight 31, makes second connecting rod 30 no matter move to any position and can both realize gravitational equilibrium.
The first connecting rod 10 described in the part of the position of main manipulator and second connecting rod 30 be shaped as vertical bar shape, the axis R1 in described the first joint 20 and the axis R2 of second joint 21 are parallel to each other, the axis R3 in the 3rd joint 22 is perpendicular to described axis R1 and R2.Narrate the attitude part of main manipulator below:
The 4th joint 23 is fixed by screws in the other end with the second connecting rod 30 of second connecting rod balancing weight 31 relative directions, described the 4th joint 23 is connected on third connecting rod 40 by rotating shaft and pair of bearings, third connecting rod 40 rotates around the axis R4 in the 4th joint 23, third connecting rod balancing weight 41 is fixed by screws in one end of described third connecting rod 40, and the material of third connecting rod balancing weight 41 is preferably pyrite.
The 5th joint 24 is fixed by screws in the other end of third connecting rod 40, one end of the 4th connecting rod 50 is connected with described the 5th joint 24, between the 4th connecting rod 50 and the 5th joint 24, be connected with pair of bearings by rotating shaft, be that described the 5th joint 24 is connected on the 4th connecting rod 50 by rotating shaft and pair of bearings, the 4th connecting rod 50 rotates around the axis R5 in the 5th joint 24.
The 6th joint 25 is fixed by screws in the other end of the 4th connecting rod 50, the 6th joint 25 is connected with clamping cover plate 60, described the 6th joint 25 is connected on clamping cover plate 60 by rotating shaft and pair of bearings, and described clamping cover plate 60 rotates around the axis R6 in the 6th joint 25; The free end of described clamping cover plate 60 is provided with clamping cover plate balancing weight 61, described clamping cover plate balancing weight 61 is fixed by screws in the free end of described clamping cover plate 60, the material of clamping cover plate balancing weight 61 is preferably pyrite, on described clamping cover plate balancing weight 61, be provided with the re-set channel of rectangle, the groove resetting by clamping cover plate balancing weight 61 that makes zero of main manipulator is mechanically realized, return-to-zero mode is simple and reliable, can make the encoder of main hands in the time initializing, all complete reset rezero operation.
The attitude part of described main manipulator realizes gravitational equilibrium by third connecting rod balancing weight 41 and clamping cover plate balancing weight 61, in the time that main manipulator moves to any attitude, due to the balanced action of third connecting rod balancing weight 41 and clamping cover plate balancing weight 61, make attitude part keep the state of gravitational equilibrium always.Wherein, the third connecting rod 40 of described attitude part and the 4th connecting rod 50 be shaped as arc shaped, described arc shape approaches half " U " type, and corresponding axis R4, R5, the R6 in described the 4th joint 23, the 5th joint 24, the 6th joint 25 is orthogonal, and described three axes intersect are in a bit.
The six-freedom degree of a kind of full passive-type six degree of freedom main manipulator of the present invention is respectively: described first connecting rod 10 has formed 3 position freedoms of main manipulator around the rotation in second joint 21, the 3rd joint 22 around the rotation in the first joint 20 and second connecting rod 30; Third connecting rod 40 is around the rotation in the 4th joint 23, and the 4th connecting rod 50 is around the rotation in the 5th joint 24, and clamping cover plate 60 has formed 3 attitude degree of freedom of main manipulator around the rotation in the 6th joint 25.Main manipulator, can be to controlling from position and the attitude of end operating theater instruments by 3 position freedoms and 3 attitude degree of freedom.In operation process, can make to arrive from end operating theater instruments the position of expecting by the rotation in the first joint 20, second joint 21 and the 3rd joint 22, can control from the attitude of end operating theater instruments by the rotation in the 4th joint 23, the 5th joint 24, the 6th joint 25, meet the different operating requirement in actual operation process.The complete passive self-balancing that realizes mechanism itself in the situation that not relying on motor that refers to of the present invention, compact conformation of the present invention, takes up room little.
Described embodiment is in order to illustrative the present invention, but not for limiting the present invention.Any those skilled in the art all can, under spirit of the present invention and category, modify to described embodiment, and therefore the scope of the present invention should be as listed in claim of the present invention.
Claims (10)
1. a full passive-type six degree of freedom main manipulator, is characterized in that, comprising:
Bracing frame (70);
The first joint (20), the first joint (20) are fixed on support frame as described above (70);
First connecting rod (10), one end of first connecting rod (10) is connected with described the first joint (20), and described first connecting rod (10) rotates around the axis R1 of the first joint (20);
Second joint (21), second joint (21) is fixed on the other end with the first connecting rod (10) of the first joint (20) relative direction;
The 3rd joint (22), the 3rd joint (22) is arranged on the top of described second joint (21) and rotates around the axis R2 of second joint (21);
Second connecting rod (30), second connecting rod (30) is connected with described the 3rd joint (22) and rotates around the axis R3 in the 3rd joint (22);
Second connecting rod balancing weight (31), second connecting rod balancing weight (31) is fixed on one end of described second connecting rod (30);
The 4th joint (23), the 4th joint (23) is fixed on the other end with the second connecting rod (30) of second connecting rod balancing weight (31) relative direction;
Third connecting rod (40), third connecting rod (40) is connected with described the 4th joint (23) and rotates around the axis R4 in the 4th joint (23);
Third connecting rod balancing weight (41), third connecting rod balancing weight (41) is fixed on one end of described third connecting rod (40);
The 5th joint (24), the 5th joint (24) is fixed on the other end of third connecting rod (40);
The 4th connecting rod (50), one end of the 4th connecting rod (50) is connected with described the 5th joint (24), and described the 4th connecting rod (50) rotates around the axis R5 in the 5th joint (24);
The 6th joint (25), the 6th joint (25) is fixed on the other end of the 4th connecting rod (50);
Clamping cover plate (60), clamping cover plate (60) is connected with the 6th joint (25) and rotates around the axis R6 in the 6th joint (25);
Clamping cover plate balancing weight (61), clamping cover plate balancing weight (61) is fixed on the free end of described clamping cover plate (60).
Wherein, the position part of described first connecting rod (10), second connecting rod (30), the first joint (20), second joint (21), the 3rd joint (22) and second connecting rod balancing weight (31) composition main manipulator; The attitude part of third connecting rod (40), the 4th connecting rod (50), the 4th joint (23), the 5th joint (24), the 6th joint (25), third connecting rod balancing weight (41), clamping cover plate (60) and clamping cover plate balancing weight (61) composition main manipulator.
2. the full passive-type six degree of freedom of one according to claim 1 main manipulator, is characterized in that: described the first joint (20) is connected on first connecting rod (10) by rotating shaft and pair of bearings; Described second joint (21) is connected on the 3rd joint (22) by rotating shaft and pair of bearings; Described the 3rd joint (22) is connected on second connecting rod (30) by rotating shaft and pair of bearings; Described the 4th joint (23) is connected on third connecting rod (40) by rotating shaft and pair of bearings; Described the 5th joint (24) is connected on the 4th connecting rod (50) by rotating shaft and pair of bearings; Described the 6th joint (25) is connected on clamping cover plate (60) by rotating shaft and pair of bearings.
3. the full passive-type six degree of freedom of one according to claim 2 main manipulator, is characterized in that: described first connecting rod (10) and second connecting rod (30) be shaped as vertical bar shape; Described third connecting rod (40) and the 4th connecting rod (50) be shaped as arc shaped.
4. the full passive-type six degree of freedom of one according to claim 3 main manipulator, is characterized in that: the arc shape of described third connecting rod (40) and the 4th connecting rod (50) approaches half " U " type.
5. the full passive-type six degree of freedom of one according to claim 1 main manipulator, it is characterized in that: the axis R2 of the axis R1 in described the first joint (20) and second joint (21) is parallel to each other, and the axis R3 in the 3rd joint (22) is perpendicular to described axis R1, R2; Corresponding axis R4, R5, the R6 in described the 4th joint (23), the 5th joint (24), the 6th joint (25) is orthogonal, and described three axes intersect are in a bit.
6. the full passive-type six degree of freedom of one according to claim 1 main manipulator, is characterized in that: described the first joint (20) is fixed by screws on bracing frame (70); Described second joint (21) is fixed by screws on the bottom face of first connecting rod (10) one end; Described the 4th joint (22) is fixed by screws in one end of second connecting rod (30); The 5th joint (24) is fixed by screws in one end of third connecting rod (40); The 6th joint (25) is fixed by screws in one end of the 4th connecting rod (50).
7. the full passive-type six degree of freedom of one according to claim 1 main manipulator, is characterized in that: described second connecting rod balancing weight (31) is fixed by screws in one end of second connecting rod (30); Third connecting rod balancing weight (41) is fixed by screws in one end of third connecting rod (40); Clamping cover plate balancing weight (61) is fixed by screws in the free end of clamping cover plate (60).
8. the full passive-type six degree of freedom of one according to claim 7 main manipulator, is characterized in that: the material of described second connecting rod balancing weight (31), third connecting rod balancing weight (41) and clamping cover plate balancing weight (61) is pyrite.
9. the full passive-type six degree of freedom of one according to claim 8 main manipulator, is characterized in that: the re-set channel that is provided with rectangle on described clamping cover plate balancing weight (61).
10. the full passive-type six degree of freedom of one according to claim 1 main manipulator, is characterized in that: described position part and described attitude partly decoupled arrange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410284253.6A CN104027172B (en) | 2014-06-23 | 2014-06-23 | A kind of full passive-type six degree of freedom main manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410284253.6A CN104027172B (en) | 2014-06-23 | 2014-06-23 | A kind of full passive-type six degree of freedom main manipulator |
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| CN104027172A true CN104027172A (en) | 2014-09-10 |
| CN104027172B CN104027172B (en) | 2016-08-24 |
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| CN201410284253.6A Active CN104027172B (en) | 2014-06-23 | 2014-06-23 | A kind of full passive-type six degree of freedom main manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111035455A (en) * | 2019-12-31 | 2020-04-21 | 哈尔滨工业大学 | Venipuncture robot with decoupled position and posture |
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| JP2003053684A (en) * | 2001-08-10 | 2003-02-26 | Toshiba Corp | Medical manipulator system |
| CN1410232A (en) * | 2002-11-29 | 2003-04-16 | 东南大学 | Hand controller of six freedom universal isomeric robot |
| CN101376248A (en) * | 2008-10-07 | 2009-03-04 | 北京航空航天大学 | Long-distance motion central mechanism for gravitational equilibrium |
| CN102825596A (en) * | 2012-09-13 | 2012-12-19 | 天津大学 | Completely gravity balanced series type master hand robot with six degrees of freedom |
| CN203898446U (en) * | 2014-06-23 | 2014-10-29 | 苏州康多机器人有限公司 | Full-passive type six-DOF (Degree Of Freedom) main manipulator |
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2014
- 2014-06-23 CN CN201410284253.6A patent/CN104027172B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4402646A (en) * | 1980-02-05 | 1983-09-06 | Regie Nationale Des Usines Renault | Stabilization system for a pantographic data entry device |
| JP2003053684A (en) * | 2001-08-10 | 2003-02-26 | Toshiba Corp | Medical manipulator system |
| CN1410232A (en) * | 2002-11-29 | 2003-04-16 | 东南大学 | Hand controller of six freedom universal isomeric robot |
| CN101376248A (en) * | 2008-10-07 | 2009-03-04 | 北京航空航天大学 | Long-distance motion central mechanism for gravitational equilibrium |
| CN102825596A (en) * | 2012-09-13 | 2012-12-19 | 天津大学 | Completely gravity balanced series type master hand robot with six degrees of freedom |
| CN203898446U (en) * | 2014-06-23 | 2014-10-29 | 苏州康多机器人有限公司 | Full-passive type six-DOF (Degree Of Freedom) main manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111035455A (en) * | 2019-12-31 | 2020-04-21 | 哈尔滨工业大学 | Venipuncture robot with decoupled position and posture |
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| CN104027172B (en) | 2016-08-24 |
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