CN109794942B - Mechanical structure with pose separation function - Google Patents
Mechanical structure with pose separation function Download PDFInfo
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- CN109794942B CN109794942B CN201910204735.9A CN201910204735A CN109794942B CN 109794942 B CN109794942 B CN 109794942B CN 201910204735 A CN201910204735 A CN 201910204735A CN 109794942 B CN109794942 B CN 109794942B
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Abstract
A mechanical structure with pose separation relates to a mechanical structure, and comprises a base, a pose compensation mechanism, a positioning mechanism and a remote motion center mechanism; the positioning mechanism comprises a first motor, a second motor, a third motor, a double-parallelogram decoupling structure and a transmission assembly; the remote motion center mechanism comprises a fifth motor, a sixth motor, a transmission assembly and a remote linkage structure; the double-parallelogram decoupling mechanism is respectively driven by a second motor and a third motor, the double-parallelogram decoupling mechanism is connected with the attitude compensation mechanism through a transmission component, the fifth motor is driven by the attitude compensation mechanism to rotate, the remote linkage mechanism is driven by the transmission component driven by the sixth motor to do pitching motion, and the sixth motor is driven by the fifth motor to rotate. The invention can be applied to puncture operations and also applied to the surface of an operation object which is a cylindrical surface or a spherical surface, such as the polishing and the rust removal of an arc workpiece.
Description
Technical Field
The invention relates to a mechanical structure, in particular to a mechanical structure with separated position and posture.
Background
At present, the medical robot has a plurality of structural forms, namely a pure serial mechanical arm and a form of combining an SCARA structure and an RCM mechanism. The serial mechanical arm only comprising the rotary joint can easily realize the zero-force dragging function, and is convenient for doctors to manually drag and position. The structural form of the surgical robot similar to the DaVinci is suitable for minimally invasive surgery of abdominal cavity due to the RCM mechanism. However, when a doctor needs to manually drag and position and perform fixed-point movement, the pure serial mechanical arm does not contain a Remote Center of Motion (RCM) mechanism, the RCM mechanism movement can only be realized through software, and the design difficulty is high. However, the medical robot with the moving joint is not suitable for zero-force dragging, so the structure of the robot needs to be designed delicately.
Disclosure of Invention
The invention provides a mechanical structure with pose separation for overcoming the defects of the prior art, the structure has good reliability and compact design, and the problem that two steps are needed for adjusting the position and the posture in the prior art is solved.
The technical scheme of the invention is as follows: a mechanical structure with pose separation comprises a base, a pose compensation mechanism, a positioning mechanism and a remote motion center mechanism;
the base is provided with a positioning mechanism, an attitude compensation mechanism connected with the positioning mechanism and a remote motion center mechanism connected with the attitude compensation mechanism;
the positioning mechanism comprises a first motor, a second motor, a third motor, a double-parallelogram decoupling structure and a transmission compensation assembly;
the remote motion center mechanism comprises a fifth motor, a sixth motor, a transmission assembly and a remote linkage mechanism;
a first motor is installed on the base, the first motor is vertically arranged in the axial direction, an output shaft of the first motor is connected with a supporting seat, and a second motor and a third motor are arranged on the supporting seat; the double-parallelogram decoupling mechanism is respectively driven by a second motor and a third motor, is rotatably connected with a connecting seat of the attitude compensation mechanism through a transmission compensation assembly, and comprises a fourth motor and a connecting seat; the fourth motor is axially and vertically arranged, the fourth motor is fixedly arranged on the connecting seat, the mounting seat provided with the fifth motor is fixedly connected to an output shaft of the fourth motor, the fifth motor is driven to rotate by the attitude compensation mechanism, the remote linkage mechanism is driven to do pitching motion by the transmission assembly driven by the sixth motor, and the sixth motor is driven to rotate by the fifth motor.
Further, the double-parallelogram decoupling structure comprises a first connecting rod, a third connecting rod, a fourth connecting rod and two second connecting rods;
the transmission compensation assembly comprises two transmission rods and two tripods; one end of the first connecting rod is fixedly connected with an output shaft of the second motor, the other end of the first connecting rod and the fourth connecting rod are arranged between the two tripods, the other end of the first connecting rod is rotatably connected with the fourth connecting rod, and one vertex of each of the two tripods is hinged with the fourth connecting rod; one end of the third connecting rod is rotatably connected with one end of the fourth connecting rod, the other end of the third connecting rod is rotatably connected with one end of the transmission shaft, and the other end of the transmission shaft is fixedly connected with an output shaft of the third motor; the two second connecting rods are arranged in parallel, one ends of the two second connecting rods are rotatably connected with the supporting seat, and the other ends of the two second connecting rods are respectively rotatably connected with the second vertexes of the corresponding tripods; the third vertexes of the two tripods are respectively and rotatably connected with one ends of the two transmission rods, the other ends of the two transmission rods are respectively and rotatably connected with the attitude compensation mechanism, and the other end of the fourth connecting rod is rotatably connected with the attitude compensation mechanism.
Further, the remote linkage mechanism comprises a first operating lever, a second operating lever, a third operating lever, a fourth operating lever and a fifth operating lever; one end of a fourth operating rod is fixedly connected with the motor base, the other end of the fourth operating rod is rotatably connected with a fifth operating rod, one end of a second operating rod is rotatably connected with the fourth operating rod, one end of the second operating rod is further fixedly connected with another bevel gear, the other end of the second operating rod is rotatably connected with one end of the first operating rod, the other end of the fifth operating rod is rotatably connected with a third operating rod, one end of the third operating rod is rotatably connected with the second operating rod, and the other ends of the first operating rod and the third operating rod are respectively rotatably connected with the needle feeding mechanism.
Compared with the prior art, the invention has the following technical effects:
the invention provides a novel structure combination form, and the front four shafts adopt a connecting rod decoupling form to realize the determination of the tail end position of the robot. Because all adopt the revolute joint not to contain the sliding pair, very suitable carry out zero-force and pull. The last two axes are RCM mechanisms (remote center of motion mechanisms), the movement of which has no effect at all on the tip position.
The innovation points of the invention are as follows: the position and the attitude are decoupled, and three degrees of freedom Px, Py and Pz of the terminal position are independent of the degrees of freedom of R5 and R6. In applications where Rz is not a consideration, the first four degrees of freedom of R1, R2, R3, R4 are independent of Rx and Ry.
This form of robotic arm is a redundant structure for three degrees of freedom representing position in the operating space, can reach a specified position with different Rz poses, and has no effect on Rx and Ry due to the presence of the decoupling mechanism. In an application scene without concern about Rz, the structural design can well avoid the obstacles in the working area.
The present invention can be applied to the following: in puncture surgery; in an application scene without concern about Rz, the structural design can well avoid the obstacles in the working area; the movement tracks driven by the fifth motor and the sixth motor are arc surfaces, so that the structure can also be applied to the operation of cylindrical surfaces or spherical surfaces, such as polishing and derusting of arc workpieces.
Drawings
FIG. 1 is a perspective view of the overall structure of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a schematic view of the connection between a fifth motor and a sixth motor in the remote center of motion mechanism according to the present invention;
FIG. 4 is a view taken in the direction K of FIG. 1;
FIG. 5 is a partial cross-sectional view of the positioning mechanism of the present invention;
FIG. 6 is a mechanical schematic diagram of a mechanism with separated pose;
FIG. 7 is a schematic diagram of a double-parallelogram decoupling mechanism in a mechanical structure with pose separation according to the present invention;
FIG. 8 is a schematic diagram of a remote center of motion mechanism in a mechanical configuration with pose separation according to the present invention;
fig. 9 is a diagram of joint space versus operating space.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1 to 3, a mechanical structure with pose separation includes a base 7, an attitude compensation mechanism 4, a positioning mechanism T, and a remote motion center mechanism N;
a positioning mechanism T, an attitude compensation mechanism 4 connected with the positioning mechanism T and a remote motion center mechanism N connected with the attitude compensation mechanism 4 are arranged on the base 7;
the positioning mechanism T comprises a first motor 1, a second motor 2, a third motor 3, a double-parallelogram decoupling structure 100 and a transmission compensation assembly 9;
the remote motion center mechanism N comprises a fifth motor 5, a sixth motor 6, a transmission assembly 12 and a remote linkage mechanism 8;
a first motor 1 is installed on the base 7, the first motor 1 is vertically arranged in the axial direction, an output shaft of the first motor 1 is connected with a supporting seat 10, and a second motor 2 and a third motor 3 are arranged on the supporting seat 10; the double-parallelogram decoupling mechanism 100 is respectively driven by the second motor 2 and the third motor 3, the double-parallelogram decoupling mechanism 100 is connected with the attitude compensation mechanism 4 through the transmission component 9, the fifth motor 5 is driven by the attitude compensation mechanism 4 to rotate, the remote linkage mechanism 8 is driven by the transmission component 12 driven by the sixth motor 6 to do pitching motion, and the sixth motor 6 is driven by the fifth motor 5 to rotate.
In the above scheme, the positioning mechanism including the first motor 1, the second motor 2, the third motor 3, the double-parallelogram decoupling structure 100 and the transmission compensation assembly 9 has 2 degrees of freedom, the first degree of freedom is the rotational motion of the double-parallelogram decoupling structure 100 driven by the first motor 1, and the second degree of freedom is the yawing motion of the double-parallelogram decoupling structure 100 driven by the second motor 2 and the third motor 3; the third degree of freedom double-parallelogram decoupling mechanism 100 moves to drive the transmission compensation assembly 9 and the pose compensation mechanism 4 to do pitching motion; the mechanism schematic diagram of the mechanical structure with separated pose of the present embodiment is shown in fig. 6. The fourth degree of freedom is the rotary motion of the pose compensation mechanism 4 driving the fifth motor 5; the fifth degree of freedom is the rotary motion of the fifth motor 5 driving the sixth motor 6; the sixth degree of freedom is the yaw motion that the sixth motor 6 drives the remote linkage mechanism 8. The six degrees of freedom are defined as R1, R2, R3, R4, R5, R6. R1-R3 are based on a double parallelogram decoupled articulated positioning mechanism T; the single-degree-of-freedom R4 mechanism is used for compensating the influence of the R1 joint; the joints R5 and R6 form a double parallelogram remote center of motion mechanism N. Wherein RX represents the degree of freedom of the robot, X represents the fourth degree of freedom, and R represents the degree of freedom provided by the revolute pair. Rx, Ry, Rz represent the representation of the tip attitude in the cartesian coordinate system, and the angles Px, Py, Pz of rotation around the respective lower xyz axes represent the representation of the tip position in the cartesian coordinate system, and are the coordinate values of the respective xyz axes. The first four shafts (R1, R2, R3 and R4) adopt a link decoupling mode to realize the determination of the tail end position of the robot
Referring to fig. 1 and 2, in order to fully explain the decoupling performance of the double-parallelogram decoupling structure 100, the double-parallelogram decoupling structure 100 in the present embodiment adopts the following structure: the double-parallelogram decoupling structure 100 comprises a first connecting rod 21, a third connecting rod 23, a fourth connecting rod 24 and two second connecting rods 22;
the transmission compensating assembly 9 comprises two transmission rods 92 and two tripods 91;
one end of the first connecting rod 21 is fixedly connected with an output shaft of the second motor 2, the other end of the first connecting rod 21 and the fourth connecting rod 24 are arranged between the two tripods 91, the other end of the first connecting rod 21 is rotatably connected with the fourth connecting rod 24, and one vertex of the two tripods 91 is respectively hinged with the fourth connecting rod 24; one end of a third connecting rod 23 is rotatably connected with one end of a fourth connecting rod 24, the other end of the third connecting rod 23 is rotatably connected with one end of a transmission shaft 3-1, and the other end of the transmission shaft 3-1 is fixedly connected with an output shaft of a third motor 3; the two second connecting rods 22 are arranged in parallel, one ends of the two second connecting rods 22 are rotatably connected with the supporting seat 10, and the other ends of the two second connecting rods 22 are respectively rotatably connected with the second vertexes of the corresponding tripods 91; the third vertexes of the two tripods 91 are respectively rotatably connected with one ends of the two transfer rods 92, the other ends of the two transfer rods 92 are respectively rotatably connected with the attitude compensation mechanism 4, and the other end of the fourth connecting rod 24 is rotatably connected with the attitude compensation mechanism 4. The two transfer rods 92 and the two tripods 91 are arranged in one-to-one correspondence. In a preferred embodiment, the tripod 91 is an isosceles tripod structure. Vertexes corresponding to vertex angles of the two tripods 91 are respectively hinged with the fourth connecting rod 24, the other ends of the two second connecting rods 22 are respectively rotatably connected with a vertex corresponding to one base angle of the corresponding tripod 91, and a vertex corresponding to the other base angle of the two tripods 91 is respectively rotatably connected with one end of the two transfer rods 92.
Referring to fig. 2, the posture compensation mechanism 4 includes a fourth motor 42 and a connection base 41; the other ends of the fourth connecting rod 24 and the two transfer rods 92 are respectively rotatably connected with the connecting base 41, the fourth motor 42 is axially and vertically arranged, the fourth motor 42 is fixedly arranged on the connecting base 41, and the mounting base 51 provided with the fifth motor 5 is fixedly connected on an output shaft of the fourth motor 42.
The operation principle of the double-parallelogram decoupling structure 100 is described with reference to the schematic mechanism diagram of fig. 7, and the structure is a three-joint two-degree-of-freedom mechanism, and the driving of the two degrees of freedom are both arranged at the joint a. First, point a is defined as a fixed connection point corresponding to the output shaft of the second motor 2 and the first connection rod 21, point B is defined as a connection rotation point corresponding to the connection between the second connection rod 22 and the support base 10, point C is defined as a connection rotation point between the second connection rod 22 and the tripod 91, point D is defined as a connection rotation point between the fourth connection rod 24 and the tripod 91, point E is defined as a connection rotation point between the fourth connection rod 24 and the support base 41, point F is defined as a connection rotation point between the third connection rod 23 and the transmission shaft 3-1, point G is defined as a connection rotation point between the fourth connection rod 24 and the third connection rod 23, point H is defined as a connection rotation point between the tripod 91 and the transmission rod 92, point I is defined as a connection rotation point between the transmission rod 92 and the support base 41, and point EJI is equivalent to the support base 41.
In the simplified principle of the mechanism diagram of fig. 7, firstly, when the AB lever is fixed and the AD lever is used as a drive, the ABCD parallelogram ensures that the CE lever is always parallel to the AB lever, and compensates the angle change of the CE lever caused by the motion of the AD lever; angular changes of the GD rods are compensated through the AFGD parallelogram; since the angle of &hdgis fixed, the angle change of the IE rod can be compensated by the HDEI parallelogram. It follows that the angle of the EJ rod remains constant as the AD rod moves, thereby achieving decoupling of EJ from AD. Considering the AD bar fixed to drive the AB bar, it can be seen that the CE bar is actually driven by the ABCD parallelogram. Similarly, the two parallelograms of AFGD and HDEI can enable the EJ rod to compensate the angle change of the CE rod, and therefore the decoupling of the AB by the EJ is achieved. The principle of the double-parallelogram decoupling structure is the principle, and the structure is commonly used in industrial palletizing robots.
Preferably, as shown in fig. 2 and 3, the transmission assembly 12 is a bevel gear pair, the motor base 61 mounted with the sixth motor 6 is fixedly connected to the output shaft of the fifth motor 5, the output shaft of the sixth motor 6 is fixedly connected with a bevel gear 12-1, the remote linkage mechanism 8 is mounted with another bevel gear 12-1, and the remote linkage mechanism 8 is driven by the bevel gear pair to perform a pitching motion. So set up, give long-range link gear 8 with the motion transmission through the bevel gear pair, realize advancing needle mechanism T around far away the rotation of heart. Here, in order to ensure compact installation of the sixth motor 6 and save working space, the sixth motor 6 is installed in a motor base 61 of a drum type structure, and preferably, the sixth motor is a maxon motor. Compact structure and simple and reliable use.
Referring to fig. 1 and 2, the remote linkage 8 includes a first operating lever 81, a second operating lever 82, a third operating lever 83, a fourth operating lever 84, and a fifth operating lever 85; one end of the fourth operating rod 84 is fixedly connected with the motor base 61, the other end of the fourth operating rod 84 is rotatably connected with the fifth operating rod 85, one end of the second operating rod 82 is rotatably connected with the fourth operating rod 84, the other bevel gear is further fixedly connected with one end of the second operating rod 82, the other end of the second operating rod 82 is rotatably connected with one end of the first operating rod 81, the other end of the fifth operating rod 85 is rotatably connected with the third operating rod 83, one end of the third operating rod 83 is rotatably connected with the second operating rod 82, and the other ends of the first operating rod 81 and the third operating rod 83 are respectively rotatably connected with the needle feeding mechanism 101.
The operation principle of the remote linkage mechanism 8 in the remote motion center mechanism N is described with reference to the schematic diagram of fig. 8, in which a fixed virtual rotation center is realized by using double parallelogram links, point O is a desired virtual rotation center, first, a1 is defined as a rotation point of another bevel gear, B1 is a connection rotation point of the fifth operating lever 85 and the fourth operating lever 84, C1 is a connection rotation point of the second operating lever 82 and the third operating lever 83, D1 is a connection rotation point of the third operating lever 83 and the fifth operating lever 85, E1 is a connection rotation point of the first operating lever 81 and the second operating lever 82, and G1 and H1 are connection rotation points of the first operating lever 81 and the third operating lever 83 and the thimble mechanism 101, respectively.
The mechanism diagram of fig. 8 is simplified. Two redundant four-bar linkages, "A1C 1H 1O" and "A1E 1G 1O", can be obtained by complementing the B1O and H1O links. When the A1E1 rod is driven, the four-bar linkage composed of the A1B1C1D1 can ensure that the H1 joint rotates around the virtual point O, and the four-bar linkage A1B1E1F1 can ensure that the G1 joint rotates around the virtual point O, so that the G1H1 rod can rotate around the virtual point O, and the function of a remote motion center is realized.
The influence of the joint variables on the degree of freedom of the operation space is only noted without considering the influence of the joint parameters, and the following relationship is used. The three parameters of the tip position are related only to the first four joint variables; while the three parameters of the tip attitude are related only to the sum of the two joint variables of the remote center of motion mechanism and the two-axis joint variables of the first motor 1 and the fourth motor 4.
As shown in fig. 9, this form of mechanical structure is a redundant structure for three degrees of freedom representing position in the operating space, can reach a specified position with different Rz poses, and does not affect Rx and Ry due to the presence of the decoupling mechanism. In an application scene without concern about Rz, the structural design can well avoid the obstacles in the working area.
The two attitude degrees of freedom of the terminal Rx and the terminal Ry are only determined by R5 and R6 respectively, the design can completely distinguish positioning from attitude determination, and positioning and attitude determination can be realized first or attitude determination and operating position determination can be realized first.
The structure of the tail end thimble mechanism can enable the R5 and the R6 to rotate around a virtual point to adjust the posture, and the structure is widely applied to medical operation robots. Because the motion tracks of R5 and R6 are circular arc surfaces, the structure can also be applied to the operation of cylindrical surfaces or spherical surfaces, such as grinding and rust removal of circular arc workpieces.
The foregoing detailed description is intended to illustrate and not limit the invention, which is intended to be within the spirit and scope of the appended claims, and any changes and modifications that fall within the true spirit and scope of the invention are intended to be covered by the following claims. Although the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (5)
1. A mechanical structure with pose separation is characterized in that: the device comprises a base (7), an attitude compensation mechanism (4), a positioning mechanism (T) and a remote motion center mechanism;
a positioning mechanism (T), an attitude compensation mechanism (4) connected with the positioning mechanism (T) and a remote motion center mechanism (N) connected with the attitude compensation mechanism (4) are arranged on the base (7);
the positioning mechanism (T) comprises a first motor (1), a second motor (2), a third motor (3), a double-parallelogram decoupling structure (100) and a transmission compensation assembly (9);
the remote motion center mechanism (N) comprises a fifth motor (5), a sixth motor (6), a transmission assembly (12) and a remote linkage mechanism (8);
a first motor (1) is installed on the base (7), the first motor (1) is vertically arranged in the axial direction, an output shaft of the first motor (1) is connected with a supporting seat (10), and a second motor (2) and a third motor (3) are arranged on the supporting seat (10); the double-parallelogram decoupling structure (100) is driven by a second motor (2) and a third motor (3) respectively, the double-parallelogram decoupling structure (100) is rotatably connected with a connecting seat (41) of an attitude compensation mechanism (4) through a transmission compensation assembly (9), and the attitude compensation mechanism (4) comprises a fourth motor (42) and the connecting seat (41); the fourth motor (42) is axially and vertically arranged, the fourth motor (42) is fixedly arranged on the connecting seat (41), the mounting seat (51) provided with the fifth motor (5) is fixedly connected to an output shaft of the fourth motor (42), the fifth motor (5) is driven to rotate by the attitude compensation mechanism (4), the remote linkage mechanism (8) is driven by the transmission component (12) driven by the sixth motor (6) to do pitching motion, and the sixth motor (6) is driven to rotate by the fifth motor (5).
2. The mechanical structure with pose separation according to claim 1, wherein: the double-parallelogram decoupling structure (100) comprises a first connecting rod (21), a third connecting rod (23), a fourth connecting rod (24) and two second connecting rods (22); the transmission compensation assembly (9) comprises two transmission rods (92) and two tripods (91);
one end of a first connecting rod (21) is fixedly connected with an output shaft of the second motor (2), the other end of the first connecting rod (21) and a fourth connecting rod (24) are arranged between the two tripods (91), the other end of the first connecting rod (21) is rotatably connected with the fourth connecting rod (24), and one vertex of each of the two tripods (91) is hinged with the fourth connecting rod (24);
one end of a third connecting rod (23) is rotatably connected with one end of a fourth connecting rod (24), the other end of the third connecting rod (23) is rotatably connected with one end of a transmission shaft (3-1), and the other end of the transmission shaft (3-1) is fixedly connected with an output shaft of a third motor (3); the two second connecting rods (22) are arranged in parallel, one ends of the two second connecting rods (22) are rotatably connected with the supporting seat (10), and the other ends of the two second connecting rods (22) are respectively rotatably connected with the second vertexes of the corresponding tripods (91);
the third vertexes of the two tripods (91) are respectively and rotatably connected with one ends of the two transmission rods (92), the other ends of the two transmission rods (92) are respectively and rotatably connected with the attitude compensation mechanism (4), the other end of the fourth connecting rod (24) is rotatably connected with the attitude compensation mechanism (4), and the other ends of the fourth connecting rod (24) and the two transmission rods (92) are respectively and rotatably connected with the connecting base (41).
3. The mechanical structure with pose separation according to claim 1, wherein: the transmission component (12) is a bevel gear pair, a motor base (61) provided with a sixth motor (6) is fixedly connected to an output shaft of the fifth motor (5), an output shaft of the sixth motor (6) is fixedly connected with a bevel gear (12-1), another bevel gear (12-1) is arranged on the remote linkage mechanism (8), and the remote linkage mechanism (8) moves in a pitching mode through the bevel gear pair.
4. The mechanical structure with pose separation according to claim 3, wherein: the remote linkage mechanism (8) comprises a first operating rod (81), a second operating rod (82), a third operating rod (83), a fourth operating rod (84) and a fifth operating rod (85); one end of a fourth operating rod (84) is fixedly connected with the motor base (61), the other end of the fourth operating rod (84) is rotatably connected with a fifth operating rod (85), one end of a second operating rod (82) is rotatably connected with the fourth operating rod (84), one end of the second operating rod (82) is further fixedly connected with another bevel gear, the other end of the second operating rod (82) is rotatably connected with one end of the first operating rod (81), the other end of the fifth operating rod (85) is rotatably connected with a third operating rod (83), one end of the third operating rod (83) is rotatably connected with the second operating rod (82), and the other ends of the first operating rod (81) and the third operating rod (83) are respectively rotatably connected with the needle feeding mechanism (101).
5. The mechanical structure with pose separation according to claim 4, wherein: the sixth motor (6) is a maxon motor.
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| CN110575248A (en) * | 2019-09-20 | 2019-12-17 | 哈尔滨工业大学 | Robot system for minimally invasive ablation surgery |
| CN110811843B (en) * | 2019-11-27 | 2022-01-25 | 山东大学 | Force feedback main manipulator for minimally invasive surgery |
| CN113998028A (en) * | 2021-12-22 | 2022-02-01 | 成都理工大学 | Two-degree-of-freedom base joint structure of foot type robot |
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