CN104802158B - Spherical link manipulator arm - Google Patents
Spherical link manipulator arm Download PDFInfo
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- CN104802158B CN104802158B CN201410040347.9A CN201410040347A CN104802158B CN 104802158 B CN104802158 B CN 104802158B CN 201410040347 A CN201410040347 A CN 201410040347A CN 104802158 B CN104802158 B CN 104802158B
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- knee
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- ratio wheel
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Abstract
A kind of spherical link manipulator arm, include the first of sequentially pivot joint, two knees and an instrument shaft, the first to three ratio wheel and first, two flexible rope, and first to fourth axis of imaginaries intersecting at a ball shape rotary center can be defined, first knee and ratio wheel respectively the most driven and with first, rotate centered by three axis of imaginaries, first flexible rope is set around first, two ratios are taken turns and are fixed on the second knee, and drive the second ratio wheel and knee to rotate centered by the second axis of imaginaries when the first ratio wheel rotates, second flexible rope is set around second, three ratios are taken turns and are fixed on the first knee, and drive the 3rd ratio wheel and instrument shaft to rotate centered by the 4th axis of imaginaries when the second ratio wheel rotates；This mechanical arm small volume, can allow operator's more unhinderedly action, and operation interval is bigger.
Description
Technical field
The present invention is relevant with mechanical arm, especially with regard to a kind of spherical link manipulator arm.
Background technology
Referring to the patent of invention case that TaiWan, China number of patent application is 102121198, this patent provides
A kind of mechanical arm using spherical five-bar mechanism, is to include four knees being connected two-by-two, often
The axis of rotation at one knee two ends is all by same ball shape rotary center.The mainly application of this mechanical arm
In minimally invasive surgery system, in order to install a micro-surgical instrument, and it is accurately controlled this micro surgical tool
The swaying direction of tool and pendulum angle.
But, aforesaid mechanical arm has four knees to have suitable volume because including at least, and micro-
Invasive procedures system has generally comprised many mechanical arms, to install the micro surgical tool of many difference in functionalitys
Tool, therefore, for fairly limited operative space, if the volume of mechanical arm can be reduced, will
Be conducive to the space configuration of minimally invasive surgery system, and can avoid the action of medical worker is caused obstruction.
Additionally, in aforesaid mechanical arm, owing to the action of described knee is mutually to pin down, and drive
The driving means that dynamic described knee rotates also can spatially cause restriction, and then limits respectively this knee
Rotational angle, therefore this mechanical arm be only capable of drive micro-surgical instrument in fairly limited working area
Interior action.
Summary of the invention
Because disadvantages mentioned above, present invention is primarily targeted at a kind of spherical link manipulator of offer
Arm, its small volume, can allow operator's more unhinderedly action, and can produce bigger working area
Between.
For reaching above-mentioned purpose, spherical link manipulator arm provided by the present invention includes one first
Knee, one first ratio wheel, one second knee, one second ratio wheel, one first flexible rope, a device
Tool bar, one the 3rd ratio wheel, and one second flexible rope.These the first knee two ends are respectively provided with one
One articulated section and one second articulated section, and can define respectively by this first articulated section and this second pivot
Connect one first axis of imaginaries and one second axis of imaginaries in portion, this first axis of imaginaries and this second imagination
Axis is to intersect at a ball shape rotary center, and this first knee is can be by one first drive unit drives
Rotate centered by this first axis of imaginaries.This first ratio wheel is to define one by this spherical rotation
Turn the 3rd axis of imaginaries at center, and can be by one second drive unit drives with the 3rd axis of imaginaries
Centered by rotate.These the second knee two ends are respectively provided with one the 3rd articulated section and one the 4th articulated section, and
Can define one and pass through its 4th articulated section and the 4th axis of imaginaries at this ball shape rotary center, this is second years old
Knee is with the second articulated section pivot joint of its 3rd articulated section Yu this first knee.This second ratio wheel is
Be fixed on this second knee the 3rd articulated section and with the second articulated section pivot joint of this first knee.This is years old
One flexible rope is to be set around this first ratio wheel and this second ratio wheel and be fixed on this second knee, and
Drive this second ratio wheel and this second knee with this second imaginary axis when this first ratio wheel rotates
Rotate centered by line.This instrument shaft and the 3rd ratio wheel be interfix and with the of this second knee
Four articulated section pivot joints.This second flexible rope is to be set around this second ratio wheel and the 3rd ratio wheel and consolidate
Due to this first knee, and drive the 3rd ratio wheel and this instrument shaft when this second ratio wheel rotates
Rotate centered by the 4th axis of imaginaries.
Thus, this spherical link manipulator arm may be used to install an apparatus in this instrument shaft, and can essence
Control this apparatus to swing around this ball shape rotary center accurately, and, compared to existing have identical
The mechanical arm of function, the knee negligible amounts of mechanical arm provided by the present invention, thus volume is relatively
Little, and bigger space confession operator's action can be conceded, and the rotational angle of each knee is more unrestricted,
Therefore can allow operator's more unhinderedly action, and bigger operation interval can be produced.
About the detailed configuration of spherical link manipulator arm provided by the present invention, feature, assembling or
Occupation mode, is described by describing in detail in follow-up embodiment.But, lead in the present invention
Territory has usually intellectual should be able to understand, described detailed description and enforcement spy cited by the present invention
Determine embodiment, be only for illustrating the present invention, and be not used to limit the patent claim of the present invention.
Accompanying drawing explanation
For further illustrating the technology contents of the present invention, below in conjunction with embodiment and accompanying drawing, describe in detail
After illustrating such as, wherein:
The spherical link manipulator arm that Fig. 1 to Fig. 3 is provided by a preferred embodiment of the present invention is from three
The axonometric chart of different angles viewing；
One spherical machine of the spherical link manipulator arm that Fig. 4 is provided by this preferred embodiment of the present invention
The schematic perspective view of structure；And
Fig. 5 is to be analogous to Fig. 4, and only in Fig. 4, first and third axis of imaginaries of this ball mechanism is to overlap,
And first and third axis of imaginaries of this ball mechanism is misaligned in Fig. 5.
Detailed description of the invention
First applicant illustrates at this, in the following embodiment that will introduce and accompanying drawing, identical
Reference number, represents same or similar element or its architectural feature.Secondly, set when addressing an element
When being placed on another element, representing aforementioned components is to be set directly on this another element, or aforementioned
Element is indirectly to be arranged on this another element, that is, it is additionally provided with one or many between two element
Other elements individual.
Please referring initially to Fig. 1 to Fig. 4, the spherical link-type machinery that a preferred embodiment of the present invention is provided
Arm 10 includes a driving means 20, and a ball mechanism 30.
Need to first illustrate at this, " spherical link manipulator arm " of the present invention and " spherical
Mechanism " in " spherical " refer to axis of rotation (that is the hereinafter institute at position that each of which can rotate
First, second, third and fourth axis of imaginaries L1, L2, L3, the L4 stated) intersect at a ball shape rotary center
C (center of spherical rotation), therefore, during action, respectively this can turn
Dynamic position can be considered moves on the imaginary sphere with this ball shape rotary center C as the centre of sphere.
This spherical link manipulator arm 10 is in order to arrange an apparatus at this ball mechanism 30
(not shown), this apparatus includes one in order to produce the apparatus of specific function, the most miniature hands
Art apparatus, and this apparatus would generally be configured to probably point to this ball shape rotary center C or by this ball
Shape center of rotation C.Drive this apparatus by this ball mechanism 30, this apparatus can be made substantially
Swing around this ball shape rotary center C, and swaying direction and the pendulum angle of this apparatus can be accurately controlled.
Details are as follows for the structure of this spherical link manipulator arm 10.
This driving means 20 includes fixes seat 22, and is arranged at the one first of this fixing seat 22
Driver element 24 and one second driver element 26.This first driver element 24 includes a motor (figure
In do not show), and in order to the rotation function that this motor exports to be transferred to two skins of this ball mechanism 30
Belt wheel 244,245 and one belt 246.This second driver element 26 includes a motor 262, with
And in order to the rotation function that this motor 262 exports to be transferred to a drive of this ball mechanism 30
264。
This ball mechanism 30 includes one first knee 31,1 first ratio wheel 32,1 second knee
33, one second ratio wheel 34, instrument shaft 35, the 3rd ratio wheel 36,1 first flexible rope 37,
And one second flexible rope 38.
This first knee 31 includes two body of rod 31A, 31B of synchronization action, and one is arranged at this
The tensioning device 31C of body of rod 31A, respectively this body of rod 31A, 31B two ends are respectively provided with one first pivot joint
Portion 311 and one second articulated section 312, and first by this two first articulated section 311 can be defined
Axis of imaginaries L1, and by the second axis of imaginaries L2 of this two second articulated section 312, this is first years old
Axis of imaginaries L1 and this second axis of imaginaries L2 is to intersect at ball shape rotary center C.This two first pivot
Meeting portion 311 is that the belt pulley 245 with this first driver element 24 is coaxially disposed, and can be by this belt
Wheel 245 drives and rotates, that is, this first knee 31 is to be driven by this first driver element 24
And rotate centered by this first axis of imaginaries L1.
This first ratio wheel 32 is to define the 3rd axis of imaginaries by this ball shape rotary center C
L3, and be provided between this two body of rod 31A, 31B of this first knee 31.In the present embodiment,
This first ratio wheel 32 is that the first articulated section 311 with this first knee 31 is coaxially disposed, therefore,
3rd axis of imaginaries L3 is to overlap with this first axis of imaginaries L1.But, this first ratio wheel 32
Also can not be coaxially disposed with the first articulated section 311 of this first knee 31 so that the 3rd imagination
Axis L3 does not overlaps, as shown in Figure 5 with this first axis of imaginaries L1.
This second knee 33 include be located at this first knee 31 this two body of rod 31A, 31B it
Between body of rod 33A, and the tensioning device 33B, this body of rod 33A being arranged at this body of rod 33A
Two ends are respectively provided with one the 3rd articulated section 331 and one the 4th articulated section 332, the 3rd articulated section 331
It is the second articulated section 312 pivot joint with this first knee 31, and the 3rd articulated section 331 is can be with
Rotate relative to this second articulated section 312 centered by this second axis of imaginaries L2.Additionally, this second
Knee 33 can define the 4th axis of imaginaries L4 by its 4th articulated section 332, and the 4th vacation
Think that axis L4 is also through this ball shape rotary center C.
This second ratio wheel 34 is provided between this two body of rod 31A, 31B of this first knee 31,
And by the 3rd articulated section 331 of this second knee 33, this second ratio wheel 34 is first curved with this
Second articulated section 312 pivot joint of bar 31, and it is fixed on the 3rd articulated section 331 of this second knee 33,
Thus can be with the 3rd articulated section 331 synchronous axial system.
These instrument shaft 35 two ends are respectively provided with one the 5th articulated section 351 and an installation portion 352, and the 5th
Articulated section 351 is the 4th articulated section 332 pivot joint with this second knee 33, and the 5th articulated section
351 is to rotate relative to the 4th articulated section 332 centered by the 4th axis of imaginaries L4.This peace
Dress portion 352 is in order to be connected with this apparatus.
3rd ratio wheel 36 is the 4th articulated section 332 pivot joint with this second knee 33, and is positioned at
Between 4th articulated section 332 and the 5th articulated section 351 of this instrument shaft 35, and, the 3rd
Ratio wheel 36 is affixed to the 5th articulated section 351, thus can Tong Bu with the 5th articulated section 351 turn
Dynamic.
Respectively this flexible rope 37,38 can (but not limited to) be cable wire, and this first flexible rope 37 is to be set around
The drive 264 of this second driving means 26, this first ratio wheel 32 and this second ratio wheel 34
And it being fixed on the tensioning device 33B of this second knee 33, this second flexible rope 38 is to be set around this
Second ratio wheel 34 and the 3rd ratio are taken turns 36 and are fixed on the tensioning device of this first knee 31
31C.When this drive 264 is driven by this motor 262 and rotates, this first flexible rope 37 can be with
Rotation and drive this first ratio wheel 32 rotation, and drive this second ratio wheel 34 and this is second curved
Bar 33 rotates centered by this second axis of imaginaries L2, and meanwhile, this second flexible rope 38 can be with this
Second ratio wheel 34 rotates and drives the 3rd ratio wheel 36 and this instrument shaft 35 with the 4th imagination
Rotate centered by axis L4, and, the rotational angle of described ratio wheel 32,34,36 can be according to it
External diameter ratio and have specific proportionate relationship.Therefore, utilize this second driver element 26 control this
The rotational angle of one ratio wheel 32, can control this second knee 33 and the rotation of this instrument shaft 35
Angle.
It is noted that this two tensioning device 31C, 33B are to adjust with for user respectively
Second flexible rope 38 and the tension force of the first flexible rope 37, this first knee 31 and this second knee 33
Also can be not provided with tensioning device 31C, 33B, and make flexible rope 37,38 be fixed on body of rod 33A,
31A。
In the present embodiment, this first knee 31 is that substantially length is equal with this second knee 33,
The external diameter of this first ratio wheel 32 is equal with the external diameter of the 3rd ratio wheel 36, and is this second ratio
The twice of the external diameter of example wheel 34, that is, the external diameter ratio of first, second and third ratio wheel is 2: 1: 2, as
This one, under any circumstance, its 5th articulated section 351 all can be probably towards this for this instrument shaft 35
First articulated section 311 of the first knee 31 so that this installation portion 352 is directed away from this first articulated section
The direction of 311, so can avoid this apparatus and this ball mechanism 30 or this driving means 20 phase
Collision mutually, and simplify the calculating of the control program of this ball mechanism 30.But, provided by the present invention
Spherical link manipulator arm be not limited to that there is aforesaid feature.
It is noted that of the present invention, " this first knee is the longest with this second knee
Spend equal ", wherein the length of this first knee 31 of indication be defined as first and second axis of imaginaries L1,
L2 position, 311,312, first and second articulated section imaginary sphere on distance, that is first,
The length of the camber line that the central point of two articulated sections 311,312 is linked to be on the imaginary sphere at its place；
Similarly, the length of this second knee 33 be defined as second, four axis of imaginaries L2, L4 the 3rd,
Four position, 331,332, articulated sections imaginary sphere on distance, that is third and fourth articulated section 331,
The length of the camber line that the central point of 332 is linked to be on the imaginary sphere at its place.Additionally, the present invention
The external diameter of described first, second and third ratio wheel 32,34,36 be defined as respectively this ratio wheel 32,
34,36 by the radius of curvature of the outer peripheral face being wound around for flexible rope 37,38.
The existing mechanical arm compared to described in prior art, mechanical arm 10 provided by the present invention
Not only can produce identical function, and this mechanical arm 10 because of knee negligible amounts small volume,
It is applied in minimally invasive surgery system be that more existing mechanical arm is more beneficial for space configuration, and can concede
Bigger space, for operator's action, even can allow the operator of left hander and right-handed person can be suitable
The action of smooth ground.Additionally, this mechanical arm 10 makes the angle of rotation of each knee because of knee negligible amounts
Spend more unrestricted, therefore can produce bigger operation interval.
Finally, it is necessary to again illustrate, the present invention takes off composed component disclosed in embodiment in front, only
For illustrating, not for limiting the scope of this case, the replacement of other equivalence elements or change, also
The right that should be this case is contained.
Claims (7)
1. a spherical link manipulator arm, includes: one first knee, and its two ends are respectively provided with
One first articulated section and one second articulated section, and can define respectively by this first articulated section and this
One first axis of imaginaries of two articulated sections and one second axis of imaginaries, this first axis of imaginaries with this second
Axis of imaginaries intersects at a ball shape rotary center, one second knee, and its two ends are respectively provided with one the 3rd pivot
Connect portion and one the 4th articulated section, and one can be defined by its 4th articulated section and this ball shape rotary center
The 4th axis of imaginaries, this second knee is with second articulated section of its 3rd articulated section Yu this first knee
Pivot joint；It is characterized in that:
This first knee can be turned centered by this first axis of imaginaries by one first drive unit drives
Dynamic；
One first ratio wheel, can define the 3rd axis of imaginaries by this ball shape rotary center, and
Can be rotated centered by the 3rd axis of imaginaries by one second drive unit drives；
One second ratio wheel, be fixed on this second knee the 3rd articulated section and with the of this first knee
Two articulated section pivot joints；
One first flexible rope, be set around this first ratio wheel and this second ratio wheel and be fixed on this second
Knee, and this first ratio wheel rotate time drive this second ratio wheel and this second knee with this second
Rotate centered by axis of imaginaries；
One instrument shaft and one the 3rd ratio wheel, interfix and with the 4th articulated section pivot of this second knee
Connect；And
One second flexible rope, be set around this second ratio wheel and the 3rd ratio wheel and be fixed on this first
Knee, and drive the 3rd ratio wheel and this instrument shaft false with the 4th when this second ratio wheel rotates
Rotate centered by thinking axis.
Spherical link manipulator arm the most as claimed in claim 1, it is characterised in that wherein this
Three axis of imaginaries overlap with this first axis of imaginaries.
Spherical link manipulator arm the most as claimed in claim 1, it is characterised in that wherein this
One knee is equal with this second knee length.
Spherical link manipulator arm the most as claimed in claim 3, it is characterised in that wherein this
The external diameter of one ratio wheel is equal with the external diameter that the 3rd ratio is taken turns, and is the external diameter of this second ratio wheel
Twice.
Spherical link manipulator arm the most as claimed in claim 1, it is characterised in that wherein this
One knee is provided with a tensioning device, and this second flexible rope is fixed on the tension adjustment of this first knee
Device.
Spherical link manipulator arm the most as claimed in claim 1, it is characterised in that wherein this
Two knees are provided with a tensioning device, and this first flexible rope is fixed on the tension adjustment of this second knee
Device.
Spherical link manipulator arm the most as claimed in claim 1, it is characterised in that wherein this
One knee includes two bodies of rod of synchronization action, this second knee, this first ratio wheel and this second ratio
Example is taken turns between this two body of rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410040347.9A CN104802158B (en) | 2014-01-27 | 2014-01-27 | Spherical link manipulator arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410040347.9A CN104802158B (en) | 2014-01-27 | 2014-01-27 | Spherical link manipulator arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104802158A CN104802158A (en) | 2015-07-29 |
| CN104802158B true CN104802158B (en) | 2016-11-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410040347.9A Active CN104802158B (en) | 2014-01-27 | 2014-01-27 | Spherical link manipulator arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN104802158B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI702126B (en) * | 2018-07-25 | 2020-08-21 | 上銀科技股份有限公司 | Spherical connecting rod mechanical arm |
| CN110802583B (en) * | 2018-08-06 | 2022-07-26 | 上银科技股份有限公司 | Spherical connecting rod type mechanical arm |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
| US5966991A (en) * | 1997-04-23 | 1999-10-19 | Universite Laval | Two degree-of-freedom spherical orienting device |
| US20060243085A1 (en) * | 2005-04-25 | 2006-11-02 | Blake Hannaford | Spherical motion mechanism |
| US8469945B2 (en) * | 2006-01-25 | 2013-06-25 | Intuitive Surgical Operations, Inc. | Center robotic arm with five-bar spherical linkage for endoscopic camera |
| CN102371590A (en) * | 2010-08-25 | 2012-03-14 | 鸿富锦精密工业（深圳）有限公司 | Arm structure of robot |
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2014
- 2014-01-27 CN CN201410040347.9A patent/CN104802158B/en active Active
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| Publication number | Publication date |
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| CN104802158A (en) | 2015-07-29 |
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