CN104224325B - A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot - Google Patents
A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot Download PDFInfo
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- CN104224325B CN104224325B CN201410535759.XA CN201410535759A CN104224325B CN 104224325 B CN104224325 B CN 104224325B CN 201410535759 A CN201410535759 A CN 201410535759A CN 104224325 B CN104224325 B CN 104224325B
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Abstract
The invention discloses a kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot, mainly include drive system, wire rope gearing system and end effector mechanism three part.Drive system is made up of rearmounted servomotor, decelerator and shaft coupling, and reducer output shaft is connected with ball spline shaft by shaft coupling, transfers the motion to wire rope gearing system.Wire rope gearing system is made up of steel wire rope, ball spline, spline silk cylinder and the axis of guide, directive wheel, can realize mutually converting between the circular motion of steel wire rope and linear motion and the change of steel wire rope self linear movement direction.End effector mechanism is fixed on equipped with on the telescopic supporting rod of line slideway, is connected with steel wire rope by solid silk device, and the linear motion of steel wire rope is transferred to end effector mechanism.Steel wire rope exists with closed-loop path form.The linear telescopic mechanism of the present invention has take up room little, simple in construction, control precision without hysterisis error, transmission efficiency advantages of higher.
Description
Technical field
The present invention relates to a kind of linear telescopic mechanism, straight particularly to a kind of wire rope gearing for micro-wound operation robot
Line telescoping mechanism.
Background technology
Micro-wound surgical operation refers to that doctor passes through patient's epidermis miniature incision, by elongated endoscope and operating theater instruments the most extremely
Focus carries out the surgical technic operated.Compared with traditional surgical operation, have that wound is little, amount of bleeding is few, post-operative recovery time
The plurality of advantages such as short.Owing to working place is little, operating difficulty big, high to the level requirement of doctor, limit Minimally Invasive Surgery technology
Utilization in delicate surgery.Along with robotics and the development of informationization technology, minimally invasive surgical operation robot arises at the historic moment,
Its stability is strong, highly sensitive, be easy to doctor's operation, and medical skill has brought up to a new aspect.Meanwhile, according to micro-
Wound surgical operation feature and requirement, it usually needs micro-wound operation robot exists an one-movement-freedom-degree that can do linear telescopic motion.
Existing linear reciprocating mechanism has multiple, is roughly divided into such as mechanism alternations such as crank block structure, sinusoidal structureds
The big class of the kind of drive two is changed with utilizing bevel gear, rack-and-pinion, linear module etc..The former not only mechanism is huge and also the row that moves
Journey is shorter, it is difficult to reach surgical machine human needs.Though solution movement travel and organization volume aspect are made moderate progress by the latter, but
It it is the volume requirement being still difficult to reach micro-wound operation robot.Additionally due to gear coordinates there is gap, inevitably by backhaul
Error is incorporated in system.
Wire rope gearing technology compared with conventional mechanical transmission technology, following three aspects of its advantageous: one, be suitable to
Distance transmitting movement and power, it is possible to by power source layout at away from joint position, simplify structure design；Its two, growing
Being easily changed direction in distance transmission process, drive mechanism is simple, compact, is highly suitable for multiple degrees of freedom in the confined space
Layout；Its three, without return difference under suitable pretightning force, vibrations can be absorbed, make end effector motion more steady.Wire rope gearing
Be not only widely used in industry, such as hawser traction artificial satellite etc. in the lifting of elevator, aviation, be also widely used in Dextrous Hand,
In the design of medical robot or operating theater instruments etc., carry out the transmission of motion and power for replacing bar.
At present some micro-wound operation robots telescopic joint mechanism is by the design introducing system of wire rope gearing, by being arranged on
The servomotor of mechanical arm front end produces driving force, has simplified the volume of mechanism, has improve stroke and precision.But, due to micro-
The particularity of invasive procedures, preposition motor may produce impact to operation technique during manipulator motion or cause mechanical arm
Between move interference, cause operative process not to be smoothed out, therefore mechanism and wire rope gearing mode there is also the biggest
Room for promotion.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that one can effectively reduce telescopic joint mechanism profile chi
Very little, make stable transmission, the most simultaneously cost relatively low, the steel wire rope for micro-wound operation robot meeting operative site condition passes
Dynamic linear telescopic mechanism.
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot includes drive system, wire rope gearing system
System and end effector mechanism three part.
Described drive system is mainly arranged on the servomotor of telescopic supporting rod upper end, decelerator and shaft coupling by one and forms.
Reducer output shaft is connected with ball spline shaft by shaft coupling, and driven by servomotor power is sent to wire rope gearing system.Electricity
Arbor and reducer shaft and telescopic supporting rod telescopic direction keeping parallelism, decelerator axis runs through telescopic supporting rod cross section geometric center.
Described wire rope gearing system includes a ball spline and by bonded spline silk cylinder, the feature of ball spline
While being to transmit moment of torsion, spline housing can move axially on splined shaft.It is wound in left-handed for steel wire rope on spline silk cylinder, steel
Cord one end is stretched out from one end of spline silk cylinder, changes the transmission direction of steel wire rope through being perpendicular to an axis of guide of splined shaft,
Thereafter transmission direction and the horizontal level of steel wire rope is changed through three directive wheels.The steel wire rope other end is stretched from the spline silk cylinder other end
Go out, equally through being perpendicular to another axis of guide of splined shaft, change a transmission direction, through directive wheel, change steel wire rope and pass
Dynamic direction and horizontal level.There is an independent pilot wheel in the lower end of telescopic supporting rod, for changing the horizontal conveyor side of steel wire rope
To and position.Steel wire rope two ends are fixed with end effector mechanism tensioning by solid silk device, thus the motion of steel wire rope are sent to
End effector mechanism, makes steel wire rope constitute a closed-loop path.
Described end effector mechanism, is threaded connection and is connected with a straight-line guide rail slide block, and line slideway is fixed on linear telescopic
On support bar.End effector mechanism contains the solid silk device of a fixing steel wire rope, and this device has an elongated hole run through,
After this elongated hole of steel wire penetrating, opening a small Baltimore groove above hole, Baltimore groove bottom keeps concordant with hole, steel
Cord through behind hole, with one with the convex briquetting of Baltimore groove dimensional fits with threadeding compression, so steel wire rope of compression
Motion and power just can be sent to end effector mechanism.
Present invention have the advantage that
Described in drive system the most of the present invention, steel wire rope has flexibility, and by the combination of directive wheel Yu the axis of guide, mechanism realizes
Change and self direction change that moves along a straight line between circular motion and linear motion.
2. the present invention drives motor postposition to be symmetrically installed, and effectively solves the out-of-balance force that mechanical arm is produced by motor gravity
Square, makes robot motion more steadily smooth.Rearmounted driving motor also can reduce near operating theater instruments ending volume, it is to avoid micro-
Interference between invasive procedures robot arm.
3. the present invention uses single ball spline as the core component of wire rope gearing, has given full play to ball spline and both may be used
Organization volume can have significantly been simplified with the characteristic of axial linear movement again with transmission moment of torsion.
End effector mechanism the most of the present invention has solid silk device, and the steel wire rope stretched out from spline silk cylinder two ends both passes through end
After the aperture tensioning of terminal structure, solid silk device two sections of steel wire ropes are compressed, improve transmission accuracy.
Accompanying drawing explanation
Fig. 1 is that the present invention applies to schematic diagram in micro-wound operation robot；
Fig. 2 is planar structure of the present invention and position view；
Fig. 3 is drive system of the present invention and wire rope gearing system mainly comprises and scheme of installation；
Fig. 4 is wire rope gearing system primary structure sectional view of the present invention；
Fig. 5 is wire rope gearing principle schematic of the present invention；
Fig. 6 is end effector mechanism schematic diagram of the present invention；
Fig. 7 is the solid silk principle schematic of end effector mechanism of the present invention.
Detailed description of the invention
Describe the present invention below in conjunction with specific embodiment.
A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot of the present invention, is used for solving small space
Under, the micro-wound operation robot operating theater instruments linear drives problem of precision drive.
Being illustrated in figure 1 the present invention and apply to schematic diagram in micro-wound operation robot, Minimally Invasive Surgery is wanted by its objective particularity
It is asked to have elongated operating theater instruments 5.Micro-wound operation robot body has had joint 1-1 and joint 1-2 can provide R1 respectively
And two degree of freedom of R2.Operating theater instruments 5 is installed on the end effector mechanism 4 with quick change function, wire rope gearing system
In system 3, steel wire rope 3-1 is connected with end effector mechanism 4 under the effect of solid silk device, and drive system 2 produces driving force, warp
Crossing wire rope gearing and change kinestate, operating theater instruments 5 can be linear telescopic motion T.
Being illustrated in figure 2 planar structure of the present invention and position view, drive system 2 can be that mechanism provides driving force, steel
Cord passes through axis of guide unit 3-2, the circular motion of motor can be changed into linear motion, and in like manner axis of guide unit 3-2 also can use
In being circular motion by the transform linear motion of steel wire rope.Directive wheel unit 3-3 includes steel wire rope discrepancy two ends directive wheel, and it can
To change the position of steel wire rope in the horizontal direction, such that it is able to corresponding with the wire hole 4-1 position on end effector mechanism 4, make
Transmission process steel wire rope by shearing force, does not increases the durability degree of steel wire rope.Directive wheel 3-4 is positioned at the lower end of telescopic supporting rod, it
The transmission direction of steel wire rope can be inverted.The steel wire rope of whole mechanism is the loop of a Guan Bi.
It is illustrated in figure 3 drive system of the present invention and wire rope gearing system mainly comprises and scheme of installation, driver element
2-1 is made up of servomotor and decelerator, and reducer output shaft 2-1-1 is rolled in wire rope gearing system by shaft coupling 2-2
Spline axle 3-5 connects.Ball spline is made up of splined shaft 3-5 and spline housing 3-6, splined shaft 3-5 is provided with and coordinates with it
Bearing 3-9.Its feature is spline housing 3-6 at transmission splined shaft 3-5 to its moment of torsion simultaneously, and spline housing 3-6 also can spend
Undamped moving axially is carried out on key axle 3-5.Spline silk cylinder 3-7 forms one by bonded with spline housing 3-6.Ball flower
During key ensure that wire rope gearing, while spline silk cylinder 3-7 is wire rope transfers rotary power, the discrepancy position of steel wire rope
Put and will not change because of the spiral of steel wire rope, thereby ensure that the position of steel wire rope is relative to axis of guide 3-2-1, axis of guide 3-2-2
Static.Axis of guide 3-2-1 and axis of guide 3-2-2 is installed in mounting seat 3-8-1 and mounting seat 3-8-2, in mounting seat between holes
Center position is steel wire rope and comes in and goes out on spline silk cylinder 3-7 two ends vertical dimension.Directive wheel unit 3-3 ensure that steel wire
Restrict tangent with its two ends steel wire rope groove when coming in and going out axis of guide 3-2-1 and axis of guide 3-2-2.
It is illustrated in figure 4 wire rope gearing system primary structure sectional view of the present invention.Splined shaft 3-5 two ends be separately installed with
Its bearing 3-9 coordinated and bearing 3-10, it is ensured that splined shaft can rotate smoothly.Spline silk cylinder 3-7 passes through with spline housing 3-6
Key 3-11 connects, while therefore spline silk cylinder 3-7 can be wire rope transfers power, axial linear along self splined shaft 3-5
Mobile.
It is illustrated in figure 5 wire rope gearing principle schematic of the present invention, spline silk cylinder 3-7 teases left-handed steel wire closely
Rope, the left side of silk cylinder extends above one end steel wire rope C-1, and circular motion is changed into for the first time by steel wire rope by axis of guide 3-2-1
Linear motion, along the axis of guide 3-2-2 steel wire rope C-1 of homonymy via inside directive wheel 3-3-1, outside directive wheel 3-3-2 and
Inside directive wheel 3-3-3, its objective is the position being combined on horizontal level change steel wire rope C-1 by directive wheel.
C-1 end steel wire rope is after directive wheel 3-3-3, by the side of end effector mechanism 4, under the effect of directive wheel 3-4, C-1
End steel wire rope changes horizontal level and transmission direction, is back to end effector mechanism 4, through wire rope hole 4-2.Additionally, from silk
The steel wire rope C-2 that cylinder bottom righthand side stretches out will change its transmission direction through axis of guide 3-3-2, and C-2 end steel wire rope is via leading simultaneously
Inside wheel 3-3-5, outside directive wheel 3-3-4, through the wire rope hole 4-2 of end effector mechanism 4.Two sections of steel wire ropes are at steel
Intersect in the 4-2 of cord hole, by solid silk device 4-3, two sections of steel wire ropes are simultaneously fixed on end effector mechanism 4 after tensioning.Whole
The transmission of individual steel wire rope is presented in a closed-loop path, for having extremely strong stability on controlling.When driving
When moving cell rotates with direction as shown, spline silk cylinder 3-7 synchronous axial system, the releasing of C-1 end steel wire rope, the withdrawal of C-2 end steel wire rope,
Spline silk cylinder 3-7 will move in figure on the left of axis, but the relative position of steel wire rope does not change, and now end performs machine
Structure 4 will move in left side in figure, i.e. telescopic supporting rod upper end is moved.
Being illustrated in figure 6 end effector mechanism locations of structures schematic diagram of the present invention, end effector mechanism 4 is threadingly attached to
On line slideway 4-5 with slide block 4-6, it is ensured that the linear telescopic that does of the least damping of end effector mechanism 4 moves.
Being illustrated in figure 7 end effector mechanism structural principle schematic diagram of the present invention, 4-2 is the wire hole for reeving, should
Hole enters end from the both sides reeving hole 4-2 respectively through whole end effector mechanism 4, steel wire rope C-1 and steel wire rope C-2
End actuator 4.Opening a spill solid steel wire rope hole 4-1,4-3 above its level is the solid steel wire rope pressure of the convex coordinated with it
Block.Made solid steel wire rope briquetting 4-3 by itself and end effector mechanism 4 by screw 4-4 after steel wire rope C-1 and steel wire rope C-2 tensioning
Connect, so that steel wire rope C-1 and steel wire rope C-2 is both secured to end effector mechanism 4 and makes whole steel wire rope formation one close
Closing loop, the rotary motion of motor becomes linear motion the most at last, thus realizes the one-movement-freedom-degree T of operating theater instruments 5.
Claims (4)
1. the wire rope gearing linear telescopic mechanism for micro-wound operation robot, it is characterised in that: it includes drive system,
Wire rope gearing system and end effector mechanism three part: described drive system is mainly by rearmounted servomotor, decelerator and connection
Axial organ forms, and reducer output shaft is connected with ball spline shaft by shaft coupling；Wire rope gearing system is by steel wire rope, ball flower
Key, spline silk cylinder and the axis of guide and directive wheel composition；End effector mechanism is fixed on equipped with on the telescopic supporting rod of line slideway,
And be connected with steel wire rope by solid silk device.
2. according to a kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot described in claim 1, its feature
It is: described wire rope gearing system includes a ball spline and by bonded spline silk cylinder, is characterized in spline silk
While cylinder transmission Motor torque, undamped linear movement can be carried out on splined shaft, it is ensured that the discrepancy position of steel wire rope is not
Change because of the spiral of steel wire rope.
3. according to a kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot described in claim 1, its feature
It is: described wire rope gearing system includes the axis of guide of the screw of steel wire rope with the linear motion mutually conversion of steel wire rope
And for changing the directive wheel in steel wire rope Linear transmission direction.
4. according to a kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot described in claim 1, its feature
It is: rotary motion in drive system can be converted to be parallel to the linear motion of reducer output shaft by described linear telescopic mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410535759.XA CN104224325B (en) | 2014-10-11 | 2014-10-11 | A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410535759.XA CN104224325B (en) | 2014-10-11 | 2014-10-11 | A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot |
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| Publication Number | Publication Date |
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| CN104224325A CN104224325A (en) | 2014-12-24 |
| CN104224325B true CN104224325B (en) | 2016-08-24 |
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| CN201410535759.XA Expired - Fee Related CN104224325B (en) | 2014-10-11 | 2014-10-11 | A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot |
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Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101548646B1 (en) * | 2014-01-21 | 2015-09-01 | 가톨릭관동대학교산학협력단 | Trans-Platform Apparatus and Their Uses |
| CN104622575B (en) * | 2014-12-29 | 2017-01-04 | 天津大学 | A kind of micro-wound operation robot main manipulator based on wire rope gearing |
| CN105012022B (en) * | 2015-08-19 | 2017-05-24 | 哈尔滨工业大学 | Integrated surgical instrument drive device with decoupling function |
| CN105012024B (en) * | 2015-08-19 | 2017-05-24 | 哈尔滨工业大学 | Endoscope clamping driving device |
| CN105287003B (en) * | 2015-12-08 | 2017-08-25 | 微创（上海）医疗机器人有限公司 | Mechanical arm and its method of work |
| CN105534598B (en) * | 2015-12-17 | 2017-11-17 | 天津工业大学 | The operating theater instruments wire cable transmission mechanism that a kind of three axis congruence is handed over |
| CN106725859B (en) * | 2016-12-26 | 2024-05-10 | 苏州康多机器人有限公司 | Wire rope partially replaced by other objects |
| CN108969106B (en) * | 2018-07-27 | 2020-06-16 | 微创（上海）医疗机器人有限公司 | Telescoping device and surgical robot |
| CN109223182B (en) * | 2018-11-21 | 2021-06-11 | 天津工业大学 | Steel belt transmission mechanism for remote center movement of minimally invasive surgery robot |
| CN109223056B (en) * | 2018-11-21 | 2021-07-16 | 天津工业大学 | Novel automatic prostate biopsy robot with remote center motion |
| CN118121305A (en) * | 2019-08-15 | 2024-06-04 | 上海微创医疗机器人（集团）股份有限公司 | Surgical robot and surgical instrument |
| CN110757499B (en) * | 2019-11-29 | 2021-04-23 | 东莞理工学院 | Rotary robot joint |
| CN111839592B (en) * | 2020-08-13 | 2023-12-29 | 厦门市领汇医疗科技有限公司 | Prostate detection device |
| CN113598953A (en) * | 2021-08-17 | 2021-11-05 | 浙江理工大学 | Four-degree-of-freedom far-center mechanism for minimally invasive surgery |
| CN113729952A (en) * | 2021-10-12 | 2021-12-03 | 中南大学 | Actuator quick-change driving mechanism of surgical robot |
| CN113984383A (en) * | 2021-10-26 | 2022-01-28 | 天津大学 | Platform and method for testing reliability of wire transmission structure of surgical instrument with different degrees of freedom of motion |
| CN114224490B (en) * | 2021-12-15 | 2023-11-21 | 机械科学研究总院青岛分院有限公司 | Gear transmission structure for minimally invasive surgery robot |
| CN113995515B (en) * | 2021-12-31 | 2022-03-29 | 极限人工智能有限公司 | Surgical instrument driving device, surgical power device and split type surgical device |
| CN115363648B (en) * | 2022-09-14 | 2023-03-10 | 北京云力境安科技有限公司 | Flexible surgical instrument, flexible instrument and instrument conveying unit thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2598237Y (en) * | 2003-01-10 | 2004-01-07 | 浙江新益气动工业有限公司 | Electric linear driver |
| CN100336640C (en) * | 2005-02-01 | 2007-09-12 | 天津大学 | Secondary manipulator of surgery operation robot |
| US7780691B2 (en) * | 2007-03-21 | 2010-08-24 | Ethicon Endo-Surgery, Inc. | Endoscopic tissue resection device |
| CN101889900B (en) * | 2010-07-12 | 2012-04-11 | 天津大学 | Master-slave integrated mechanical arm for assisting minimally invasive surgery |
| CN103083784B (en) * | 2013-02-25 | 2014-09-17 | 中国科学院自动化研究所 | Catheter or guide wire operating device for vessel interventional operation |
| CN103737172B (en) * | 2014-01-09 | 2016-01-27 | 威海联桥精密机械有限公司 | Feed pressure detection of dynamic mechanism |
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