CN108670411A - A kind of space apocenter motion using Double-stroke arc-shaped slide rail - Google Patents
A kind of space apocenter motion using Double-stroke arc-shaped slide rail Download PDFInfo
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- CN108670411A CN108670411A CN201810565716.4A CN201810565716A CN108670411A CN 108670411 A CN108670411 A CN 108670411A CN 201810565716 A CN201810565716 A CN 201810565716A CN 108670411 A CN108670411 A CN 108670411A
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- steel wire
- shaft
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
A kind of space apocenter motion using Double-stroke arc-shaped slide rail, the present invention relates to theory of mechanisms, the present invention, which solves apocenter motion output link, certain fixed point to be rotated and be moved along the axis for crossing the fixed point in space, however there is no actual kinematic pairs to exist in this fixed point.It includes：Holder, rotates frame mechanism, Double-stroke arc-shaped slide rail, straight-line motion mechanism at vertical rotating shaft mechanism vertically.Holder is used for supporting all rotating members；The upper end for erecting the vertical rotating shaft mechanism is fixedly connected with pedestal upper end extension, vertical rotating shaft mechanism rotation output end and vertical rotation frame mechanism rotation connection；One side of vertical rotation frame mechanism and fixed sliding block is fixedly connected；Another side and a side of Double-stroke arc-shaped slide rail of fixed sliding block are slidably connected；One side in another side of Double-stroke arc-shaped slide rail and movable slider is slidably connected；Another side of movable slider is fixedly connected with straight-line motion mechanism.The invention belongs to medical robot fields.
Description
Technical field
The present invention relates to theory of mechanisms, and in particular to a kind of space apocenter fitness machine using Double-stroke arc-shaped slide rail
Structure.
Background technology
The characteristics of apocenter motion be mechanism output link can in space certain fixed point rotation and along
The axis movement of the fixed point is crossed, however there is no actual kinematic pairs to exist in this fixed point.Apocenter motion is big
It applies in welding and Minimally Invasive Surgery field, the operating personnel in these fields need that there is skilled operating technology can just complete more
Operation task.And technology requirement of these fields to operator can be substantially reduced using apocenter motion.
By taking Minimally Invasive Surgery as an example, surgical instrument is stretched into disposition position by the small notch of patient body-surface and performed the operation by doctor
Operation, common Minimally Invasive Surgery need to cut the notch of 3 to 4 diameters about 1cm in patient body-surface, and one of notch is used for being inserted into
Endoscope, so that doctor sees the situation inside notch clearly, other notch, which are used for being inserted into surgical instrument, makes doctor remove, suture
Equal surgical procedures.Minimally Invasive Surgery traditional at present requires doctor to hold surgical instrument, and lever fortune is carried out by fulcrum of operative incision
It is dynamic, this process can enable the surgical clamp of surgical instrument front end movement and doctor's hand movement completely on the contrary, behaviour to doctor
Make and physical fitness requirement is very stringent.On the other hand with universal, the above-mentioned manual operation medical treatment of automedica robot system
Instrument will be replaced by robot system, and apocenter motion is the core of this medical robot executing agency
Part.
Invention content
The present invention is in order to solve to need doctor to have skilled operating technology in Minimally Invasive Surgery, not no knack
Doctor is difficult to perform the operation, and working efficiency is low, and the operating time is long, and accuracy is low, and long-term surgery needs doctor good when carrying out
Muscle power, and then propose a kind of space apocenter motion using Double-stroke arc-shaped slide rail.
The technical solution adopted by the present invention to solve the technical problems is：A kind of space using Double-stroke arc-shaped slide rail
Apocenter motion, it is characterised in that：The space apocenter motion using Double-stroke arc-shaped slide rail includes branch
Frame 1, vertical rotating shaft mechanism 2, vertical rotation frame mechanism 3, fixed sliding block 4, Double-stroke arc-shaped slide rail 5, movable slider 6 and straight line fortune
Motivation structure 7；The upper end of the vertical rotating shaft mechanism 2 is fixedly connected with 1 upper end extension of holder, and vertical rotating shaft mechanism 2 rotates defeated
Outlet is rotatablely connected with vertical rotation frame mechanism 3；4 one sides of vertical rotation frame mechanism 3 and fixed sliding block are fixedly connected；It is fixed
Another side of sliding block 4 and a side of Double-stroke arc-shaped slide rail 5 are slidably connected；Double-stroke arc-shaped slide rail 5 it is another
6 one sides in one side and movable slider are slidably connected；Another side of movable slider 6 is fixedly connected with straight-line motion mechanism 7.
The present invention has the following effects that compared with prior art：By taking Minimally Invasive Surgery as an example, doctor passes through the small of patient body-surface
Surgical instrument is stretched into disposition position and is operated by notch, and when operation, endoscope is inserted into operative incision by doctor, with notch
Lever motion, that is, apocenter movement is carried out for fulcrum, the movement of doctor's hand and the movement of endoscope lens are just the opposite.It uses
The present invention can save time cost, improve working efficiency, easy left-hand seat easy to operate, can allow the doctor of not no knack
Implement Minimally Invasive Surgery through the invention；The doctor with knack can be allowed easy to operate, improve working efficiency, improve operation
Accuracy shortens operating time.
Description of the drawings
Fig. 1 is the overall structure stereogram for indicating a kind of Double-stroke arc-shaped slide rail disclosed by the invention；
Fig. 2 is the exploded perspective view that Fig. 1 is disclosed according to the present invention；
Fig. 3 is the stereogram that the vertical rotating shaft mechanisms of Fig. 1 are disclosed according to the present invention；
Fig. 4 is the exploded perspective view that the vertical rotating shaft mechanisms of Fig. 1 are disclosed according to the present invention；
Fig. 5 is to disclose the stereogram that Fig. 1 rotates frame mechanism vertically according to the present invention；
Fig. 6 is to disclose the exploded perspective view that Fig. 1 rotates frame mechanism vertically according to the present invention；
Fig. 7 is the stereogram that Fig. 1 Double-stroke arc-shaped slide rails are disclosed according to the present invention；
Fig. 8 is to disclose the exploded perspective view that Fig. 1 fixes sliding block according to the present invention；
Fig. 9 is to disclose Fig. 1 Double-stroke arc-shaped slide rail exploded perspective views according to the present invention；
Figure 10 is the stereogram that Fig. 1 movable sliders are disclosed according to the present invention；
Figure 11 is the stereogram that Fig. 1 straight-line motion mechanisms are disclosed according to the present invention；
Figure 12 is the exploded perspective view that Fig. 1 straight-line motion mechanisms are disclosed according to the present invention.
Specific implementation mode
Specific implementation mode one：Illustrate in conjunction with Fig. 1-Figure 12, a kind of Double-stroke arc-shaped slide rail described in present embodiment
Space apocenter motion includes holder 1, vertical rotating shaft mechanism 2, vertical rotation frame mechanism 3, fixed sliding block 4, Double-stroke
Arc-shaped slide rail 5, movable slider 6 and straight-line motion mechanism 7；The upper end of the vertical rotating shaft mechanism 2 is fixed with 1 upper end extension of holder
Connection, vertical rotating shaft mechanism 2 rotate output end and are rotatablely connected with vertical rotation frame mechanism 3；Vertical rotation frame mechanism 3 is slided with fixed
4 one sides of block are fixedly connected；Another side of fixed sliding block 4 and the side sliding of Double-stroke arc-shaped slide rail 5 connect
It connects；6 one sides in another side of Double-stroke arc-shaped slide rail 5 and movable slider are slidably connected；Another side of movable slider 6
It is fixedly connected with straight-line motion mechanism 7.
The mechanism can navigate to end instrument at certain arbitrary point of space, and so that end instrument is realized and appoint along the space
Anticipating, this puts progress pendulum motion and the linear motion along end instrument axis direction.
Specific embodiment mode two：Illustrate in conjunction with Fig. 1-Fig. 4, vertical rotating shaft mechanism 2 described in the present embodiment mode includes the
One direct current generator 8, first motor seat 9, motor cabinet adjustment plate 10, first shaft coupling 11, bearing (ball) cover 12, shaft connecting plate 13,
Rotary shaft 14, the first connecting plate fixinig plate 15, the second connecting plate fixinig plate 16, vertical shaft seat 17, second bearing 20, first axle
Hold 18 and sleeve 19；The upper end of vertical shaft seat 17 is fixedly connected with 1 upper end extension of holder, and motor cabinet adjustment plate 10 is vertically solid
It is scheduled on vertical shaft seat 17, first motor seat 9 is fixedly connected with motor cabinet adjustment plate 10, the shell peace of the first direct current generator 8
On first motor seat 9, shaft connecting plate 13 is fixed by the first connecting plate fixinig plate 15 and the second connecting plate fixinig plate 16
On vertical shaft seat 17, first bearing 18, sleeve 19 and second bearing 20 are from top to bottom inlaid in shaft connecting plate 13 successively
On, for the lid of bearing (ball) cover 12 mounted in 18 top of first bearing, the upper end of rotary shaft 14 passes through first shaft coupling 11 and the first direct current
The output end of 8 shaft of machine is fixedly connected.
First direct current generator, 8 drive shaft is connected with first shaft coupling 11,11 other end of first shaft coupling and rotary shaft 14
It is connected, the other end of rotary shaft 14 is connected with pivoted frame connecting plate 21, when the first direct current generator 8 rotates, will drive vertical rotating turret
Mechanism 3 realizes 360 ° of rotations.
Specific embodiment mode three：Illustrate in conjunction with Fig. 1, Fig. 2, Fig. 5 and Fig. 6, vertical rotating turret described in the present embodiment mode
Mechanism 3 includes pivoted frame connecting plate 21, the second direct current generator 22, the second motor cabinet 23, the first synchronous pulley 24, synchronous belt 25, U-shaped
Connector 26, pivoted frame seat 27, first fix slider connecting plate 28, the second synchronous pulley 29 and second fixes slider connecting plate 30；
21 one end of pivoted frame connecting plate is fixedly connected with 14 lower end of rotary shaft, and the upper end of pivoted frame seat 27 and the other end of pivoted frame connecting plate 21 are logical
It crosses U-shaped connector 26 to be vertically fixedly connected, the second motor cabinet 23 is fixedly mounted on the lower face of pivoted frame connecting plate 21, and second is straight
22 shell of galvanic electricity machine is fixedly mounted on the second motor cabinet 23, and the output end of 22 shaft of the second direct current generator is inserted into the first synchronization
On belt wheel 24, the second synchronous pulley 29 is rotatablely connected by shaft and pivoted frame seat 27, and the first synchronous pulley 24 passes through synchronous belt 25
It is connect with the second synchronous pulley 29, the first fixation slider connecting plate 28 and second fixes slider connecting plate 30 and is relatively fixed peace respectively
On the both sides of 27 lower end of pivoted frame seat.
The second direct current generator 22 rotation of vertical rotation frame mechanism 3, to drive the first synchronous pulley 24 to be rotated, the
One synchronous pulley 24 drives the second synchronous pulley 29 to be rotated by synchronous belt 25, to drive and the second synchronous pulley 29
The gear shaft 45 being connected is rotated, and realizes that fixed sliding block 4 is slided in Double-stroke arc-shaped slide rail 5.
Specific embodiment mode four：Illustrate in conjunction with Fig. 1, Fig. 2, Fig. 7 and Fig. 8, the packet of sliding block 4 is fixed described in the present embodiment mode
Enclosing wire rope 38, fixed take-up housing 40, steel wire tensioning arm 44, gear shaft 45,3rd bearing 47, the first circlip 48, steel
49, two first bias V fluted shafts 39-1 of cord tensioning shaft, two guide wheel shafts, 42, two the first V fluted shaft bearings 46A, two
Two guide wheel for steel wire 52B, three the first bias V fluted shaft bearings 39A, four the first V groove bearings 41A and four the first locking screws
Mother 43；Fixed take-up housing 40 is fixed on the first slider connecting plate 28 and second and fixes on slider connecting plate 30, and 3rd bearing 47 is embedding
On the bearing mounting hole 47-1 of fixed take-up housing 40, the shaft end of gear shaft 45 passes through 3rd bearing 47 and the second synchronous pulley
Shaft on 29 is fixedly connected, and the first circlip 48 is installed on gear shaft 45, each first bias V fluted shaft bearings 39A points
It Qian not fix in the bias V fluted shaft bearing holes of 40 upper end of take-up housing one, steel wire tensioning axis 49 is inserted into the first bias V of centre
On fluted shaft bearing 39A, and steel wire tensioning axis 49 passes through fixed take-up housing 40 to be fixedly connected with steel wire tensioning arm 44, Mei Ge
One bias V fluted shafts 39-1 passes through eccentric V fluted shaft bearing hole of the fixed take-up housing 40 close to upper end both sides to be inserted into a first V slot
Fixed on bearing 41A and by the first locking nut 43, two guide wheel shafts 42 are horizontal positioned, 42 one end of each guide wheel shaft and
Fixed take-up housing 40 is fixedly connected, and the other end of each guide wheel shaft 42 is inserted on the second guide wheel for steel wire 52B and passes through
Nut is fixed, and two the first V fluted shaft bearings 46A are horizontal positioned, and the one end each first V fluted shaft bearing 46A is fixed by bolts to solid
40 lower part of fixed slider seat, each first V fluted shafts bearing 46A other ends pass through fixed take-up housing 40 to be inserted into a first V fluted shaft
It holds on 41A and is fixed by the first locking nut 43.
Specific embodiment mode five：Illustrate in conjunction with Fig. 1, Fig. 2, Fig. 7 and Fig. 9, Double-stroke arc described in the present embodiment is slided
Rail 5 includes steel wire rope fixing axle 34, trough of belt wedge shape sliding rail 35, wedge-shaped sliding rail 36, arc-shaped rack 37, external slide rail seat 50, interior sliding rail
The 51, first guide wheel for steel wire 52A of seat and hexagon thin nut 53；45 tooth engagement of rack and pinion axis of arc-shaped rack 37, arc
37 side of rack is fixed on a side of wedge-shaped sliding rail 36, and it is perpendicular that another side of wedge-shaped sliding rail 36 is fixed on external slide rail seat 50
On one side of straight panel, a side of 51 vertical plate of interior slide track seat is fixedly mounted on the other side of 50 vertical plate of external slide rail seat
Face is simultaneously arranged and is being fixed on 51 transverse slat of interior slide track seat in a side of the lower section of 50 transverse slat of outer slide track seat, trough of belt wedge shape sliding rail 35
Side on, two the first guide wheel for steel wire 52A are respectively set at the both ends of interior slide track seat 51, and each first steel wire rope is led
To wheel 52A by shaft be mounted on 50 vertical plate of 51 vertical plate of interior slide track seat and external slide rail seat on, 50 transverse slat of external slide rail seat it is upper
The upper surface of 51 transverse slat of surface and interior slide track seat is machined with steel wire rope groove, the upper surface of trough of belt wedge shape sliding rail 35 and trough of belt wedge shape
35 lower surface of sliding rail is respectively arranged with V-arrangement protrusion D1, and the upper surface of wedge-shaped sliding rail 36 and the lower surface of wedge shape sliding rail 36 are provided with V
Shape protrusion D2, two the first V groove bearings 41A are arranged on the V-arrangement protrusion D1 of 36 upper surface of wedge-shaped sliding rail, other two the first V
Groove bearing 41A is arranged on the V-arrangement protrusion D1 of 36 lower surface of wedge-shaped sliding rail.
Specific embodiment mode six：Illustrate in conjunction with Fig. 1, Fig. 2, Fig. 7 and Figure 10, movable slider 6 described in the present embodiment includes dynamic
Take-up housing 6-1, two steel wire rope fixing axles, 34, two second bias V fluted shaft bearings 39B, two the second bias V fluted shafts 39-2,
Two the 2nd V fluted shaft bearing 46B and four the 2nd V groove bearings 41B；Each second bias V fluted shaft bearings 39B is embedded in dynamic slide respectively
On the upper ends block 6-1, each second bias V fluted shafts 39-2 is inserted on one second bias V fluted shaft bearings 39B, each 2nd V
Groove bearing 41B and one second bias V fluted shafts 39-2 rotation connection, one end of two the 2nd V fluted shaft bearings 46B is fixedly mounted on
On the lower ends movable slider seat 6-1, the other end rotation connection of each 2nd V groove bearings 41B and a 2nd V fluted shaft bearings 46B, two
A steel wire rope fixing axle 34 is horizontal positioned, and 34 one end of steel wire rope fixing axle is fixedly mounted in the middle part of movable slider seat 6-1, two steel
The other end of cord fixing axle 34 is slidably installed between interior slide track seat 51 and external slide rail seat 50, and two the 2nd V groove bearings 41B are set
It sets on the V-arrangement protrusion D2 of 35 upper surface of trough of belt wedge shape sliding rail, other two the 2nd V groove bearing 41B settings are slided in trough of belt wedge shape
On the V-arrangement protrusion D2 of 35 lower surface of rail, 38 one end of steel wire rope is fixed on one end of steel wire tensioning axis 44, steel wire rope 38 it is another
One end bypasses a second guide wheel for steel wire 52B, the first guide wheel for steel wire 52A, two steel wire rope fixing axles successively
34, it is fixedly mounted on steel wire tensioning after another first guide wheel for steel wire 52A, another second guide wheel for steel wire 52B
On the other end of axis 44, and steel wire rope 38 is fixedly connected with two steel wire rope fixing axles 34.Second direct current generator 22 drives, and stretches
Shaft is connected with the first synchronous pulley 24, and the first synchronous pulley 24 transfers power to the second synchronous pulley by synchronous belt 25
29, the second synchronous pulley 29 is connected to one end of gear shaft 45, and gear shaft 45 and arc-shaped rack 37 constitute gear pair, power transmitted
The movement of wedge-shaped sliding rail 36 drives steel wire rope 38 to move on to wedge-shaped sliding rail 36, and then pulls movable slider 6 in trough of belt wedge shape sliding rail
It is moved on 35, the opposite sliding on Double-stroke arc-shaped slide rail 5 of fixed sliding block 4 and sliding shoe 6 may be implemented, it is double to realize
The arc sliding of stroke, and reduce the length of required arc-shaped slide rail.
Specific embodiment mode seven：The straight-line motion mechanism 7 in conjunction with described in Fig. 1, Fig. 2, Figure 11 and Figure 12 the present embodiment includes
End instrument 54, third direct current generator 55, third motor cabinet 56, second shaft coupling 57, the first guide rail bracket 58, Z-shaped pedestal 59, silk
Bar 60, both sides incising circular nut 61, end instrument seat 62, guide rail 63, the second locking nut 64, the second guide rail bracket 65, straight line
66, two the second circlips 67 of bearing and two flange bearings 68；Z-shaped pedestal 59 is fixedly mounted on movable slider seat 6-1, the
Three direct current generators, 55 shell is fixed on third motor cabinet 56, and second shaft coupling 57 is arranged in third motor cabinet 56 and the first guide rail
Between frame 58, third motor cabinet 56 and the first guide rail bracket 58 are fixed by screws, 55 shaft one end of third direct current generator and
57 one end of second shaft coupling connects, and 57 other end of second shaft coupling is connected with 60 one end of lead screw, and 60 both ends of lead screw are set with
There are one connecting flange bearing 68, a flange bearing 68 is mounted on the first guide rail bracket 58, the installation of another flange bearing 68
On the second guide rail bracket 65, both sides incising circular nut 61 is mounted on 62 lower nuts mounting hole 61-1 of end instrument seat, directly
Spool holds 66 and is mounted in 62 lower part linear axis bearing bore 66-1 of end instrument seat, and two the second circlips 67 are separately mounted to
66 both ends of linear bearing, lead screw 60 are threaded on both sides incising circular nut 61, in the center line and lead screw 60 of guide rail 63
Heart line is placed in parallel, and guide rail 63 is inserted on linear bearing 66, and 63 one end of guide rail is mounted on the first guide rail bracket 58, and guide rail 63 is another
One end is mounted on by the second locking nut 64 on the second guide rail bracket 65, and end instrument 54 is inserted into 62 top of end instrument seat
On the instrument mounting hole 54-1 of end.Third direct current generator 55 drives, and projecting shaft is connected with second shaft coupling 57, second shaft coupling
57 other ends are connected with lead screw 60, and nut 61 is cased on lead screw 60, drives lead screw 60 to rotate when third direct current generator 55 rotates,
On nut 61 just move along a straight line along axis.Realize that end instrument 54 makes linear motion along leading screw direction.
Claims (7)
1. a kind of space apocenter motion using Double-stroke arc-shaped slide rail, it is characterised in that：It is described to utilize double row
The space apocenter motion of journey arc-shaped slide rail include holder (1), vertical rotating shaft mechanism (2), vertically rotation frame mechanism (3),
Fixed sliding block (4), Double-stroke arc-shaped slide rail (5), movable slider (6) and straight-line motion mechanism (7)；The vertical rotating shaft mechanism
(2) upper end is fixedly connected with holder (1) upper end extension, vertical rotating shaft mechanism (2) rotation output end and vertical rotating turret machine
Structure (3) is rotatablely connected；(4) sides of vertical rotation frame mechanism (3) and fixed sliding block are fixedly connected；Fix the another of sliding block (4)
One side and a side of Double-stroke arc-shaped slide rail (5) are slidably connected；Another side of Double-stroke arc-shaped slide rail (5)
(6) sides in face and movable slider are slidably connected；Another side of movable slider (6) is fixedly connected with straight-line motion mechanism (7).
2. a kind of space apocenter motion using Double-stroke arc-shaped slide rail according to claim 1, feature
It is：The vertical rotating shaft mechanism (2) includes the first direct current generator (8), first motor seat (9), motor cabinet adjustment plate (10), the
One shaft coupling (11), bearing (ball) cover (12), shaft connecting plate (13), rotary shaft (14), the first connecting plate fixinig plate (15), second
Connecting plate fixinig plate (16), vertical shaft seat (17), second bearing (20), first bearing (18) and sleeve (19)；Vertical shaft
The upper end of seat (17) is fixedly connected with holder (1) upper end extension, and motor cabinet adjustment plate (10) is vertically fixed on vertical shaft seat
(17) on, first motor seat (9) is fixedly connected with motor cabinet adjustment plate (10), and the shell of the first direct current generator (8) is mounted on the
On one motor cabinet (9), shaft connecting plate (13) is solid by the first connecting plate fixinig plate (15) and the second connecting plate fixinig plate (16)
It is scheduled on vertical shaft seat (17), first bearing (18), sleeve (19) and second bearing (20) are from top to bottom inlaid in successively to be turned
On axis connection plate (13), for bearing (ball) cover (12) lid above first bearing (18), the upper end of rotary shaft (14) passes through first
Axis device (11) is fixedly connected with the output end of the first direct current generator (8) shaft.
3. a kind of space apocenter motion using Double-stroke arc-shaped slide rail according to claim 2, feature
It is：The vertical rotation frame mechanism (3) include pivoted frame connecting plate (21), the second direct current generator (22), the second motor cabinet (23),
First synchronous pulley (24), synchronous belt (25), U-shaped connector (26), pivoted frame seat (27), first fix slider connecting plate (28),
Second synchronous pulley (29) and second fixes slider connecting plate (30)；Pivoted frame connecting plate (21) one end and rotary shaft (14) lower end are solid
Fixed connection, the upper end of pivoted frame seat (27) are vertically fixedly connected with the other end of pivoted frame connecting plate (21) by U-shaped connector (26),
Second motor cabinet (23) is fixedly mounted on the lower face of pivoted frame connecting plate (21), and the second direct current generator (22) shell is fixedly mounted
On the second motor cabinet (23), the output end of the second direct current generator (22) shaft is inserted on the first synchronous pulley (24), and second
Synchronous pulley (29) is rotatablely connected by shaft and pivoted frame seat (27), and the first synchronous pulley (24) passes through synchronous belt (25) and second
Synchronous pulley (29) connects, and the first fixation slider connecting plate (28) and the second fixation slider connecting plate (30) are relatively fixed peace respectively
On the both sides of pivoted frame seat (27) lower end.
4. a kind of space apocenter motion using Double-stroke arc-shaped slide rail according to claim 3, feature
It is：The fixed sliding block (4) includes steel wire rope (38), fixed take-up housing (40), steel wire tensioning arm (44), gear shaft
(45), 3rd bearing (47), the first circlip (48), steel wire tensioning axis (49), two the first V fluted shafts bearings (46A), two
A second guide wheel for steel wire (52B), two the first bias V fluted shafts (39-1), two guide wheel shafts (42), three the first bias
V fluted shafts bearing (39A), four the first V groove bearings (41A) and four the first locking nuts (43) and；Fixed take-up housing (40) is solid
It is scheduled on the first slider connecting plate (28) and second to fix on slider connecting plate (30), 3rd bearing (47) is inlaid in fixed take-up housing
(40) on bearing mounting hole (47-1), the shaft end of gear shaft (45) passes through on 3rd bearing (47) and the second synchronous pulley (29)
Shaft be fixedly connected, the first circlip (48) is installed on gear shaft (45), each first bias V fluted shafts bearing (39A)
It is embedded in the fixed bias V fluted shaft bearing holes of take-up housing (40) upper end one respectively, steel wire tensioning axis (49) is inserted into centre the
In one bias V fluted shafts bearing (39A), and steel wire tensioning axis (49) passes through fixed take-up housing (40) and steel wire tensioning arm (44)
It is fixedly connected, each first bias V fluted shafts (39-1) pass through fixed take-up housing (40) close to the eccentric V fluted shafts bearing of upper end both sides
Hole is inserted on a first V groove bearing (41A) and, two guide wheel shafts (42) levels fixed by the first locking nut (43)
It places, each guide wheel shaft (42) one end is fixedly connected with fixed take-up housing (40), and the other end of each guide wheel shaft (42) is inserted
It is fixed on the second guide wheel for steel wire (52B) and by nut, two the first V fluted shafts bearings (46A) are horizontal positioned, each
First one end V fluted shafts bearing (46A) is fixed by bolts to fixed take-up housing (40) lower part, and each first V fluted shafts bearing (46A) is another
One end passes through fixed take-up housing (40) to be inserted on a first V groove bearing (41A) and is fixed by the first locking nut (43).
5. a kind of space apocenter motion using Double-stroke arc-shaped slide rail according to claim 4, feature
It is：The Double-stroke arc-shaped slide rail (5) includes steel wire rope fixing axle (34), trough of belt wedge shape sliding rail (35), wedge-shaped sliding rail
(36), arc-shaped rack (37), external slide rail seat (50), interior slide track seat (51), the first guide wheel for steel wire (52A) and hexagon thin nut
(53)；Rack and pinion axis (45) tooth engagement of arc-shaped rack (37), arc-shaped rack (37) side are fixed on wedge-shaped sliding rail (36)
A side on, wedge-shaped another side of sliding rail (36) is fixed on a side of external slide rail seat (50) vertical plate, interior cunning
One side of rail chair (51) vertical plate is fixedly mounted on the another side of external slide rail seat (50) vertical plate and is arranged and slided outside
One side of the lower section of rail chair (50) transverse slat, trough of belt wedge shape sliding rail (35) is fixed on the side of interior slide track seat (51) transverse slat,
Two the first guide wheel for steel wire (52A) are respectively set at the both ends of interior slide track seat (51), and each first guide wheel for steel wire
(52A) is mounted on by shaft on interior slide track seat (51) vertical plate and external slide rail seat (50) vertical plate, external slide rail seat (50) transverse slat
Upper surface and the upper surface of interior slide track seat (51) transverse slat be machined with steel wire rope groove, the upper surface of trough of belt wedge shape sliding rail (35) and
Trough of belt wedge shape sliding rail (35) lower surface is respectively arranged with V-arrangement protrusion D1, the upper surface of wedge-shaped sliding rail (36) and wedge-shaped sliding rail (36)
Lower surface be provided with V-arrangement protrusion D2, V-arrangement protrusion of two the first V groove bearings (41A) settings in wedge-shaped sliding rail (36) upper surface
On D1, other two the first V groove bearing (41A) is arranged on the V-arrangement protrusion D1 of wedge-shaped sliding rail (36) lower surface.
6. a kind of space apocenter motion using Double-stroke arc-shaped slide rail according to claim 5, feature
It is：The movable slider (6) includes movable slider seat (6-1), two steel wire rope fixing axles (34), two the second bias V groove bearings
Seat (39B), two the second bias V fluted shafts (39-2), two the 2nd V fluted shafts bearings (46B) and four the 2nd V groove bearings (41B)；
Each second bias V fluted shafts bearing (39B) is embedded on the upper end movable slider seat (6-1) respectively, each second bias V fluted shafts (39-2)
It is inserted on one second bias V fluted shafts bearing (39B), each 2nd V groove bearings (41B) and one second bias V fluted shaft
(39-2) is rotatablely connected, and one end of two the 2nd V fluted shafts bearings (46B) is fixedly mounted on the lower end movable slider seat (6-1), each
2nd V groove bearings (41B) and the rotation connection of the other end of a 2nd V fluted shafts bearing (46B), two steel wire rope fixing axles (34)
It is horizontal positioned, and steel wire rope fixing axle (34) one end is fixedly mounted in the middle part of movable slider seat (6-1), two steel wire rope fixing axles
(34) the other end is slidably installed between interior slide track seat (51) and external slide rail seat (50), two the 2nd V groove bearings (41B) settings
On the V-arrangement protrusion D2 of trough of belt wedge shape sliding rail (35) upper surface, the setting of other two the 2nd V groove bearing (41B) is in trough of belt wedge shape
On the V-arrangement protrusion D2 of sliding rail (35) lower surface, steel wire rope (38) one end is fixed on one end of steel wire tensioning axis (44), steel wire
The other end of rope (38) bypasses second guide wheel for steel wire (52B), the first guide wheel for steel wire (52A), two successively
After a steel wire rope fixing axle (34), another first guide wheel for steel wire (52A), another second guide wheel for steel wire (52B)
It is fixedly mounted on the other end of steel wire tensioning axis (44), and steel wire rope (38) and the fixed company of two steel wire rope fixing axles (34)
It connects.
7. a kind of space apocenter motion using Double-stroke arc-shaped slide rail according to claim 6, feature
It is：The straight-line motion mechanism (7) includes end instrument (54), third direct current generator (55), third motor cabinet (56), second
Shaft coupling (57), the first guide rail bracket (58), Z-shaped pedestal (59), lead screw (60), both sides incising circular nut (61), end instrument
Seat (62), guide rail (63), the second locking nut (64), the second guide rail bracket (65), linear bearing (66), two the second circlips
(67) and two flange bearings (68)；Z-shaped pedestal (59) is fixedly mounted on movable slider seat (6-1), third direct current generator (55)
Shell is fixed on third motor cabinet (56), and second shaft coupling (57) is arranged in third motor cabinet (56) and the first guide rail bracket (58)
Between, third motor cabinet (56) and the first guide rail bracket (58) are fixed by screws, third direct current generator (55) shaft one end
It is connected with second shaft coupling (57) one end, second shaft coupling (57) other end is connected with lead screw (60) one end, and lead screw (60) two
End is set with there are one connecting flange bearing (68), and a flange bearing (68) is another on the first guide rail bracket (58)
A flange bearing (68) is mounted on the second guide rail bracket (65), and both sides incising circular nut (61) is mounted on end instrument seat (62)
On lower nuts mounting hole (61-1), linear bearing (66) is mounted in end instrument seat (62) lower part linear axis bearing bore (66-1)
In, two the second circlips (67) are separately mounted to linear bearing (66) both ends, and lead screw (60) is threaded in both sides cutting
On round nut (61), center line and lead screw (60) centerline parallel of guide rail (63) are placed, and guide rail (63) is inserted into linear axis
It holds on (66), guide rail (63) one end is mounted on the first guide rail bracket (58), and guide rail (63) other end passes through the second locking nut
(64) it is mounted on the second guide rail bracket (65), end instrument (54) is inserted into the end instrument installation on end instrument seat (62) top
On hole (54-1).
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| CN201810565716.4A CN108670411B (en) | 2018-06-04 | 2018-06-04 | A kind of space apocenter movement mechanism using Double-stroke arc-shaped slide rail |
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| CN109512508A (en) * | 2018-12-03 | 2019-03-26 | 中国科学院深圳先进技术研究院 | Distal center movement mechanism based on scissors mechanism |
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| CN113440262A (en) * | 2021-08-12 | 2021-09-28 | 吉林大学 | Abdominal cavity minimally invasive surgery robot |
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| CN113679475A (en) * | 2021-08-25 | 2021-11-23 | 苏州康多机器人有限公司 | Docking mechanism and docking method of surgical robot instrument |
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