CN107901043A - Pitch freedom redundancy posture structure in a kind of link mechanism manipulator - Google Patents
Pitch freedom redundancy posture structure in a kind of link mechanism manipulator Download PDFInfo
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- CN107901043A CN107901043A CN201711423140.XA CN201711423140A CN107901043A CN 107901043 A CN107901043 A CN 107901043A CN 201711423140 A CN201711423140 A CN 201711423140A CN 107901043 A CN107901043 A CN 107901043A
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- 230000005611 electricity Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 17
- 238000009987 spinning Methods 0.000 abstract description 2
- 239000000203 mixture Substances 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Pitch freedom redundancy posture structure in a kind of link mechanism manipulator.The present invention relates to a kind of redundancy posture structure, the present invention for solve in the prior art master-slave mode remote operating structure in manipulator's pitching, deflection and spinning movement as posture, easily produce Singularity, the problem of influencing main manipulator automaticity, it includes posture luffing mechanism, posture swing mechanism, posture deflection mechanism, posture pitching redundant unit, horizontal linkage, the first ' L ' shape bar, the second ' L ' shape bar and the 3rd ' L ' shape bar；Posture luffing mechanism includes the first posture turning motor and the first swivel；Posture deflection mechanism includes the second posture turning motor and the second swivel；Posture pitching redundant unit includes the 3rd posture turning motor and the 3rd swivel；Horizontal linkage includes the 4th posture turning motor, the 4th swivel and horizon bar, and the invention belongs to manipulator field.
Description
Technical field
The present invention relates to a kind of redundancy posture structure, and in particular to pitch freedom redundancy in a kind of link mechanism manipulator
Posture structure, belongs to robot field.
Background technology
With the development of science and technology, application of the robot in people's production and living is more and more extensive, and is mostly at present
Master-slave mode remote operating structure, main manipulator obtain action message at operating personnel, then by control system to from end-apparatus tool
Instruction is sent, so as to complete surgical action, therefore, the information such as pose, speed can be passed through remote operating system by main manipulator
It is transmitted to from end-apparatus tool, realizes and moved from terminal structure is consistent with personnel's operational motion.And main manipulator pitching, deflection and rotation are dynamic
Posture is used as, the problem of easily producing Singularity, and then have an impact main operation automaticity.
The content of the invention
The present invention for solve in the prior art master-slave mode remote operating structure in manipulator's pitching, deflection and spinning movement conduct
Posture, easily produces Singularity, the problem of influencing main manipulator automaticity, and then provides and bow in a kind of link mechanism manipulator
Face upward DOF (degree of freedom) redundance posture structure.
The present invention adopts the technical scheme that to solve above-mentioned technical problem：It includes posture luffing mechanism, posture is turned round
Mechanism, posture deflection mechanism, posture pitching redundant unit, horizontal linkage, the first ' L ' shape bar, the second ' L ' shape bar and the 3rd
' L ' shape bar；Posture luffing mechanism includes the first posture turning motor and the first swivel；Posture deflection mechanism is returned including the second posture
Rotating motor and the second swivel；Posture pitching redundant unit includes the 3rd posture turning motor and the 3rd swivel；Horizontal linkage bag
The 4th posture turning motor, the 4th swivel and horizon bar, one end level of the 4th posture turning motor shell is included to be fixedly mounted on
On one end of horizon bar, the 4th swivel is fixedly mounted on the shaft output terminal of the 4th posture turning motor, the 3rd ' L ' shape bar
One end is fixedly connected with the 4th swivel, and the lateral wall of the other end and the 3rd posture turning motor shell of the 3rd ' L ' shape bar is fixed
Connection, the 3rd swivel are fixedly mounted on the shaft output terminal of the 3rd posture turning motor, one end and the 3rd of second ' L ' shape bar
Swivel is fixedly connected, and the other end of second ' L ' shape bar is fixedly connected with the lateral wall of the second posture turning motor shell, second turn
Body is fixedly mounted on the shaft output terminal of the second posture turning motor, one end of first ' L ' shape bar and the fixed company of the second swivel
Connect, the other end of first ' L ' shape bar is fixedly connected with the lateral wall of the first posture turning motor shell, and the first swivel is fixedly mounted
On the shaft output terminal of the first posture turning motor, posture swing mechanism is fixedly mounted on the first swivel, and the second posture is returned
The axis of rotating motor shaft is overlapped with the axis of the 4th posture turning motor shaft, the axis of the first posture turning motor shaft with
The axis of 3rd posture turning motor shaft is vertically arranged, the axis of the first posture turning motor shaft and the second posture revolution electricity
The axis of machine shaft is vertically arranged, and the axis of the 3rd posture turning motor shaft and the axis of the second posture turning motor shaft hang down
It is straight to set.
Beneficial effects of the present invention：
1. this structure innovation with the addition of redundancy pitch freedom, solution connecting rod attitude structure full range of motion in principle
In Singularity problem, improve flexibility and the operating space of posture mechanism.
2. human body is more in line with for avoiding the interference and collision with hand in the Gesture operation movement of operating personnel in structure
Engineering；
3. the redundancy of pitch freedom causes whole posture structure and positional structure bridging mode to be direct-connected, to substantially reduce superfluous
The difficulty of cofree degree joint structure design, the design of right-angle drive is avoided in the manipulator for requiring active movement,
Simplify structure, improve the efficiency and accuracy of power transmission.
4. such a mode improves the setting height(from bottom) of horizon bar, make horizon bar on pitch freedom axis, and
The size for causing posture structure itself connect increases among the length for waling stripe, so can when design level bar
To shorten size accordingly, reduce integrally-built size, volume.
5th, type posture mechanism of the present invention has 4 frees degree, when this mechanism overcomes prior art posture mechanism
The problem of Singularity, improve flexibility and the operating space of posture mechanism.In master-slave operation, main manipulator position mechanism
There is coupling between posture mechanism, i.e., when posture mechanism kinematic, position mechanism also can be with movement, this will cause from end hand
Art apparatus cannot perform the operation in fixed position, accuracy and security is seriously reduced.In order to avoid this shortcoming, main hand
4 jante et perpendiculaires of redundancy posture mechanism in a bit, realize the decoupling of position mechanism and posture mechanism, make position mechanism and
The movement of posture mechanism is unaffected each other.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Embodiment
Embodiment one：Illustrate present embodiment, a kind of link mechanism manipulator described in present embodiment with reference to Fig. 1
Middle pitch freedom redundancy posture structure, it includes posture luffing mechanism 1, posture swing mechanism 2, posture deflection mechanism 3, posture
Pitching redundant unit 4, horizontal linkage the 5, first ' L ' shape bar the 6, second ' L ' shape bar 7 and the 3rd ' L ' shape bar 8；Posture pitching machine
Structure 1 includes the first posture turning motor 13 and the first swivel 9；Posture deflection mechanism 3 includes the second posture turning motor 14 and the
Two swivels 10；Posture pitching redundant unit 4 includes the 3rd posture turning motor 15 and the 3rd swivel 11；Horizontal linkage 5 includes
4th posture turning motor the 16, the 4th swivel 12 and horizon bar, the horizontal fixed peace in one end of 16 shell of the 4th posture turning motor
On one end of horizon bar, the 4th swivel 12 is fixedly mounted on the shaft output terminal of the 4th posture turning motor 16, and the 3rd
One end of ' L ' shape bar 8 is fixedly connected with the 4th swivel 12, outside the other end and the 3rd posture turning motor 15 of the 3rd ' L ' shape bar 8
The lateral wall of shell is fixedly connected, and the 3rd swivel 11 is fixedly mounted on the shaft output terminal of the 3rd posture turning motor 15, and second
One end of ' L ' shape bar 7 is fixedly connected with the 3rd swivel 11, outside the other end and the second posture turning motor 14 of the second ' L ' shape bar 7
The lateral wall of shell is fixedly connected, and the second swivel 10 is fixedly mounted on the shaft output terminal of the second posture turning motor 14, and first
One end of ' L ' shape bar 6 is fixedly connected with the second swivel 10, outside the other end and the first posture turning motor 13 of the first ' L ' shape bar 6
The lateral wall of shell is fixedly connected, and the first swivel 9 is fixedly mounted on the shaft output terminal of the first posture turning motor 13, and posture is returned
Rotation mechanism 2 is fixedly mounted on the first swivel 9, the axis and the 4th posture turning motor 16 of 14 shaft of the second posture turning motor
The axis of shaft overlaps, and the axis of 13 shaft of the first posture turning motor is vertical with the axis of 15 shaft of the 3rd posture turning motor
Setting, the axis and the axis of 14 shaft of the second posture turning motor of 13 shaft of the first posture turning motor are vertically arranged, and the 3rd
The axis of 15 shaft of posture turning motor and the axis of 14 shaft of the second posture turning motor are vertically arranged.
Embodiment two：Illustrate present embodiment, a kind of link mechanism manipulator described in present embodiment with reference to Fig. 1
Middle pitch freedom redundancy posture structure, the first ' L ' shape bar 6 include 17 and second connecting rod 18 of head rod, the first connection
One end of bar 17 is fixedly connected with the lateral wall of 13 shell of the first posture turning motor, the other end of head rod 17 and second
One end of connecting rod 18 is fixedly connected, and the other end of the second connecting rod 18 is fixedly connected with the second swivel 10, head rod 17
It is vertically arranged with the second connecting rod 18.Other compositions and connection mode are identical with embodiment one.
Embodiment three：Illustrate present embodiment, a kind of link mechanism manipulator described in present embodiment with reference to Fig. 1
Middle pitch freedom redundancy posture structure, the second ' L ' shape bar 7 include the 3rd connecting rod 19 and the 4th connecting rod 20, the 3rd connection
One end of bar 19 is fixedly connected with the lateral wall of 14 shell of the second posture turning motor, the other end and the 4th of the 3rd connecting rod 19
One end of connecting rod 20 is fixedly connected, and the other end of the 4th connecting rod 20 is fixedly connected with the 3rd swivel 11, the 3rd connecting rod 19
It is vertically arranged with the 4th connecting rod 20.Other compositions and connection mode are identical with embodiment one.
Embodiment four：Illustrate present embodiment, a kind of link mechanism manipulator described in present embodiment with reference to Fig. 1
Middle pitch freedom redundancy posture structure, the 3rd ' L ' shape bar 8 include the 5th connecting rod 21 and the 6th connecting rod 22, the 5th connection
One end of bar 21 is fixedly connected with the lateral wall of 15 shell of the 3rd posture turning motor, the other end and the 6th of the 5th connecting rod 21
One end of connecting rod 22 is fixedly connected, and the other end of the 6th connecting rod 22 is fixedly connected with the 4th swivel 12, the 5th connecting rod 21
It is vertically arranged with the 6th connecting rod 22.Other compositions and connection mode are identical with embodiment one.
Embodiment five：Illustrate present embodiment, a kind of link mechanism manipulator described in present embodiment with reference to Fig. 1
Middle pitch freedom redundancy posture structure, the length of head rod 17 are less than the length of the 4th connecting rod 20, the second connecting rod
18 length is less than the length of the 3rd connecting rod 19, and the length of the 3rd connecting rod 19 is less than the length of the 6th connecting rod 22, and the 4th
The length of connecting rod 20 is less than the length of the 5th connecting rod 21.Other compositions and connection mode are identical with embodiment one.
Operation principle
13 shaft of the first posture turning motor on posture luffing mechanism 1, which can be realized along the full angle of a axis, rotates to be appearance
State turns round the free degree, and corresponding movement rotates for the handle of the namely operating personnel's hand-held operation of posture swing mechanism 2 along a axis
The rotary motion of realization；Posture swing mechanism 2, which can be realized along the full angle of b axis, in structure rotates to be posture pitch freedom,
The elevating movement that corresponding movement is realized for 1 posture pitch lever of posture luffing mechanism along the rotation of b axis；Posture deflects machine in structure
Structure 3, which can be realized along the full angle of c-axis, rotates to be the posture beat free degree, and corresponding movement is inclined for 3 posture of posture deflection mechanism
The beat that swing rod is realized along the rotation of c-axis line moves；Posture pitching redundant unit 4 can realize the full angle rotation along d axis in structure
Switching to posture pitching redundant degree of freedom, corresponding movement rotates for 4 posture beat bar of posture pitching redundant unit along d axis,
It is exactly redundancy elevating movement；Such four frees degree have been collectively constituted in main manipulator and determined on operating personnel's hand gestures
Motion mode, wherein when axis b is overlapped with d, pitch freedom is overlapped with redundant degree of freedom, so as to avoid in elevating movement
Singular point, improve the automaticity of whole mechanism.
Claims (5)
- A kind of 1. pitch freedom redundancy posture structure in link mechanism manipulator, it is characterised in that：It includes posture pitching machine Structure (1), posture swing mechanism (2), posture deflection mechanism (3), posture pitching redundant unit (4), horizontal linkage (5), first ' L ' shape bar (6), the second ' L ' shape bar (7) and the 3rd ' L ' shape bar (8)；Posture luffing mechanism (1) includes the first posture turning motor (13) and first turns (9)；Posture deflection mechanism (3) includes the second posture turning motor (14) and the second swivel (10)；Posture Pitching redundant unit (4) includes the 3rd posture turning motor (15) and the 3rd swivel (11)；Horizontal linkage (5) includes the 4th appearance State turning motor (16), the 4th swivel (12) and horizon bar, the horizontal fixed peace in one end of the 4th posture turning motor (16) shell On one end of horizon bar, the 4th swivel (12) is fixedly mounted on the shaft output terminal of the 4th posture turning motor (16), One end of 3rd ' L ' shape bar (8) is fixedly connected with the 4th swivel (12), and the other end of the 3rd ' L ' shape bar (8) and the 3rd posture are returned The lateral wall of rotating motor (15) shell is fixedly connected, and the 3rd swivel (11) is fixedly mounted on turning for the 3rd posture turning motor (15) On axis output terminal, one end of the second ' L ' shape bar (7) is fixedly connected with the 3rd swivel (11), the other end of the second ' L ' shape bar (7) It is fixedly connected with the lateral wall of second posture turning motor (14) shell, the second swivel (10) is fixedly mounted on the revolution of the second posture On the shaft output terminal of motor (14), one end of the first ' L ' shape bar (6) is fixedly connected with the second swivel (10), first ' L ' shape bar (6) the other end is fixedly connected with the lateral wall of first posture turning motor (13) shell, and the first swivel (9) is fixedly mounted on the On the shaft output terminal of one posture turning motor (13), posture swing mechanism (2) is fixedly mounted on the first swivel (9), and second The axis of posture turning motor (14) shaft is overlapped with the axis of the 4th posture turning motor (16) shaft, the first posture revolution electricity The axis of machine (13) shaft and the axis of the 3rd posture turning motor (15) shaft are vertically arranged, the first posture turning motor (13) The axis of shaft and the axis of second posture turning motor (14) shaft are vertically arranged, the 3rd posture turning motor (15) shaft Axis and the axis of second posture turning motor (14) shaft are vertically arranged.
- A kind of 2. pitch freedom redundancy posture structure in link mechanism manipulator according to claim 1, it is characterised in that： First ' L ' shape bar (6) includes head rod (17) and the second connecting rod (18), one end and the first appearance of head rod (17) The lateral wall of state turning motor (13) shell is fixedly connected, the other end of head rod (17) and the one of the second connecting rod (18) End is fixedly connected, and the other end of the second connecting rod (18) is fixedly connected with the second swivel (10), head rod (17) and second Connecting rod (18) is vertically arranged.
- A kind of 3. pitch freedom redundancy posture structure in link mechanism manipulator according to claim 1, it is characterised in that： Second ' L ' shape bar (7) includes the 3rd connecting rod (19) and the 4th connecting rod (20), one end and the second appearance of the 3rd connecting rod (19) The lateral wall of state turning motor (14) shell is fixedly connected, the other end of the 3rd connecting rod (19) and the one of the 4th connecting rod (20) End is fixedly connected, and the other end of the 4th connecting rod (20) is fixedly connected with the 3rd swivel (11), the 3rd connecting rod (19) and the 4th Connecting rod (20) is vertically arranged.
- A kind of 4. pitch freedom redundancy posture structure in link mechanism manipulator according to claim 1, it is characterised in that： 3rd ' L ' shape bar (8) includes the 5th connecting rod (21) and the 6th connecting rod (22), one end and the 3rd appearance of the 5th connecting rod (21) The lateral wall of state turning motor (15) shell is fixedly connected, the other end of the 5th connecting rod (21) and the one of the 6th connecting rod (22) End is fixedly connected, and the other end of the 6th connecting rod (22) is fixedly connected with the 4th swivel (12), the 5th connecting rod (21) and the 6th Connecting rod (22) is vertically arranged.
- 5. according to pitch freedom redundancy posture structure, its feature in a kind of link mechanism manipulator of claim 2,3 or 4 It is：The length of head rod (17) is less than the length of the 4th connecting rod (20), and the length of the second connecting rod (18) is less than the The length of three connecting rods (19), the length of the 3rd connecting rod (19) are less than the length of the 6th connecting rod (22), the 4th connecting rod (20) length is less than the length of the 5th connecting rod (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711423140.XA CN107901043A (en) | 2017-12-25 | 2017-12-25 | Pitch freedom redundancy posture structure in a kind of link mechanism manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711423140.XA CN107901043A (en) | 2017-12-25 | 2017-12-25 | Pitch freedom redundancy posture structure in a kind of link mechanism manipulator |
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| CN107901043A true CN107901043A (en) | 2018-04-13 |
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| CN201711423140.XA Pending CN107901043A (en) | 2017-12-25 | 2017-12-25 | Pitch freedom redundancy posture structure in a kind of link mechanism manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181499A (en) * | 2019-07-11 | 2019-08-30 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of four axis congruences friendship redundant unit that posture may be implemented and arbitrarily adjusts |
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| CN101623864A (en) * | 2009-08-13 | 2010-01-13 | 天津大学 | Force feedback type master manipulator with deadweight balance property |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110181499A (en) * | 2019-07-11 | 2019-08-30 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of four axis congruences friendship redundant unit that posture may be implemented and arbitrarily adjusts |
| CN110181499B (en) * | 2019-07-11 | 2024-05-17 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Four-axis convergence redundant mechanism capable of realizing arbitrary adjustment of gestures |
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Address after: 150000 No. 8, Dalian north road, haping road concentration area, economic development zone, Harbin, Heilongjiang Province Applicant after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150000 room 08, 15th floor, No. 368 Changjiang Road, Nangang concentration area, economic development zone, Nangang District, Harbin, Heilongjiang Province Applicant before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |
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Application publication date: 20180413 |
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