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 PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
wire rope
steel wire
linear
gearing
micro
Prior art date
Application number
CN201410535759.XA
Other languages
Chinese (zh)
Other versions
CN104224325A (en
Inventor
桑宏强
杨铖浩
陈发
刘芬
贠今天
张克
许丽萍
Original Assignee
天津工业大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 天津工业大学 filed Critical 天津工业大学
Priority to CN201410535759.XA priority Critical patent/CN104224325B/en
Publication of CN104224325A publication Critical patent/CN104224325A/en
Application granted granted Critical
Publication of CN104224325B publication Critical patent/CN104224325B/en

Links

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

A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot
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.
CN201410535759.XA 2014-10-11 2014-10-11 A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot CN104224325B (en)

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

Publications (2)

Publication Number Publication Date
CN104224325A CN104224325A (en) 2014-12-24
CN104224325B true CN104224325B (en) 2016-08-24

Family

ID=52213834

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410535759.XA CN104224325B (en) 2014-10-11 2014-10-11 A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot

Country Status (1)

Country Link
CN (1) CN104224325B (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN105012024B (en) * 2015-08-19 2017-05-24 哈尔滨工业大学 Endoscope clamping driving device
CN105012022B (en) * 2015-08-19 2017-05-24 哈尔滨工业大学 Integrated surgical instrument drive device with decoupling function
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
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
CN109223182A (en) * 2018-11-21 2019-01-18 天津工业大学 A kind of steel belt driving mechanism for the movement of micro-wound operation robot remote center
CN110757499A (en) * 2019-11-29 2020-02-07 东莞理工学院 Rotary robot joint

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2598237Y (en) * 2003-01-10 2004-01-07 浙江新益气动工业有限公司 Electric linear drive
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

Also Published As

Publication number Publication date
CN104224325A (en) 2014-12-24

Similar Documents

Publication Publication Date Title
CN102431028B (en) Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom
CN104002298B (en) A kind of two move a rotating decoupling parallel robot mechanism
CN100395086C (en) Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type
CN101625024B (en) Sequential control device
CN204525455U (en) A kind of variable topological four-freedom parallel mechanism
CN104889976B (en) A kind of three rotate decoupling sphere parallel robot mechanism
CN100348386C (en) Multi-coordinate serioparallel robot with redundant freedom
CN103129639A (en) Cam-type negative pressure adsorption wall-climbing robot
CN103722553B (en) A kind of controlled welding robot of multiple freedom parallel mechanism formula
CN101817181B (en) Six-degree-of-freedom flexible mechanical arm based on pneumatic muscles
CN104760054B (en) The orthogonal Three Degree Of Freedom joint that Pneumatic artificial muscle drives
CN105466662B (en) A kind of wind-tunnel angle of attack adjusting apparatus
CN105686883A (en) Redundant-freedom-degree laparoscope-holding mechanical arm
CN103231254B (en) Redundant drive three-freedom-degree parallel mechanism with double motion platforms
CN103895035B (en) Based on the collapsible explorer mechanical arm of triangle configuration link transmission
CN101422907B (en) Under-actuated bipod walking robot hip-joint mechanism
CN106826907B (en) A kind of single-degree-of-freedom linkage flexible charging joint of robot group
CN102513259B (en) Spraying robot mechanical arm driving device
CN105179894B (en) A kind of binocular vision head
CN103831819A (en) Modularized reconstructible soft rope parallel mechanism experiment platform
CN104440901B (en) High-accuracy heavy-load assembly robot
CN101844307B (en) Redundancy-driven three-degree-of-freedom parallel mechanism
CN101411632B (en) Robot active bracket for assisting minimally invasive surgical operation
CN204913901U (en) It changes movable support's five degree of freedom series -parallel connection robots to contain multiaxis
CN103052475A (en) Parallel mechanism

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
COR Change of bibliographic data
CB03 Change of inventor or designer information

Inventor after: Sang Hongqiang

Inventor after: Yang Chenghao

Inventor after: Chen Fa

Inventor after: Liu Fen

Inventor after: Yuan Jintian

Inventor after: Zhang Ke

Inventor after: Xu Liping

Inventor before: Sang Hongqiang

Inventor before: Yang Chenghao

Inventor before: Xu Liping

Inventor before: Chen Fa

Inventor before: Liu Fen

Inventor before: Yuan Jintian

Inventor before: Zhang Ke

C14 Grant of patent or utility model
GR01 Patent grant