CN108992171A - A kind of remote center parallel connection micro-wound operation robot of Three Degree Of Freedom - Google Patents
A kind of remote center parallel connection micro-wound operation robot of Three Degree Of Freedom Download PDFInfo
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- CN108992171A CN108992171A CN201810890655.9A CN201810890655A CN108992171A CN 108992171 A CN108992171 A CN 108992171A CN 201810890655 A CN201810890655 A CN 201810890655A CN 108992171 A CN108992171 A CN 108992171A
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- pair
- end effector
- connecting rod
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- 239000012636 effector Substances 0.000 claims abstract description 33
- 210000000746 body region Anatomy 0.000 claims abstract description 14
- 238000007596 consolidation process Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
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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
Abstract
The present invention relates to robotic technology fields.Purpose is to propose a kind of remote center parallel connection micro-wound operation robot of Three Degree Of Freedom, which should have many advantages, such as that service speed is high, rigidity is high, precision is high, stability is good.Technical solution is: a kind of remote center parallel connection micro-wound operation robot of Three Degree Of Freedom, including rack, end effector and three branches being connected in parallel between rack and end effector；It is characterized by: the first branch and the second branch successively include the first movement pair being connected between rack and end effector, the first revolute pair, first connecting rod, slot pin pair, second connecting rod and the second revolute pair in three branches；Third branch successively includes the first movement pair being connected between rack and end effector, the first revolute pair, first connecting rod, slot pin pair and second connecting rod；In first branch, the second revolute pair is cooperatively formed by the cylinder body region of first circular hole and end effector device seat of second connecting rod one end.
Description
Technical field
The present invention relates to robotic technology field, the remote center parallel connection micro-wound operation robot of specifically a kind of Three Degree Of Freedom.
Background technique
Compared to serial mechanism, many of parallel institution passive joint, and these passive joints do not need to install
Driving, this makes its service speed with higher and preferable dynamic performance.Moreover, because its special more closed loop is special
Sign, parallel institution is compact-sized, and rigidity is high, large carrying capacity.Based on the above advantages, parallel institution is led in micro-wound operation robot
Domain has broad application prospects, and has obtained extensive research.
Micro-wound operation robot requires to carry out moving around telecentricity, this can be realized by remote centre of motion mechanism.
Remote centre of motion mechanism, i.e., during mechanism kinematic, it is ensured that the moving platform of mechanism is moved around a certain fixed point always
Dynamic or rotation, and the fixed point is located at outside mechanism, such kinetic characteristic impart the good stability of such mechanism,
The advantages that higher precision.But some micro-wound operation robots (107802348 A of CN 107714182 A, CN) now
Remote centre of motion structural constraint is not had in structure, and is realized by algorithm and is moved around telecentricity, affects mechanism
Accuracy and reliability.It is therefore proposed that a kind of high-precision and the remote center parallel connection micro-wound operation robot of stable Three Degree Of Freedom
It is necessary to.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the shortcomings of above-mentioned background technique, propose that a kind of Three Degree Of Freedom is remote
Heart parallel connection micro-wound operation robot, the mechanism should have many advantages, such as that service speed is high, rigidity is high, precision is high, stability is good.
Present invention provide the technical scheme that
A kind of remote center parallel connection micro-wound operation robot of Three Degree Of Freedom, including rack, end effector and be connected in parallel
Three branches between rack and end effector；It is characterized by:
In three branches, the first branch and the second branch successively include the be connected between rack and end effector
One prismatic pair, the first revolute pair, first connecting rod, slot pin pair, second connecting rod and the second revolute pair；Third branch successively includes connecting
Connect first movement pair, the first revolute pair, first connecting rod, slot pin pair and the second connecting rod between rack and end effector；
In first branch, the second revolute pair is by first circular hole of second connecting rod one end and the circle of end effector device seat
Cylinder position cooperatively forms；In second branch, the second revolute pair is executed by second circular hole of second connecting rod one end and end
The cylinder body region of device device seat cooperatively forms；In the third branch, the square hole and end effector device seat of second connecting rod one end
Square column body region consolidation；Cylinder body region axis, square column body region axis and the end of the end effector device seat are held
The axis of movement of row device is overlapped；
In each branch, the axis of the first revolute pair is parallel with first movement secondary axis, the pivot center of slot pin pair and
One revolute pair axis is vertical, and the pivot center of slot pin pair is vertical with the mobile axis of slot pin pair.
The axis of the first revolute pair and the axis of movement of end effector in three branches meet at O point.
Further, the axis of the first revolute pair in three branches is using O point as the three of endpoint in the projection of horizontal plane
Ray, the angle of adjacent ray is 120 degree two-by-two.
The driving mechanism of the robot is that the first movement pair of ball-screw driving is driven by servo motor.
The beneficial effects of the present invention are:
The remote center parallel connection micro-wound operation robot of Three Degree Of Freedom proposed by the present invention can execute two rotations one around O point and move
Dynamic three-degree-of-freedom motion has many advantages, such as that service speed is high, rigidity is high, precision is high, stability is good, can carry out simple minimally invasive hand
Art.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the remote center parallel connection micro-wound operation robot of Three Degree Of Freedom of the present invention.
Fig. 2 is that (the second revolute pair therein only includes second for the connection relationship diagram of wherein each component in the first branch
First circular hole of connecting rod).
Fig. 3 is the schematic perspective view of second connecting rod in the first branch.
Fig. 4 is the schematic perspective view of second connecting rod in the second branch.
Fig. 5 is the schematic perspective view of second connecting rod in third branch.
Fig. 6 is the schematic perspective view of end effector.
In figure: rack 1, first movement pair guide rail 2, first movement pair 3, first movement pair sliding block 4, the first revolute pair 5,
One connecting rod 6, slot pin pair 7, second connecting rod 8, the first circular hole 9, the second circular hole 10, end effector 11, square column body region 12, cylinder
Body region 13, square hole 14.
Specific embodiment
Below in conjunction with Figure of description, the invention will be further described.
The remote center parallel connection micro-wound operation robot of Three Degree Of Freedom shown in the drawings, including rack 1, end effector 11 and
Three branches being connected between rack and end effector；
First branch and the second branch include that the first movement pair being connected in turn between rack and end effector is led
Rail 2, first movement pair sliding block 4, the first revolute pair 5, first connecting rod 6, slot pin pair 7, second connecting rod 8 and the second revolute pair；
Third branch includes the first movement pair guide rail being connected in turn between rack and end effector, first movement pair
Sliding block, the first revolute pair, first connecting rod, slot pin pair and second connecting rod；
First movement pair guide rail and first movement pair sliding block in each branch cooperatively form first movement pair 3.
The second connecting rod of each branch is all different；Wherein: in the first branch, the production of second connecting rod one end has the first circular hole 9,
The cylinder body region 13 of the circular hole and end effector device seat has cooperatively formed the second revolute pair of the first branch；Second branch
In, the production of second connecting rod one end has the second circular hole 10, and the cylinder body region 13 of the circular hole and end effector device seat cooperatively forms
Second revolute pair of the second branch (second connecting rod of Liang Ge branch is hinged on cylinder body region side by side simultaneously)；Third branch
In, the production of second connecting rod one end has square hole 14, which is fixedly connected with the square column body region 12 of end effector device seat.
In each branch, the first revolute pair axis is parallel to first movement secondary axis, the pivot center of slot pin pair perpendicular to
First revolute pair axis, the mobile axis (pin in slot pin pair, along slot pin pair of the pivot center of slot pin pair perpendicular to slot pin pair
In slot it is mobile when the track that is formed).
The axis of three the first revolute pairs meets at 1: 0, and the axis of movement of end effector also crosses O point；First branch
The axis of second revolute pair is overlapped with the axis of the second revolute pair of the second branch and crosses O point；Further, in three branches
The axis of first revolute pair is three rays using O point as endpoint in the projection of horizontal plane, and the angle of adjacent ray is two-by-two
120 degree.
In the present embodiment, the secondary first movement pair in each branch of driving, ball screw can be selected in driving method, and (Tu Zhong is saved
Slightly)；When driving pair is through being driven by motor, end effector can make the mobile three-degree-of-freedom motion of two rotation one around O point.
Claims (4)
1. a kind of remote center parallel connection micro-wound operation robot of Three Degree Of Freedom, including rack (1), end effector (11) and connection
Three branches between rack and end effector；It is characterized by:
In three branches, the first branch and the second branch include that first be connected in turn between rack and end effector moves
Dynamic pair (3), the first revolute pair (5), first connecting rod (6), slot pin secondary (7), second connecting rod (8) and the second revolute pair；Third point
Branch include be connected in turn first movement pair between rack and end effector, the first revolute pair, first connecting rod, slot pin pair with
And second connecting rod；
In first branch, the second revolute pair is by first circular hole (9) of second connecting rod one end and the circle of end effector device seat
Cylinder position (13) cooperatively forms；In second branch, the second revolute pair by second connecting rod one end the second circular hole (10) with
The cylinder body region of end effector device seat cooperatively forms；In the third branch, the square hole (14) of second connecting rod one end and end
Hold square column body region (12) consolidation of actuator device seat；The cylinder body region axis of the end effector device seat, square body portion
The axis of movement of position axis and end effector is overlapped；
In each branch, the axis of the first revolute pair is parallel with first movement secondary axis, the pivot center of slot pin pair and first turn
Dynamic secondary axis is vertical, and the pivot center of slot pin pair is vertical with the mobile axis of slot pin pair.
2. the remote center parallel connection micro-wound operation robot of Three Degree Of Freedom according to claim 1, it is characterised in that: three branches
In the axis of the first revolute pair and the axis of movement of end effector meet at O point.
3. the remote center parallel connection micro-wound operation robot of Three Degree Of Freedom according to claim 2, it is characterised in that: three branches
In the first revolute pair axis in the projection of horizontal plane, be three rays using O point as endpoint, the angle of adjacent ray two-by-two
It is 120 degree.
4. the remote center parallel connection micro-wound operation robot of Three Degree Of Freedom according to claim 3, it is characterised in that: the machine
The driving mechanism of people is that the first movement pair of ball-screw driving is driven by servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810890655.9A CN108992171B (en) | 2018-08-07 | 2018-08-07 | Three-degree-of-freedom far-center parallel minimally invasive surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810890655.9A CN108992171B (en) | 2018-08-07 | 2018-08-07 | Three-degree-of-freedom far-center parallel minimally invasive surgical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108992171A true CN108992171A (en) | 2018-12-14 |
| CN108992171B CN108992171B (en) | 2023-11-21 |
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ID=64596159
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810890655.9A Active CN108992171B (en) | 2018-08-07 | 2018-08-07 | Three-degree-of-freedom far-center parallel minimally invasive surgical robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111388094A (en) * | 2020-03-31 | 2020-07-10 | 长沙理工大学 | Two-degree-of-freedom remote motion center mechanism |
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| CN201389855Y (en) * | 2009-04-09 | 2010-01-27 | 浙江理工大学 | Parallel mechanism with three freedom degree of two-rotation and one-shifting |
| JP2013049121A (en) * | 2011-08-31 | 2013-03-14 | Tokyo Institute Of Technology | Remote control device |
| CN203557381U (en) * | 2013-10-12 | 2014-04-23 | 浙江理工大学 | Three-degree-of-freedom parallel mechanism |
| CN105881497A (en) * | 2014-11-07 | 2016-08-24 | 江南大学 | Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(2T) |
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| Publication number | Publication date |
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| CN108992171B (en) | 2023-11-21 |
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