CN104027172B - A kind of full passive-type six degree of freedom main manipulator - Google Patents
A kind of full passive-type six degree of freedom main manipulator Download PDFInfo
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- CN104027172B CN104027172B CN201410284253.6A CN201410284253A CN104027172B CN 104027172 B CN104027172 B CN 104027172B CN 201410284253 A CN201410284253 A CN 201410284253A CN 104027172 B CN104027172 B CN 104027172B
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Abstract
The invention discloses a kind of full passive-type six degree of freedom main manipulator, including bracing frame, the first arthrodesis is on bracing frame；First connecting rod and the first joint connect and around the first articulation；Second joint is fixed on one end of first connecting rod；3rd joint is arranged on the upper of second joint and rotates around second joint；Second connecting rod and the 3rd joint connect and around the 3rd articulation；Second connecting rod balancing weight is fixed on described second connecting rod；4th arthrodesis is in one end of second connecting rod；Third connecting rod and the 4th joint connect and around the 4th articulation；Third connecting rod balancing weight is fixed on described third connecting rod；5th arthrodesis is on third connecting rod；One end of fourth link is connected with described 5th joint, and fourth link is around the 5th articulation；6th arthrodesis is in fourth link；Clamping cover plate and the 6th joint are connected and around the 6th articulation；Clamping cover plate balancing weight is fixed on the free end of clamping cover plate.
Description
Technical field:
The present invention relates to technical field of medical instruments, a kind of six degree of freedom master
Manipulator.
Background technology:
Often having some accurate operations in operation, the object of these operations is little, and shape is multiple
Miscellaneous, and some operation generally requires long time and could terminate, doctor is easy to tired out, by
This easily causes trembling of staff and causes action inaccurate, and machine manipulator can avoid completely
These potential safety hazards, being accurately finished some needs the most complicated operation, thus is subject to
Everybody concern.At present, more successfully main manipulator system mainly has U.S. Sensable
The PHANTOM series main manipulator of company and ForceDimension company of Switzerland
Omega series main manipulator.For the main manipulator of PHANTOM and Omega series,
The volume that its mechanism takies is relatively big, working space is less, and can not be put down by self realizing gravity
Weighing apparatus, largely limits the range of application of main manipulator.Therefore, in order to avoid existing skill
Present in art, problem is improved.
Summary of the invention:
The purpose of the present invention is aiming at the deficiency of prior art, and provides a kind of full passive-type six
Free degree main manipulator, this main manipulator in the case of being independent of motor by the structure of self
Realize gravitational equilibrium, compact conformation, take up room little, energy-conserving and environment-protective.
The technology solution of the present invention is as follows: a kind of full passive-type six degree of freedom main manipulator,
Including bracing frame, the first arthrodesis is on support frame as described above；One end of first connecting rod is with described
First joint connects, and described first connecting rod rotates around the axis R1 in the first joint；Second closes
Joint is fixed on the other end of the first connecting rod with the first joint relative direction；3rd joint is arranged on
The top of described second joint the axis R2 around second joint rotate；Second connecting rod and institute
State the 3rd joint connection and the axis R3 around the 3rd joint rotates；Second connecting rod balancing weight is solid
It is scheduled on one end of described second connecting rod；4th arthrodesis with second connecting rod balancing weight contra
To the other end of second connecting rod；Third connecting rod is connected with described 4th joint and closes around the 4th
The axis R4 of joint rotates；Third connecting rod balancing weight is fixed on one end of described third connecting rod；The
Five arthrodesises are at the other end of third connecting rod；One end of fourth link is with described 5th joint even
Connecing, described fourth link rotates around the axis R5 in the 5th joint；6th arthrodesis is
The other end of double leval jib；Clamping cover plate and the 6th joint is connected and around the axis in the 6th joint
R6 rotates；Clamping cover plate balancing weight is fixed on the free end of described clamping cover plate；
The first described joint is connected on first connecting rod by rotary shaft and pair of bearings；Described
Second joint is connected on the 3rd joint by rotary shaft and pair of bearings；Described 3rd joint leads to
Cross rotary shaft and pair of bearings is connected on second connecting rod；Described 4th joint by rotary shaft and
Pair of bearings is connected on third connecting rod；Described 5th joint is connected by rotary shaft and pair of bearings
Receive in fourth link；Described 6th joint is connected to clamp cover by rotary shaft and pair of bearings
On plate；
Wherein, described first connecting rod, second connecting rod, the first joint, second joint, the 3rd pass
Joint and the position part of second connecting rod balancing weight composition main manipulator；Third connecting rod, fourth link,
4th joint, the 5th joint, the 6th joint, third connecting rod balancing weight, clamping cover plate and clamping
The attitude part of cover plate balancing weight composition main manipulator；
The axis R1 in the first described joint and the axis R2 of second joint is parallel to each other, and the 3rd
The axis R3 in joint is perpendicular to described axis R1, R2；Described 4th joint, the 5th joint,
Corresponding axis R4, R5, the R6 in 6th joint is orthogonal, and described 4th joint,
Corresponding axis R4, R5, the R6 in five joints, the 6th joint intersects at a point.
Being shaped as of preferred as technique scheme, described first connecting rod and second connecting rod
Vertical bar shape；Described third connecting rod and fourth link be shaped as arc shaped.
Preferred as technique scheme, described third connecting rod and the arc line shaped of fourth link
Shape is close to half " U " type.
Preferred as technique scheme, the first described joint is fixed by screws in support
On frame；Described second joint is fixed by screws on the bottom face of first connecting rod one end；Described
4th joint is fixed by screws in one end of second connecting rod；5th joint is fixed by screws in
One end of third connecting rod；6th joint is fixed by screws in one end of fourth link.
Preferred as technique scheme, described second connecting rod balancing weight is fixed by screw
One end at second connecting rod；Third connecting rod balancing weight is fixed by screws in the one of third connecting rod
End；Clamping cover plate balancing weight is fixed by screws in the free end of clamping cover plate.
Preferred as technique scheme, described second connecting rod balancing weight, third connecting rod are joined
The material of pouring weight and clamping cover plate balancing weight is brass.
Preferred as technique scheme, described clamping cover plate balancing weight is provided with rectangle
Reset groove.
Preferred as technique scheme, described position part and described attitude partly decoupled
Arrange.
The beneficial effects of the present invention is: the first connecting rod of main manipulator is realized by the first joint
Gravitational equilibrium, the gravitational moment of first connecting rod is applied on the first joint, by the first joint
Screw stress makes the gravity of first connecting rod be balanced；Second connecting rod passes through second connecting rod counterweight
Block realizes gravitational equilibrium, due to the balanced action of second connecting rod balancing weight so that second connecting rod without
Opinion moves to any position and can realize gravitational equilibrium；Described first connecting rod, second connecting rod,
First joint, second joint, the 3rd joint and the position of second connecting rod balancing weight composition main manipulator
Put part；Third connecting rod, fourth link, the 4th joint, the 5th joint, the 6th joint,
Three connecting rod balancing weights, clamping cover plate and the attitude portion of clamping cover plate balancing weight composition main manipulator
Point, the attitude part of described main manipulator is by third connecting rod balancing weight and clamping cover plate balancing weight
Realize gravitational equilibrium, when main manipulator moves to any attitude, due to third connecting rod balancing weight
With the balanced action of clamping cover plate balancing weight, attitude part is made to be always maintained at gravitational equilibrium, described
The position part of main manipulator and attitude part be decoupling, when the attitude of main manipulator occurs
During change, do not interfere with the position of main hand；The zero of main manipulator is resetted and is joined by clamping cover plate
Reset groove on pouring weight mechanically realizes, and return-to-zero mode is simple and reliable, and the present invention is overall
Compact conformation, takes up room little, energy-conserving and environment-protective.
Accompanying drawing illustrates:
Fig. 1 is the Facad structure schematic diagram of the present invention full passive-type six degree of freedom main manipulator；
Fig. 2 is the inverse layer structure schematic diagram of the present invention full passive-type six degree of freedom 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,
Double leval jib；60, clamping cover plate；61, clamping cover plate balancing weight；70, bracing frame.
Detailed description of the invention:
Embodiment: by particular specific embodiment, embodiments of the present invention, ability are described below
It is excellent that field technique personnel can be understood other of the present invention easily by content disclosed in the present specification
Point and effect, " first ", " second ", " the 3rd ", " the 4th " mentioned in the present embodiment etc.
Description is to distinguish each joint and connecting rod；" one end " and " other end " of described connecting rod
Referring to the difference at two of connecting rod, i.e. head and afterbody, these represent that the vocabulary in orientation is only just
Understand in narration, and be not used to limit the enforceable scope of the present invention, the change of its relativeness
Or adjust, changing under technology contents without essence, also when being considered as the enforceable category of the present invention.
As shown in Fig. 1 to Fig. 2, the full passive-type six degree of freedom main manipulator of the present invention includes
One connecting rod the 10, first joint 20, joint 23, second joint the 21, the 3rd joint the 22, the 4th,
5th joint 25, joint the 24, the 6th, second connecting rod 30, second connecting rod balancing weight the 31, the 3rd
Connecting rod 40, third connecting rod balancing weight 41, fourth link 50, clamping cover plate 60, clamping cover plate
Balancing weight 61, bracing frame 70；Described first connecting rod 10, second connecting rod the 30, first joint
20, second joint the 21, the 3rd joint 22 and second connecting rod balancing weight 31 form main manipulator
Position part；Third connecting rod 40, joint 24, fourth link the 50, the 4th joint the 23, the 5th,
6th joint 25, third connecting rod balancing weight 41, clamping cover plate 60 and clamping cover plate balancing weight
The attitude part of 61 composition main manipulators, described position part sets with described attitude partly decoupled
Putting, the advantage that decoupling is arranged is when the position of main manipulator attitude part changes, will not
Affect the position part of main manipulator.
First joint 20 is fixed by screws on support frame as described above 70, first connecting rod 10
One end is connected with described first joint 20, and the first joint 20 is connected by rotary shaft and pair of bearings
Receiving on first connecting rod 10, described first connecting rod 10 is around the axis R1 in the first joint 20
Rotating, first connecting rod 10 realizes gravitational equilibrium by the first joint 20, first connecting rod 10
Gravitational moment is applied on the first joint 20, makes by the screw stress on the first joint 20
The gravity of one connecting rod 10 is balanced.
Second joint 21 is fixed by screws in and the first connecting rod of the first joint 20 relative direction
On the bottom face of the other end of 10, described second joint 21 is connected by rotary shaft and pair of bearings
On the 3rd joint 22, the 3rd joint 22 is arranged on the top of described second joint 21 and around
The axis R2 in two joints 21 rotates.
Second connecting rod 30 is connected with described 3rd joint 22 and around the axis R3 in the 3rd joint 22
Rotate, connected by rotary shaft and pair of bearings between described second connecting rod 30 and the 3rd joint 22
, the i.e. the 3rd joint 22 is connected on second connecting rod 30 by rotary shaft and pair of bearings, and second
Connecting rod balancing weight 31 is fixed by screws in one end of described second connecting rod 30, described second connecting rod
Balancing weight 31 material is preferably brass；Second connecting rod 30 realizes weight by second connecting rod balancing weight 31
Dynamic balance, due to the balanced action of second connecting rod balancing weight 31 so that no matter second connecting rod 30 is transported
Move any position and can realize gravitational equilibrium.
First connecting rod 10 described in the position part of main manipulator and the shape of second connecting rod 30
Shape is vertical bar shape, and the axis R1 in described first the joint 20 and axis R2 of second joint 21 is mutual
Parallel, the axis R3 in the 3rd joint 22 is perpendicular to described axis R1 and R2.Main behaviour is set forth below
Make the attitude part of hand:
4th joint 23 is fixed by screws in second connecting rod balancing weight 31 relative direction
The other end of two connecting rods 30, described 4th joint 23 is connected to by rotary shaft and pair of bearings
On three connecting rods 40, 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, third connecting rod balancing weight 41
Material be preferably brass.
5th joint 24 is fixed by screws in the other end of third connecting rod 40, fourth link 50
One end be connected with described 5th joint 24, between fourth link 50 and the 5th joint 24 by rotation
Rotating shaft and pair of bearings connect, and the most described 5th joint 24 is connected by rotary shaft and pair of bearings
In fourth link 50, fourth link 50 rotates around the axis R5 in the 5th joint 24.
6th joint 25 is fixed by screws in the other end of fourth link 50, the 6th joint 25
Being connected with clamping cover plate 60, described 6th joint 25 is connected to by rotary shaft and pair of bearings
On clamping cover plate 60, described clamping cover plate 60 rotates around the axis R6 in the 6th joint 25；Institute
The free end stating clamping cover plate 60 is provided with clamping cover plate balancing weight 61, and described clamping cover plate is joined
Pouring weight 61 is fixed by screws in the free end of described clamping cover plate 60, clamps cover plate balancing weight
The material of 61 is preferably brass, and described clamping cover plate balancing weight 61 is provided with the reset ditch of rectangle
Groove, the zero of main manipulator resets by the groove on clamping cover plate balancing weight 61 mechanically
Realizing, return-to-zero mode is simple and reliable, and the encoder of main hand can be made when initializing to be fully completed multiple
Position rezero operation.
The attitude part of described main manipulator is joined by third connecting rod balancing weight 41 and clamping cover plate
Pouring weight 61 realizes gravitational equilibrium, when main manipulator moves to any attitude, due to third connecting rod
Balancing weight 41 and the balanced action of clamping cover plate balancing weight 61, make attitude part be always maintained at gravity
The state of balance.Wherein, the third connecting rod 40 of described attitude part and the shape of fourth link 50
For arc shaped, described arc shape is close to half " U " type, described 4th joint the 23, the 5th
Corresponding axis R4, R5, the R6 in joint 25, joint the 24, the 6th is orthogonal, and described three
Axis intersects at a point.
The six-freedom degree of a kind of full passive-type six degree of freedom main manipulator of the present invention is respectively as follows:
Described first connecting rod 10 is around the rotation in the first joint 20 and second connecting rod 30 around second joint
21, the rotation in the 3rd joint 22 constitutes 3 position freedoms of main manipulator；Third connecting rod
40 around the rotation in the 4th joint 23, and fourth link 50 is around the rotation in the 5th joint 24, clamping
Cover plate 60 constitutes 3 attitude frees degree of main manipulator around the rotation in the 6th joint 25.Main
Manipulator passes through 3 position freedoms and 3 attitude frees degree, can be to from end operating theater instruments
Position and attitude are controlled.In surgical procedure, by the first joint 20, second joint 21
Rotation with the 3rd joint 22 can make to arrive desired position, by the 4th from end operating theater instruments
The rotation in joint 25, joint the 24, the 6th, joint the 23, the 5th can control the appearance from end operating theater instruments
State, meets the different operating requirement during actual operation.The complete of the present invention passively refers to not
Realizing the self-balancing of mechanism itself in the case of relying on motor, present configuration is compact, takies sky
Between little.
Described embodiment is in order to the illustrative present invention, not for limiting the present invention.Any
Those skilled in the art all can be under the spirit and the scope of the present invention, to described embodiment
Modify, therefore the scope of the present invention, should be as listed by the claim of the present invention.
Claims (8)
1. a full passive-type six degree of freedom main manipulator, it is characterised in that including:
Bracing frame (70)；
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 first joint (20),
Described first connecting rod (10) rotates around the axis R1 of the first joint (20)；
Second joint (21), second joint (21) is fixed on and the first joint (20) relative direction
The other end of first connecting rod (10)；
3rd joint (22), the 3rd joint (22) is arranged on the top of described second joint (21) also
Axis R2 around second joint (21) rotates；
Second connecting rod (30), second connecting rod (30) is connected with described 3rd joint (22) and around
The axis R3 in three joints (22) rotates；
Second connecting rod balancing weight (31), second connecting rod balancing weight (31) is fixed on described second connecting rod (30)
One end；
4th joint (23), the 4th joint (23) is fixed on relative with second connecting rod balancing weight (31)
The other end of the second connecting rod (30) in direction；
Third connecting rod (40), third connecting rod (40) is connected with described 4th joint (23) and around
The axis R4 in four joints (23) rotates；
Third connecting rod balancing weight (41), third connecting rod balancing weight (41) is fixed on described third connecting rod (40)
One end；
5th joint (24), the 5th joint (24) is fixed on the other end of third connecting rod (40)；
Fourth link (50), one end of fourth link (50) is connected with described 5th joint (24),
Described fourth link (50) rotates around the axis R5 in the 5th joint (24)；
6th joint (25), the 6th joint (25) is fixed on the other end of fourth link (50)；
Clamping cover plate (60), clamping cover plate (60) is connected and around the 6th with the 6th joint (25)
The axis R6 in joint (25) rotates；
Clamping cover plate balancing weight (61), clamping cover plate balancing weight (61) is fixed on described clamping cover plate (60)
Free end；
Wherein, described first connecting rod (10), second connecting rod (30), the first joint (20), the second pass
Joint (21), the 3rd joint (22) and the position portion of second connecting rod balancing weight (31) composition main manipulator
Point；Third connecting rod (40), fourth link (50), the 4th joint (23), the 5th joint (24),
6th joint (25), third connecting rod balancing weight (41), clamping cover plate (60) and clamping cover plate counterweight
The attitude part of block (61) composition main manipulator；
Described first joint (20) is connected on first connecting rod (10) by rotary shaft and pair of bearings；
Described second joint (21) is connected on the 3rd joint (22) by rotary shaft and pair of bearings；Institute
State the 3rd joint (22) to be connected on second connecting rod (30) by rotary shaft and pair of bearings；Described
4th joint (23) is connected on third connecting rod (40) by rotary shaft and pair of bearings；Described
Five joints (24) are connected in fourth link (50) by rotary shaft and pair of bearings；Described 6th
Joint (25) is connected to clamp on cover plate (60) by rotary shaft and pair of bearings；
The axis R1 of described first joint (20) and the axis R2 of second joint (21) is parallel to each other,
The axis R3 in the 3rd joint (22) is perpendicular to described axis R1, R2；Described 4th joint (23),
Corresponding axis R4, R5, the R6 in 5th joint (24), the 6th joint (25) is orthogonal, and
The corresponding axis R4 in described 4th joint (23), the 5th joint (24), the 6th joint (25),
R5, R6 intersect at a point.
One the most according to claim 1 full passive-type six degree of freedom main manipulator, its feature exists
It is shaped as vertical bar shape in: described first connecting rod (10) and second connecting rod (30)；Described 3rd even
Bar (40) and fourth link (50) be shaped as arc shaped.
One the most according to claim 2 full passive-type six degree of freedom main manipulator, its feature exists
In: the arc shape of described third connecting rod (40) and fourth link (50) is close to half " U " type.
One the most according to claim 1 full passive-type six degree of freedom main manipulator, its feature exists
In: described first joint (20) is fixed by screws on bracing frame (70)；Described second joint
(21) it is fixed by screws on the bottom face of first connecting rod (10) one end；Described 4th joint (23)
It is fixed by screws in one end of second connecting rod (30)；5th joint (24) is fixed by screws in
One end of third connecting rod (40)；6th joint (25) is fixed by screws in fourth link (50)
One end.
One the most according to claim 1 full passive-type six degree of freedom main manipulator, its feature exists
In: 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).
One the most according to claim 5 full passive-type six degree of freedom main manipulator, its feature exists
In: described second connecting rod balancing weight (31), third connecting rod balancing weight (41) and clamping cover plate balancing weight
(61) material is brass.
One the most according to claim 6 full passive-type six degree of freedom main manipulator, its feature exists
In: it is provided with the reset groove of rectangle on described clamping cover plate balancing weight (61).
One the most according to claim 1 full passive-type six degree of freedom main manipulator, its feature exists
In: described position part is arranged with described attitude partly decoupled.
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 |
Applications Claiming Priority (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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| CN104027172A CN104027172A (en) | 2014-09-10 |
| CN104027172B true CN104027172B (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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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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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111035455B (en) * | 2019-12-31 | 2021-10-01 | 哈尔滨工业大学 | Venipuncture robot with decoupled position and posture |
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| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3579379B2 (en) * | 2001-08-10 | 2004-10-20 | 株式会社東芝 | Medical manipulator system |
-
2014
- 2014-06-23 CN CN201410284253.6A patent/CN104027172B/en active Active
Patent Citations (5)
| 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 |
| 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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| CN104027172A (en) | 2014-09-10 |
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