CN105397838A - Main hand operating wrist of master-slave robot - Google Patents
Main hand operating wrist of master-slave robot Download PDFInfo
- Publication number
- CN105397838A CN105397838A CN201510962685.2A CN201510962685A CN105397838A CN 105397838 A CN105397838 A CN 105397838A CN 201510962685 A CN201510962685 A CN 201510962685A CN 105397838 A CN105397838 A CN 105397838A
- Authority
- CN
- China
- Prior art keywords
- housing
- axle
- joint assembly
- shaft coupling
- fixedly mounted
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 32
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 72
- 230000008878 coupling Effects 0.000 claims description 58
- 238000010168 coupling process Methods 0.000 claims description 58
- 238000005859 coupling reaction Methods 0.000 claims description 58
- 230000007246 mechanism Effects 0.000 abstract description 14
- 238000000034 method Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 210000001519 tissue Anatomy 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 206010016256 fatigue Diseases 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000013341 scale-up Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a main hand operating wrist of a master-slave robot, relates to the main hand operating wrist, and aims to solve the problems that a mechanical arm of a main hand end in the prior art is relatively small in working space, not high in flexibility, lack of force and moment of force feedback information, great in mechanism, lack of sense of force, low in space utilization rate, limited in application occasion, not flexible to operate, complex to operate, incapable of realizing force balance of any position of the mechanical arm, great in load for a doctor to drive the main hand to operate, and fatigable. The main hand operating wrist comprises an arm connector, a first wrist joint assembly, a second wrist joint assembly, a third wrist joint assembly, a fourth wrist joint assembly and a clamping mechanism connector, wherein the first wrist joint assembly comprises a first driver, a first motor, a first shaft coupler, a first shaft, a first absolute type angle encoder, a first housing and two first bevel gears. The main hand operating wrist is used for the field of medical robots.
Description
Technical field
The present invention relates to a kind of main hand operated wrist, be specifically related to the main hand operated wrist of a kind of robot controller.
Background technology
In order to realize good real-time status feedback, tackling the complex situations in surgical procedure, usually using master-slave mode mechanical arm for the medical robotic system of performing the operation.Operator drives main hand end movement, and the main each joint of mobile phone mechanical arm is mainly passive movement, measures and obtains joint motions information, be mapped to from mechanical arm end, drive and realize corresponding sports from hand.
The common mechanical arm for main hand end mainly contains following several at present.The ZEUS System Computer mechanical arm of ComputerMotion company of U.S. exploitation, but its working space is smaller, and flexibility is not high, lacks power/torque-feedback information.The daVinci systemic-function of IntuitiveSurgical company research and development is powerful, but the monopolization of industry brings expensive price, and mechanism is too huge, lacks force feeling, and space availability ratio is low.The main hand of PHANTOM of SensAble company of U.S. development not only has three-dimensional force feedback, and also have three-dimensional moment feedback, can more press close to from the real operational circumstances of hand, be force feedback equipment ideal in virtual reality technology.But its price is very expensive, client also according to self-demand software for editing program, thus cannot greatly limit its application scenario.The ForceDimension company of Switzerland is that current the most successfully parallel connection type power feels main hand according to delta, sigma and omega series that delta parallel principle is released, its mechanical arm adopts parallel institution, there is sports coupling high, the shortcomings such as malfunction and control complexity.Taken the lead by the new teach problem group of University Of Tianjin Wang Shu, MicroHandA (highly skilled man A) main manipulator of General Hospital of Tianjin Medical Univ. and Nankai University's cooperative research and development, its wrist joint is the passive joint not having drive system entirely, its dead-weight balanced design just can only can reach balance when specific position and attitude, more to use restriction, structure haves much room for improvement.
Import main mobile phone mechanical arm price is very expensive, and the mechanical arm used now is all passive joint mostly, can not realize the dynamic balance of the optional position of mechanical arm own, and doctor drives main hand operated load large, fatiguability.Existing can measure power when end contacts with tissue from mechanical arm end, but can only pass through image, the transition forms such as sound pass to the doctor of operation, not intuitively.After the start of tradition main hand, because during power down, principal and subordinate's hand pose all may have occurred change, need to adjust main hand attitude and adapt to connect after hand attitude again, this qualification to doctor requires higher, and may cause that principal and subordinate's is inharmonious.In theory calculate there is singular point in continuous rotation joint, and when near its singularity, flexibility can reduce.Now be only difficult to keep consistent flexibility by mechanism self.For these present situations, main hand wrist carries out innovative design and can overcome most of problem, study and aly there is independent intellectual property right and the mechanical wrist for main manipulator that can meet robot micro-wound operation needs is very important.
Summary of the invention
The present invention in order to the mechanical arm solving main hand end in prior art there is following problem 1, working space is smaller, flexibility is not high, lack force and moment feedback information, 2, mechanism is too huge, lack force feeling, space availability ratio is low, 3, its application scenario is restricted, 4, malfunction and control complexity, 5, the dynamic balance of the optional position of mechanical arm own can not be realized, doctor drives main hand operated load large, fatigable problem, and then provides a kind of robot controller main hand operated wrist.
The present invention is the technical scheme adopted that solves the problem: it comprises arm connector, the first wrist joint assembly, the second wrist joint assembly, the 3rd wrist joint assembly, the 4th wrist joint assembly and clamping device connector, and the first wrist joint assembly comprises the first driver, the first motor, the first shaft coupling, the first axle, the first absolute angle coder, the first housing and two the first bevel gears, arm connector is bar shaped framework, first housing is rectangular hollow housing, one end of first housing is fixedly connected with the bottom of arm connector, and the first housing center line along its length and arm connector central axis are along its length arranged, first driver is fixedly mounted on the sidewall of the first housing, first axle is vertically arranged on the other end of the first housing, the output of the first machine shaft is fixedly connected with one end of the first shaft coupling, the other end of the first shaft coupling is set with first bevel gear, another first bevel gear is sleeved on the first axle, first absolute angle coder is fixedly mounted on the first housing, and the rotating shaft of the first absolute angle coder is fixedly connected with the bottom of the first axle, the top of the first axle is passed the first housing and is fixedly mounted on the second wrist joint assembly, two the first bevel gear tooth engagements, first motor, first shaft coupling and two the first bevel gears are fixedly mounted in the first housing, first driver is connected with the first motor by wire, 3rd wrist joint assembly is fixedly mounted on the second wrist joint assembly, 4th wrist joint assembly is fixedly mounted on the 3rd wrist joint assembly, clamping device connector is fixedly mounted on the 4th wrist joint assembly.
The invention has the beneficial effects as follows: the present invention is in series by the first wrist joint assembly 2, second wrist joint assembly 3, the 3rd wrist joint assembly 4, the 4th wrist joint assembly 5, described adjacent two rotary joint axis are orthogonal.Described each rotary joint has independently motor to drive, and respectively by shaft coupling, bevel gear, axle and absolute angle coder based part drive articulation.Described each motor all has independently driver drives.The axle head in described each joint is provided with absolute angle coder.The present invention has torque compensation and the concrete effect of feedback function is as follows:
1, mechanism of the present invention and control thereof can be applied to the wrist of master slave control robot, realize the transmission of better human-computer exchange information.
2, mechanism has compact conformation, good rigidity, strong adaptability, the advantages such as practicality is high, powerful, has wide prospect of the application.
3, the force and moment needed for the Attitude Calculation current operation mechanism of joint that can measure according to each absolute angle coder of mechanism, export reverse force and moment by motor to compensate, realize the balance of real-time force and moment, thus doctor can operate when not having power load, reduce doctor's operation easier, reduce degree of fatigue.
4, each motor in mechanism can according to the power recorded from hand end, carry out the reverse output of moment in real time, get rid of operating mechanism itself to the impact of moment size simultaneously, make doctor constantly can experience size from hand end contact force, facilitate doctor to carry out operation technique more accurately to pathological tissues in patient and organ.
5, mechanism can be after powering, according to the position angle message fed back to from hand, directly each wrist joint is driven to rotate by motor, measured value in conjunction with angular encoder adjusts attitude automatically to coupling from hand attitude, then connect, decrease the complex process that original needs manually carry out mating, reduce the requirement to doctor's skilled operation degree.
There is redundant degree of freedom in the four-degree-of-freedom of 6, the wrist joint of mechanism, not only can improve the flexibility of wrist, more can in motion process attitude close near dumb some time initiatively joint carry out positive adjustment, ensure kinematic dexterity.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention, arrow in figure on R1, R2, R3 and R4 represents the present invention first wrist joint assembly 2, second wrist joint assembly 3, the 3rd wrist joint assembly 4 and the 4th wrist joint assembly 5 rotation direction respectively, Fig. 2 is the structural representation of the first wrist joint assembly 2, Fig. 3 is the structural representation that the first axle 2-5 is arranged on the second wrist joint assembly 3, the structural representation that Fig. 4 is the second axle 3-5, the 3rd wrist joint assembly 4, the 4th wrist joint assembly 5 and clamping device connector 6 are installed together.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Fig. 4 illustrates present embodiment, the main hand operated wrist of a kind of robot controller, it comprises arm connector 1, first wrist joint assembly 2, second wrist joint assembly 3, the 3rd wrist joint assembly 4, the 4th wrist joint assembly 5 and clamping device connector 6, first wrist joint assembly 2 and comprises the first driver 2-1, the first motor 2-2, the first shaft coupling 2-3, the first axle 2-5, the first absolute angle coder 2-6, the first housing 2-7 and two the first bevel gear 2-4, arm connector 1 is bar shaped framework, first housing 2-7 is rectangular hollow housing, one end of first housing 2-7 is fixedly connected with the bottom of arm connector 1, and the first housing 2-7 center line along its length and arm connector 1 central axis are along its length arranged, first driver 2-1 is fixedly mounted on the sidewall of the first housing 2-7, first axle 2-5 is vertically arranged on the other end of the first housing 2-7, the output of the first motor 2-2 rotating shaft is fixedly connected with one end of the first shaft coupling 2-3, the other end of the first shaft coupling 2-3 is set with a first bevel gear 2-4, another the first bevel gear 2-4 is sleeved on the first axle 2-5, first absolute angle coder 2-6 is fixedly mounted on the first housing 2-7, and the rotating shaft of the first absolute angle coder 2-6 is fixedly connected with the bottom of the first axle 2-5, the top of the first axle 2-5 is passed the first housing 2-7 and is fixedly mounted on the second wrist joint assembly 3, two the first bevel gear 2-4 tooth engagements, first motor 2-2, first shaft coupling 2-3 and two the first bevel gear 2-4 is fixedly mounted in the first housing 2-7, first driver 2-1 is connected with the first motor 2-2 by wire, 3rd wrist joint assembly 4 is fixedly mounted on the second wrist joint assembly 3, 4th wrist joint assembly 5 is fixedly mounted on the 3rd wrist joint assembly 4, clamping device connector 6 is fixedly mounted on the 4th wrist joint assembly 5.
Detailed description of the invention two: composition graphs 1-Fig. 2 illustrates present embodiment, the main hand operated wrist of a kind of robot controller, described second wrist joint assembly 3 comprises the second driver 3-1, the second motor 3-2, the second shaft coupling 3-3, the second axle 3-5, the second absolute angle coder 3-6, the second housing 3-7 and two the second bevel gear 3-4, second housing 3-7 is ' L ' shape housing, second driver 3-1 is arranged on the second housing 3-7 level board, the top of the first axle 2-5 is fixedly mounted on the second housing 3-7 level board, the output of the second motor 3-2 rotating shaft is fixedly connected with the bottom of the second shaft coupling 3-3, a second bevel gear 3-4 is fixedly set on the top of the second shaft coupling 3-3, another the second bevel gear 3-4 is fixedly set on the second axle 3-5, second absolute angle coder 3-6 is fixedly mounted on the second housing 3-7 vertical plate, and the rotating shaft of the second absolute angle coder 3-6 is fixedly connected with one end of the second axle 3-5, the other end of the second axle 3-5 is fixedly mounted on the 3rd wrist joint assembly 4, second axle 3-5 level is arranged on the top of the second housing 3-7 vertical plate, second motor 3-2 and the second shaft coupling 3-3 is vertically arranged in the second housing 3-7 vertical plate, and two the second bevel gear 3-4 tooth engagements, second driver 3-1 is connected with the second motor 3-2 by wire, other is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1-Fig. 2 illustrates present embodiment, the main hand operated wrist of a kind of robot controller, described 3rd wrist joint assembly 4 comprises the 3rd driver 4-1, the 3rd motor 4-2, the 3rd shaft coupling 4-3, the 3rd axle 4-5, the 3rd absolute angle coder 4-6, a 3rd housing 4-7 and two third hand tap gear 4-4, 3rd housing 4-7 is ' L ' shape housing, second axle 3-5 is fixedly mounted on the vertical plate of the 3rd housing 4-7, 3rd driver 4-1 is fixedly mounted on the vertical plate of the 3rd housing 4-7, the output of the 3rd motor 4-2 rotating shaft and one end of the 3rd shaft coupling 4-3 are fixed, a third hand tap gear 4-4 is fixedly set on the other end of the 3rd shaft coupling 4-3, and the 3rd absolute angle coder 4-6 is fixedly mounted on the level board of the 3rd housing 4-7, and the rotating shaft of the 3rd absolute angle coder 4-6 is fixedly connected with the 3rd shaft coupling 4-3, and the 3rd absolute angle coder 4-6 and the 3rd shaft coupling 4-3 is coaxially arranged, 3rd motor 4-2 and the 3rd shaft coupling 4-3 is fixedly mounted in the 3rd housing 4-7, 3rd driver 4-1 is connected with the 3rd motor 4-2 by wire, the upper end of the level board of the 3rd housing 4-7 is processed with protruding 4-8, 3rd axle 4-5 is vertically arranged on the protruding 4-8 of the 3rd housing 4-7 level board, the bottom fixed cover of the 3rd axle 4-5 is equipped with a third hand tap gear 4-4, and two third hand tap gear 4-4 tooth engagements, the top of the 3rd axle 4-5 is fixedly mounted on the 4th wrist joint assembly 5, other is identical with detailed description of the invention one.
Detailed description of the invention four: composition graphs 1-Fig. 2 illustrates present embodiment, the main hand operated wrist of a kind of robot controller, described 4th wrist joint assembly 5 comprises four-wheel drive device 5-1, the 4th motor 5-2, the 4th shaft coupling 5-3, the 4th axle 5-5, the 4th absolute angle coder 5-6, the 4th housing 5-7 and two a 4th bevel gear 5-4, 4th housing 5-7 is ' L ' shape housing, the sidewall of 4th housing 5-7 vertical plate near bottom is processed with cuboid 5-8, four-wheel drive device 5-1 is fixedly mounted on the vertical plate of the 3rd housing 4-7, the top of the 3rd axle 4-5 is fixedly mounted on the cuboid 5-8 of the 4th housing 5-7, the output of the 4th motor 5-2 rotating shaft is fixedly connected with the bottom of the 4th shaft coupling 5-3, a 4th bevel gear 5-4 is fixedly set in the top of the 4th shaft coupling 5-3, 4th absolute angle coder 5-6 is fixedly mounted on the top of the 4th housing 5-7 level board, and the rotating shaft of the 4th absolute angle coder 5-6 is fixedly mounted on the top of the 4th shaft coupling 5-3, and the 4th shaft coupling 5-3 and the 4th shaft coupling 5-3 is coaxially arranged, another the 4th bevel gear 5-4 is fixedly set in one end of the 4th axle 5-5, 4th motor 5-2 and the 4th shaft coupling 5-3 is vertically fixedly mounted in the vertical plate of the 4th housing 5-7, four-wheel drive device 5-1 is connected with the 4th motor 5-2 by wire, 4th axle 5-5 is arranged in the level board of the 4th housing 5-7, and two the 4th bevel gear 5-4 tooth engagements, clamping device connector 6 passes the level board of the 4th housing 5-7 and the other end in the 4th axle 5-5 is fixedly connected with, other is identical with detailed description of the invention one.
Detailed description of the invention five: composition graphs 1 illustrates present embodiment, the main hand operated wrist of a kind of robot controller, the cuboid 5-8 of described 4th housing 5-7 is processed with manhole, and the top of described arm connector 1 is processed with two manholes, and other is identical with detailed description of the invention one.
Operation principle
Main hand operated wrist of the present invention is fixedly mounted on arm structure, R1 controls the first motor 2-2 by the first driver 2-1 when rotating, a first bevel gear 2-4 on the first shaft coupling 2-3 and the first shaft coupling 2-3 is driven to rotate successively by the first motor 2-2, due to two the first bevel gear 2-4 tooth engagements, therefore the rotating shaft synchronous axial system of the first axle 2-5 and the first absolute angle coder 2-6 is driven, by the first absolute angle coder 2-6, the second wrist joint assembly 3 rotational angle is measured and fed back, and then drive the second wrist joint assembly 3 to rotate by the first axle 2-5, second wrist joint assembly 3 can carry out its rotation voluntarily simultaneously, the second motor 3-2 is controlled by the second driver 3-1, a second bevel gear 3-4 on the second shaft coupling 3-3 and the second shaft coupling 3-3 is driven to rotate successively by the second motor 3-2, due to two the second bevel gear 3-4 tooth engagements, so drive the rotating shaft synchronous axial system of the second axle 3-5 and the second absolute angle coder 3-6, by the second absolute angle coder 3-6, the 3rd wrist joint assembly 4 rotational angle is measured and fed back, and then drive the 3rd wrist joint assembly 4 to rotate by the second axle 3-5, 3rd wrist joint assembly 4 also can carry out own rotation simultaneously, the 3rd motor 4-2 is controlled by the 3rd driver 4-1, a third hand tap gear 4-4 on the 3rd shaft coupling 4-3 and the 3rd shaft coupling 4-3 is driven to rotate successively by the 3rd motor 4-2, due to two third hand tap gear 4-4 tooth engagements, and then drive the 3rd axle 4-5 to rotate, the 4th wrist joint assembly 5 is driven to rotate by the 3rd axle 4-5, because the 3rd absolute angle coder 4-6 is fixedly connected with the 3rd shaft coupling 4-3, by the 3rd absolute angle coder 4-6, the 4th wrist joint assembly 5 rotational angle is measured and fed back, 4th wrist joint assembly 5 also can carry out own rotation simultaneously, the 4th motor 5-2 is controlled by four-wheel drive device 5-1, the 4th bevel gear 5-4 controlled successively on the 4th shaft coupling 5-3 and the 4th shaft coupling 5-3 by the 4th motor 5-2 is rotated, due to two the 4th bevel gear 5-4 tooth engagements, therefore the 4th axle 5-5 is driven to rotate, and then drive clamping device connector 6 to rotate, by the 4th absolute angle coder 5-6, the angle that clamping device connector 6 rotates is measured and fed back, reach object of the present invention.Below be schematically described structure of the present invention, this description does not have limitation, and the form in accompanying drawing is one of implementation method of the present invention, and actual mechanism is not limited thereto.Therefore inspire by the present invention and adopt other type of drive, actuation types and do not have the design of novelty when not departing from the invention aim, all should in protection scope of the present invention.
The following describes a kind of action implementation process with the main hand operated wrist of torque compensation and feedback function:
1, structure implementation method
The present invention is main hand operated wrist, as a part of main hand, is generally seated on arm structure, and end connects clamping device and conveniently operates.In the present invention, described clamping device connector 6 connects required clamping device, and space reserved on arm connector 1 can be connected to stable for wrist on arm structure.Operator, by controlling clamping device, drives wrist to move,
2, start is from seeking position
After switching on power, each joint angles information according to recording from hand is determined from hand attitude, calculates and main hand will be made to mate angle from each joint of wrist required for hand attitude.Then obtain the position in the current main each joint of hand wrist according to described first absolute angle coder 2-6, the second absolute angle coder 3-6, the 3rd absolute angle coder 4-6 and the 4th absolute angle coder 5-6, determine not open an angle that joint needs rotate.The first motor 2-2, the second motor 3-2, the 3rd motor 4-2 and the 4th motor 5-2 is driven to rotate respective angles respectively with the first driver 2-1, the second driver 3-1, the 3rd driver 4-1 and four-wheel drive device 5-1, be consistent to each absolute angle coder return information with target location, main hand and mating from hand can being set up, completing start from seeking a process.
3, equalising torque during operation and torque-feedback
Doctor drives whole Wrist-sport by operating structure end hand, and now except active joint, all the other are passive operation joint.Each angle absolute angle coder is by joint position information real-time Transmission to control centre, and control centre calculates under current pose, in order to the moment oppositely exported required for each motor of trimming moment.Meanwhile, according to the size of the mechanical arm recorded from hand end and contact tissue power, control centre calculates the contact force that should scale up and experience to operator, and converts power the signal of motor output torque to.The reverse output torque of final motor is the superposition of described two kinds of moments, the muscle power making doctor break away from operating robotic arm to need to pay, and can experience the size from hand end and tissue power purely.
4, flexibility during operation keeps
Known by theory calculate, there is singular point in some positions in project organization of the present invention, can reduce flexibility in these positions.In order to ensure certain flexibility, when these near its singularity, initiatively joint one is by under the control of control algolithm, active accommodation joint rotation angle, and active movement helps wrist through singular point by motor, ensures that wrist flexibility can not reduce.
Claims (5)
1. the main hand operated wrist of robot controller, it is characterized in that: it comprises arm connector (1), first wrist joint assembly (2), second wrist joint assembly (3), 3rd wrist joint assembly (4), 4th wrist joint assembly (5) and clamping device connector (6), first wrist joint assembly (2) comprises the first driver (2-1), first motor (2-2), first shaft coupling (2-3), first axle (2-5), first absolute angle coder (2-6), first housing (2-7) and two the first bevel gears (2-4), arm connector (1) is bar shaped framework, first housing (2-7) is rectangular hollow housing, one end of first housing (2-7) is fixedly connected with the bottom of arm connector (1), and the first housing (2-7) center line along its length and arm connector (1) central axis are along its length arranged, first driver (2-1) is fixedly mounted on the sidewall of the first housing (2-7), first axle (2-5) is vertically arranged on the other end of the first housing (2-7), the output of the first motor (2-2) rotating shaft is fixedly connected with one end of the first shaft coupling (2-3), the other end of the first shaft coupling (2-3) is set with first bevel gear (2-4), another first bevel gear (2-4) is sleeved on the first axle (2-5), first absolute angle coder (2-6) is fixedly mounted on the first housing (2-7), and the rotating shaft of the first absolute angle coder (2-6) is fixedly connected with the bottom of the first axle (2-5), the top of the first axle (2-5) is passed the first housing (2-7) and is fixedly mounted on the second wrist joint assembly (3), two the first bevel gear (2-4) tooth engagements, first motor (2-2), first shaft coupling (2-3) and two the first bevel gears (2-4) are fixedly mounted in the first housing (2-7), first driver (2-1) is connected with the first motor (2-2) by wire, 3rd wrist joint assembly (4) is fixedly mounted on the second wrist joint assembly (3), 4th wrist joint assembly (5) is fixedly mounted on the 3rd wrist joint assembly (4), clamping device connector (6) is fixedly mounted on the 4th wrist joint assembly (5).
2. the main hand operated wrist of a kind of robot controller according to claim 1, is characterized in that: described second wrist joint assembly (3) comprises the second driver (3-1), the second motor (3-2), the second shaft coupling (3-3), the second axle (3-5), the second absolute angle coder (3-6), the second housing (3-7) and two the second bevel gears (3-4); second housing (3-7) is ' L ' shape housing, second driver (3-1) is arranged on the second housing (3-7) level board, the top of the first axle (2-5) is fixedly mounted on the second housing (3-7) level board, the output of the second motor (3-2) rotating shaft is fixedly connected with the bottom of the second shaft coupling (3-3), second bevel gear (3-4) is fixedly set on the top of the second shaft coupling (3-3), another second bevel gear (3-4) is fixedly set on the second axle (3-5), second absolute angle coder (3-6) is fixedly mounted on the second housing (3-7) vertical plate, and the rotating shaft of the second absolute angle coder (3-6) is fixedly connected with one end of the second axle (3-5), the other end of the second axle (3-5) is fixedly mounted on the 3rd wrist joint assembly (4), second axle (3-5) level is arranged on the top of the second housing (3-7) vertical plate, second motor (3-2) and the second shaft coupling (3-3) are vertically arranged in the second housing (3-7) vertical plate, and two the second bevel gear (3-4) tooth engagements, second driver (3-1) is connected with the second motor (3-2) by wire.
3. a kind of robot controller main hand operated wrist wrist according to claim 2, is characterized in that: described 3rd wrist joint assembly (4) comprises the 3rd driver (4-1), the 3rd motor (4-2), the 3rd shaft coupling (4-3), the 3rd axle (4-5), the 3rd absolute angle coder (4-6), the 3rd housing (4-7) and two third hand tap gears (4-4); 3rd housing (4-7) is ' L ' shape housing, second axle (3-5) is fixedly mounted on the vertical plate of the 3rd housing (4-7), 3rd driver (4-1) is fixedly mounted on the vertical plate of the 3rd housing (4-7), the output of the 3rd motor (4-2) rotating shaft and one end of the 3rd shaft coupling (4-3) are fixed, a third hand tap gear (4-4) is fixedly set on the other end of the 3rd shaft coupling (4-3), and the 3rd absolute angle coder (4-6) is fixedly mounted on the level board of the 3rd housing (4-7), and the rotating shaft of the 3rd absolute angle coder (4-6) is fixedly connected with the 3rd shaft coupling (4-3), and the 3rd absolute angle coder (4-6) and the 3rd shaft coupling (4-3) are coaxially arranged, 3rd motor (4-2) and the 3rd shaft coupling (4-3) are fixedly mounted in the 3rd housing (4-7), 3rd driver (4-1) is connected with the 3rd motor (4-2) by wire, the upper end of the level board of the 3rd housing (4-7) is processed with projection (4-8), 3rd axle (4-5) is vertically arranged in the projection (4-8) of the 3rd housing (4-7) level board, the bottom fixed cover of the 3rd axle (4-5) is equipped with a third hand tap gear (4-4), and two third hand tap gear (4-4) tooth engagements, the top of the 3rd axle (4-5) is fixedly mounted on the 4th wrist joint assembly (5).
4. the main hand operated wrist of a kind of robot controller according to claim 3, is characterized in that: described 4th wrist joint assembly (5) comprises four-wheel drive device (5-1), the 4th motor (5-2), the 4th shaft coupling (5-3), the 4th axle (5-5), the 4th absolute angle coder (5-6), the 4th housing (5-7) and two the 4th bevel gears (5-4); 4th housing (5-7) is ' L ' shape housing, the sidewall of 4th housing (5-7) vertical plate near bottom is processed with cuboid (5-8), four-wheel drive device (5-1) is fixedly mounted on the vertical plate of the 3rd housing (4-7), the top of the 3rd axle (4-5) is fixedly mounted on the cuboid (5-8) of the 4th housing (5-7), the output of the 4th motor (5-2) rotating shaft is fixedly connected with the bottom of the 4th shaft coupling (5-3), 4th bevel gear (5-4) is fixedly set in the top of the 4th shaft coupling (5-3), 4th absolute angle coder (5-6) is fixedly mounted on the top of the 4th housing (5-7) level board, and the rotating shaft of the 4th absolute angle coder (5-6) is fixedly mounted on the top of the 4th shaft coupling (5-3), and the 4th shaft coupling (5-3) and the 4th shaft coupling (5-3) are coaxially arranged, another the 4th bevel gear (5-4) is fixedly set in one end of the 4th axle (5-5), 4th motor (5-2) and the 4th shaft coupling (5-3) are vertically fixedly mounted in the vertical plate of the 4th housing (5-7), four-wheel drive device (5-1) is connected with the 4th motor (5-2) by wire, 4th axle (5-5) is arranged in the level board of the 4th housing (5-7), and two the 4th bevel gear (5-4) tooth engagements, clamping device connector (6) through the level board of the 4th housing (5-7) and the other end in the 4th axle (5-5) be fixedly connected with.
5. the main hand operated wrist of a kind of robot controller according to claim 1 or 4, it is characterized in that: the cuboid (5-8) of described 4th housing (5-7) is processed with manhole, and the top of described arm connector (1) is processed with two manholes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510962685.2A CN105397838B (en) | 2015-12-18 | 2015-12-18 | Main hand operating wrist of master-slave robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510962685.2A CN105397838B (en) | 2015-12-18 | 2015-12-18 | Main hand operating wrist of master-slave robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105397838A true CN105397838A (en) | 2016-03-16 |
| CN105397838B CN105397838B (en) | 2017-05-03 |
Family
ID=55463758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510962685.2A Active CN105397838B (en) | 2015-12-18 | 2015-12-18 | Main hand operating wrist of master-slave robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105397838B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107440800A (en) * | 2017-08-07 | 2017-12-08 | 重庆金山医疗器械有限公司 | Seven freedom main operation manipulator |
| CN107901043A (en) * | 2017-12-25 | 2018-04-13 | 哈尔滨思哲睿智能医疗设备有限公司 | Pitch freedom redundancy posture structure in a kind of link mechanism manipulator |
| CN108378922A (en) * | 2018-02-28 | 2018-08-10 | 哈尔滨工业大学 | A kind of micro-wound operation robot force feedback main manipulator with redundant degree of freedom |
| CN111096802A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096803A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096801A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096800A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096804A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096805A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111265303A (en) * | 2020-03-04 | 2020-06-12 | 武汉中科医疗科技工业技术研究院有限公司 | Main hand clamping mechanism, main operating hand and minimally invasive surgery robot |
| CN111449758A (en) * | 2020-04-09 | 2020-07-28 | 山东大学 | Main manipulator for continuum surgical robot and surgical robot |
| CN114469356A (en) * | 2022-01-24 | 2022-05-13 | 重庆金山医疗机器人有限公司 | Driving method of master hand and surgical robot medical console |
| CN114869481A (en) * | 2022-05-12 | 2022-08-09 | 重庆金山医疗机器人有限公司 | Surgical robot and master manipulator for maintaining pose form |
| WO2022198809A1 (en) * | 2021-03-23 | 2022-09-29 | 华中科技大学 | Ball joint drive-based puncture surgery robot master hand and system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87216690U (en) * | 1987-12-19 | 1988-12-14 | 机械委北京机械工业自动化研究所 | Manipulator wrist of robot |
| SE465611B (en) * | 1990-02-27 | 1991-10-07 | Asea Brown Boveri | Robot wrist |
| JPH0976187A (en) * | 1995-09-11 | 1997-03-25 | Fanuc Ltd | Wrist structure of industrial robot |
| CN1871102A (en) * | 2003-12-22 | 2006-11-29 | Abb公司 | A wrist unit to a robot arm |
| CN201432994Y (en) * | 2009-06-23 | 2010-03-31 | 东华大学 | Wrist transmission mechanism of stacker robot |
| CN103552088A (en) * | 2013-10-12 | 2014-02-05 | 杨兆奎 | Mechanical wrist |
| CN104786234A (en) * | 2015-04-07 | 2015-07-22 | 上海大学 | 'swing-swing-rotation' type three-freedom-degree wrist mechanism |
-
2015
- 2015-12-18 CN CN201510962685.2A patent/CN105397838B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87216690U (en) * | 1987-12-19 | 1988-12-14 | 机械委北京机械工业自动化研究所 | Manipulator wrist of robot |
| SE465611B (en) * | 1990-02-27 | 1991-10-07 | Asea Brown Boveri | Robot wrist |
| JPH0976187A (en) * | 1995-09-11 | 1997-03-25 | Fanuc Ltd | Wrist structure of industrial robot |
| CN1871102A (en) * | 2003-12-22 | 2006-11-29 | Abb公司 | A wrist unit to a robot arm |
| CN201432994Y (en) * | 2009-06-23 | 2010-03-31 | 东华大学 | Wrist transmission mechanism of stacker robot |
| CN103552088A (en) * | 2013-10-12 | 2014-02-05 | 杨兆奎 | Mechanical wrist |
| CN104786234A (en) * | 2015-04-07 | 2015-07-22 | 上海大学 | 'swing-swing-rotation' type three-freedom-degree wrist mechanism |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107440800A (en) * | 2017-08-07 | 2017-12-08 | 重庆金山医疗器械有限公司 | Seven freedom main operation manipulator |
| CN107901043A (en) * | 2017-12-25 | 2018-04-13 | 哈尔滨思哲睿智能医疗设备有限公司 | Pitch freedom redundancy posture structure in a kind of link mechanism manipulator |
| CN108378922A (en) * | 2018-02-28 | 2018-08-10 | 哈尔滨工业大学 | A kind of micro-wound operation robot force feedback main manipulator with redundant degree of freedom |
| CN111096805A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096803A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096801A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096800A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096804A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096802A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111265303A (en) * | 2020-03-04 | 2020-06-12 | 武汉中科医疗科技工业技术研究院有限公司 | Main hand clamping mechanism, main operating hand and minimally invasive surgery robot |
| CN111449758A (en) * | 2020-04-09 | 2020-07-28 | 山东大学 | Main manipulator for continuum surgical robot and surgical robot |
| CN111449758B (en) * | 2020-04-09 | 2021-01-26 | 山东大学 | Main manipulator for continuum surgical robot and surgical robot |
| WO2022198809A1 (en) * | 2021-03-23 | 2022-09-29 | 华中科技大学 | Ball joint drive-based puncture surgery robot master hand and system |
| CN114469356A (en) * | 2022-01-24 | 2022-05-13 | 重庆金山医疗机器人有限公司 | Driving method of master hand and surgical robot medical console |
| CN114469356B (en) * | 2022-01-24 | 2023-09-15 | 重庆金山医疗机器人有限公司 | Driving method of master hand and surgical robot doctor control console |
| CN114869481A (en) * | 2022-05-12 | 2022-08-09 | 重庆金山医疗机器人有限公司 | Surgical robot and master manipulator for maintaining pose form |
| CN114869481B (en) * | 2022-05-12 | 2024-01-12 | 重庆金山医疗机器人有限公司 | Surgical robot and main hand mechanical arm for maintaining pose form |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105397838B (en) | 2017-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105397838A (en) | Main hand operating wrist of master-slave robot | |
| CN108378922A (en) | A kind of micro-wound operation robot force feedback main manipulator with redundant degree of freedom | |
| JP2023510978A (en) | Operating handle of a vascular interventional robot with propulsion resistance feedback for a guidewire catheter | |
| US8740882B2 (en) | Medical robotic system and method of controlling the same | |
| CN103111998A (en) | Series-parallel-connection force-feedback remote-control manipulator | |
| KR101213452B1 (en) | Master-slave system using 4-dof parallel mechanism | |
| WO2016008109A1 (en) | Rehabilitation robot system of upper limb | |
| CN104546147A (en) | RCM mechanism for mechanical arm of laparoscopic minimally invasive surgical robot | |
| CN112203610A (en) | Surgical robotic tool multi-motor actuator and controller | |
| CN105555486A (en) | Position/force controller, and position/force control method and program | |
| WO2022198809A1 (en) | Ball joint drive-based puncture surgery robot master hand and system | |
| CN204446127U (en) | A kind of peritoneoscope micro-wound operation robot mechanical arm RCM mechanism | |
| CN105832417A (en) | Novel manipulator RCM (remote center of motion) mechanism of minimally invasive surgery robot | |
| CN108524187A (en) | A kind of upper limb rehabilitation robot control system of six degree of freedom | |
| CN102152314A (en) | Clucking power feedback system in touching device | |
| CN103386687A (en) | 2-DOF (Degree of Freedom) robot remote operation device with force immediacy | |
| RU2720830C1 (en) | Assisting surgical complex | |
| CN110179541A (en) | Robot perceptual system and control method | |
| CN115778534A (en) | Master-slave control system of manual feedback handle of surgical robot | |
| RU2718595C1 (en) | Operator control unit for robotic surgical complex | |
| CN205885526U (en) | Nimble operation shoulder joint | |
| CN113456240B (en) | Main operating hand clamping structure | |
| CN103170961B (en) | Master control arm of modular master-slave mechanical arm | |
| CN205814425U (en) | A kind of peritoneoscope micro-wound operation robot mechanical arm RCM mechanism | |
| CN110897725A (en) | Full-active 8-degree-of-freedom tandem type main manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180713 Address after: 518100 Longgang road 8288, Yuen Shan Street, Longgang District, Shenzhen, Guangdong, 3, B, 13 building, Shenzhen Dayun software town. Patentee after: Shenzhen pulse medical robot Co., Ltd. Address before: 150001 No. 92 West straight street, Nangang District, Heilongjiang, Harbin Patentee before: Harbin Institute of Technology |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180813 Address after: 213023 Changzhou tower building, No. 213 ERON South Road, Zhong Lou District, Changzhou, Jiangsu 9731 Patentee after: Changzhou Mai Kang Yi medical robot Co., Ltd. Address before: 518100 Longgang road 8288, Yuen Shan Street, Longgang District, Shenzhen, Guangdong, 3, B, 13 building, Shenzhen Dayun software town. Patentee before: Shenzhen pulse medical robot Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201225 Address after: 518000 runheng building 2515, 2008 CaiTian Road, Fushan community, Futian street, Futian District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Investment rongmai Network Technology Co., Ltd Address before: 213023 Changzhou tower building, No. 213 ERON South Road, Zhong Lou District, Changzhou, Jiangsu 9731 Patentee before: Changzhou Mai Kang Yi medical robot Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210525 Address after: 213002 room 12126, 217 Huangshan Road, Xinbei District, Changzhou City, Jiangsu Province Patentee after: Changzhou New Area Sanjie Electronic Equipment Co., Ltd Address before: 518000 runheng building 2515, 2008 CaiTian Road, Fushan community, Futian street, Futian District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Investment rongmai Network Technology Co., Ltd |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220127 Address after: 311225 room 701-6, building 3, No. 371, Xingxing Road, economic and Technological Development Zone, Xiaoshan District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Weijing medical robot Co.,Ltd. Address before: 213002 room 12126, 217 Huangshan Road, Xinbei District, Changzhou City, Jiangsu Province Patentee before: Changzhou New Area Sanjie Electronic Equipment Co.,Ltd. |
|
| TR01 | Transfer of patent right |