CN110353807A - Traction device and manipulation device with the traction device - Google Patents
Traction device and manipulation device with the traction device Download PDFInfo
- Publication number
- CN110353807A CN110353807A CN201810316149.9A CN201810316149A CN110353807A CN 110353807 A CN110353807 A CN 110353807A CN 201810316149 A CN201810316149 A CN 201810316149A CN 110353807 A CN110353807 A CN 110353807A
- Authority
- CN
- China
- Prior art keywords
- level
- section
- transmission band
- roller
- traction device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The present invention provides a kind of traction device and with the manipulation device of the traction device, traction device includes substrate, driving device, first deceleration roller, primary transmission band and secondary transmission band, the substrate is equipped with the first sliding groove, the first deceleration roller can reciprocally be set to the substrate along first sliding groove, wherein, the first end of the primary transmission band is connected with the driving device, the second end of the primary transmission band is fixed on the substrate after bypassing the first deceleration roller, the first end of the secondary transmission band is connected with the first deceleration roller, the second end of the secondary transmission band downstream extends.Using the traction device can accurately, hauling distance can be controlled with feeding back, thus realize movement actuating station size micromation and movement complicate.
Description
Technical field
The present invention relates to operating apparatus fields, can be applied to medical instrument or Work robot.
Background technique
With the development that robot technology is applied, Work robot can replace people in many occasions and complete complicated dynamic
Make.And in the occasion for needing to complete fine movement, actuating station size and execution precision to Work robot are proposed higher
It is required that.The traction device constituted using cable can act the movement of actuating station with far distance control, so as to which movement is miniaturized
The part dimension of actuating station, such technological means have obtained wide application in the operating apparatus of Minimally Invasive Surgery.
In such scheme, the movement execution unit of movement actuating station will be directly affected to the precision controlling of traction device
Precision.Cable constitute traction device drawing cable is usually driven by motor, one end of cable is connected to the motor, cable it is another
It holds and extends to movement actuating station and be connected with the movement execution unit in downstream, the folding and unfolding drive movement execution unit of cable moves
Make.In order to realize the fining of movement, it usually needs pass to movement enforcement division after the hauling speed of motor output end is slowed down
Part.How reasonable Arrangement traction device so that can accurately control the speed and displacement of driving in a limited space, and by driving force
It is effectively passed to the movement execution unit in downstream, is a technical problem to be solved urgently.
Summary of the invention
In view of the above-mentioned prior art state and make the present invention, traction device provided by the invention can it is fine, can be anti-
Ground control hauling distance is presented, the manipulator for having traction device of the present invention may be implemented the size micromation of movement actuating station and move
It complicates.
A kind of traction device comprising substrate, driving device, the first deceleration roller, primary transmission band and secondary transmission band,
The substrate is equipped with the first sliding groove, and the first deceleration roller can reciprocally be set to institute along first sliding groove
It states on substrate, wherein the first end of the primary transmission band is connected with the driving device, the second end of the primary transmission band
Around being fixed on the substrate after the first deceleration roller, the first end of the secondary transmission band and the first deceleration roller
It is connected, the second end of the secondary transmission band downstream extends.
It at least one embodiment, further include the first reversing roller of level-one, the second reversing roller of level-one and second level
One reversing roller, the second end of the primary transmission band successively bypass first reversing roller of level-one, the first deceleration rolling
Second reversing roller of level-one is fixed on after son, the second end of the secondary transmission band first passes around the second level first and commutates
Downstream extend after roller.
In at least one embodiment, the primary transmission band is located at first reversing roller of level-one and described first
Section between deceleration roller constitutes level-one first and draws section, the primary transmission band be located at second reversing roller of level-one with
Section between the first deceleration roller constitutes level-one second and draws section, and the secondary transmission band is located at the second level first and changes
Second level first is constituted to the section between roller and the first deceleration roller and draws section, and the level-one first draws section, described
Level-one second draws section and the traction of the second level first section is parallel to each other.
In at least one embodiment, the primary transmission band is located at first reversing roller of level-one and described first
Section between deceleration roller constitutes level-one first and draws section, the primary transmission band be located at second reversing roller of level-one with
Section between the first deceleration roller constitutes level-one second and draws section, and the secondary transmission band is located at the second level first and changes
Constitute second level first to the section between roller and the first deceleration roller and draw section, the second level first draw section with it is described
Level-one first draws that section is not parallel and/or the second level first draws section and the level-one second to draw section not parallel.
In at least one embodiment, further include three-level transmission belt and the second deceleration roller, be additionally provided on the substrate
Second sliding groove, the second deceleration roller can be reciprocally set on the substrate along second sliding groove, described
The second end of secondary transmission band is fixed on the substrate, the first end of the three-level transmission belt after bypassing the second deceleration roller
It is connected with the second deceleration roller, the second end of the three-level transmission belt downstream extends.
It at least one embodiment, further include tensioning apparatus, the tensioning apparatus includes at least one tension rollers,
The relatively described substrate position of the tension rollers is adjustably set to the substrate, the primary transmission band and/or the second level
Transmission belt bypasses the tension rollers.
It at least one embodiment, further include sensor, the sensor is for measuring certain point on any transmission belt
Displacement.
A kind of manipulation device comprising at least one set of traction device and at least one action piece, the traction device are root
According to traction device of the invention, traction device described in each group extend to the transmission belt in downstream end and an action piece
It is connected to transmit tractive force.
In at least one embodiment, the traction device has multiple groups, and the action piece has multiple, multiple movements
At least two in part can be movably connected with opposite to each other to constitute each of linkage action part, the linkage action part
Action piece can individually receive one group described in traction device traction and act, and at least one of described linkage action part act
Part can follow the movement of another action piece in the linkage action part and act.
In at least one embodiment, the traction device has multiple groups, and the action piece has multiple, multiple movements
At least one action piece in part constitutes the claw of the manipulation device, at least one action piece structure in multiple action pieces
At the wrist of the manipulation device, the action piece of the claw is set on the action piece of the wrist and can follow the wrist
Action piece movement.
The present invention can be realized one or more of following technical effect:
1, the hauling speed of motor output is executed by cable with the movement that at least reduction ratio of 2:1 is transmitted to downstream
End, so that the control precision to hauling distance improves；
2, by different wire laying modes, (cable is selectively bypassed between several pulleys or adjustment pulley in pulley blocks
Position), the reduction ratio of traction device is adjusted flexibly；
3, by increasing the length of cable, movement actuating station can be operated at a distance；
4, by the feedback control to drawing cable length, dynamic adjusts the traction displacement of traction device, reduces system and misses
Difference；
5, there is the manipulator of multiple moving links for movement actuating station, more set traction devices can be set, every set is led
Leading-in device one moving link of corresponding control；And multiple moving links can be coupled with series/parallel, so as to be movement actuating station
The traction of compound action is provided.
Detailed description of the invention
Fig. 1 is a kind of schematic perspective view of manipulator embodiment according to the present invention, is held wherein movement is omitted
The partial act execution unit at row end.
Fig. 2 is the main view of Fig. 1.
Fig. 3 is the top view of Fig. 1.
Fig. 4 is that the first embodiment of traction device according to the present invention (belongs to the wherein a set of of manipulator shown in Fig. 1 to lead
Leading-in device) schematic diagram.
Fig. 5 is the schematic diagram of the second embodiment of traction device according to the present invention.
Fig. 6 is the schematic diagram of the third embodiment of traction device according to the present invention.
Description of symbols
1 wrist sleeve
2 end cables
3 substrates
4 motors
401 motor output ends
500 reduction pulleys
501 reduction pulley central axises
502 reduction pulley wheel discs
510 primary speed-down pulleys
520 double reduction pulleys
601,611 the first angle pulley of level-one
602,612 the second angle pulley of level-one
701 the first angle pulleys of second level
702 the second angle pulleys of second level
711 the first angle pulleys of three-level
712 the second angle pulleys of three-level
800 tension pulley blocks
901 reduction pulley sliding grooves
911 primary speed-down pulley sliding grooves
921 double reduction pulley sliding grooves
902 tension pulley block sliding grooves
1001,1011 level-one cable
1002 second level cables
1003 three-level cables
α level-one first draws the angle between section and the traction section of second level first
β level-one second draws the angle between section and the traction section of second level first
Specific embodiment
Exemplary embodiments of the present invention are described with reference to the accompanying drawings.It should be appreciated that these specific descriptions are only used for
How teaching those skilled in the art implement the present invention, rather than all feasible modes that exhaustion is of the invention, without in
It limits the scope of the invention.
Referring to Fig.1-6, primary structure and implementation of the invention is described below.
Fig. 1-3 shows a kind of manipulator with six-freedom degree according to the present invention, and each freedom degree is led by a set of
Leading-in device control.The movement actuating station of manipulator be set to wrist sleeve 1 cantilevered out end (be not shown in the figure except wrist sleeve 1 with
Other outer movement execution units), six-freedom degree is respectively the one degree of freedom and setting axially rotated around wrist sleeve 1
In the freedom degree of five movement execution units of 1 end of wrist sleeve.Every set traction device is driven by a motor 4, traction dress
The cable set extends to " the end that downstream composition is connected with the movement actuating station of manipulator after bypassing the pulley being set on substrate 3
End line cable " (accordingly defining every set traction device close to the cable of motor side is " front end cable "), wherein have one group of traction device
End cable actuated wrist sleeve 1 axial rotation (the end cable is not shown in the figure), the end of remaining five groups of traction device
End line cable 2 is stretched out from the inside of wrist sleeve 1 to be connected with corresponding five movement execution units.
Below by taking wherein a set of traction device of present embodiment as an example, the primary structure of traction device of the present invention is introduced.
The first embodiment of traction device
Referring to Fig. 4, the first embodiment of traction device includes constituting two-stage drive by two sets of cables, be can be realized
The output speed of motor is passed into end by the reduction ratio (reduction ratio is referred to as to the reduction ratio of traction device below) of 2:1
Cable.One end of level-one cable 1001 is connected with motor output end 401, and the other end of level-one cable 1001 successively bypasses level-one
One angle pulley 601, reduction pulley 500 and the second angle pulley of level-one 602, and it is finally secured to the second angle pulley of level-one
602 wheel disc.The first angle pulley of level-one 601 and the second angle pulley of level-one 602 are fixed on substrate by respective central axis
3；The central axis 501 of reduction pulley 500 is embedded in the reduction pulley sliding groove 901 opened up on substrate 3, this makes reduction pulley
500 can be moved back and forth in the form of movable pulley along reduction pulley sliding groove 901, and reduction pulley wheel disc 502 can be around reduction pulley
Central axis 501 rotation (however this it is not necessary to, i.e., reduction pulley wheel disc 502 can also phase with reduction pulley central axis 501
To fixation).When electric motor starting drive motor output end 401 act, level-one cable 1001 follow tightening shorten or loosen elongation (with
Lower abbreviation " folding and unfolding "), so that reduction pulley 500 be driven to move back and forth along reduction pulley sliding groove 901.The one of second level cable 1002
End is connected with reduction pulley central axis 501, and reduction pulley 500 will drive 1002 folding and unfolding of second level cable in reciprocatory movement.
In the embodiment, level-one cable 1001 is located at the section between the first angle pulley of level-one 601 and reduction pulley 500 and constitutes one
Grade first draws section, and level-one cable 1001 is located at the section between the second angle pulley of level-one 602 and reduction pulley 500 and constitutes one
Grade second draws section, and second level cable 1002 is located at the section between the first angle pulley of second level 701 and reduction pulley 500 and constitutes two
Grade first draws section, and level-one first draws section, level-one second draws section and the traction of second level first section is parallel to each other, therefore level-one line
1,001 two unit lengths of every folding and unfolding of cable cause second level cable 1002 folding and unfolding, one unit length, realize the output of motor
Speed passes to end cable by the reduction ratio of 2:1.
In the present embodiment, it is slided around the second level cable 1002 of the first angle pulley of second level 701 further around tensioning
Downstream extend after wheel 800 and the second angle pulley of second level 702.Tension pulley block 800 is fixed on tension pulley block by central shaft
In sliding groove 902, before device starting, being located at the position in tension pulley block sliding groove 902 by adjusting tension pulley block 800 can be with
Adjust the tensioning degree of second level cable 1002.
The second embodiment of traction device
In the first embodiment of traction device, the two-stage drive being made up of two sets of cables, realizing will be electric
The output speed of machine passes to end cable by the reduction ratio of 2:1；According to actual needs, can also be arranged in a similar way more
Grade transmission, passes to end cable by bigger reduction ratio for the output speed of motor.The second embodiment of traction device, gives
Three gear stages being made of out three sets of cables can be realized the output speed of motor passing to end by the reduction ratio of 4:1
End line cable.
Referring to Fig. 5, the second embodiment of traction device is illustrated.For the first embodiment with traction device
The same or similar component marks the same or similar appended drawing reference, and omits detailed description thereof.
One end of level-one cable 1001 is connected with motor output end 401, and the other end of level-one cable 1001 successively bypasses one
The first angle pulley 601 of grade, primary speed-down pulley 510 and the second angle pulley of level-one 602, and be finally secured to level-one second and change
To the wheel disc of pulley 602.The central axis of primary speed-down pulley 510 is embedded at the primary speed-down pulley sliding groove opened up on substrate 3
In 911.When electric motor starting drives motor output end 401 to act, level-one cable 1001 follows folding and unfolding, to drive primary speed-down sliding
Wheel 510 is moved back and forth along primary speed-down pulley sliding groove 911.In one end of second level cable 1002 and primary speed-down pulley 510
Mandrel is connected, and the other end is fixed on the first angle pulley of second level 701 after bypassing double reduction pulley 520.Double reduction pulley 520
Fixed form relative to substrate is similar with primary speed-down pulley 510, and the central axis of double reduction pulley 520 is embedded at substrate 3
On in the double reduction pulley sliding groove 921 that opens up, double reduction pulley 520 can be past along double reduction pulley sliding groove 921
Multiple movement.Primary speed-down pulley 510 will drive second level cable along 911 reciprocatory movement of primary speed-down pulley sliding groove
1002 folding and unfoldings are further driven to double reduction pulley 520 and move back and forth along double reduction pulley sliding groove 921.Double reduction is sliding
The central axis of wheel 520 is connected with one end of three-level cable 1003, and the other end of three-level cable 1003 successively bypasses three-level first and changes
Downstream extend after to pulley 711, tensioning wheel 800 and the second angle pulley of three-level 712.
In the embodiment, level-one cable 1001 is located between the first angle pulley of level-one 601 and primary speed-down pulley 510
Section constitute level-one first and draw section, level-one cable 1001 is located at the second angle pulley of level-one 602 and primary speed-down pulley 510
Between section constitute level-one second draw section；Second level cable 1002 is located at primary speed-down pulley 510 and double reduction pulley 520
Between section constitute second level first and draw section, second level cable 1002 is located at the first reverse wheel of double reduction pulley 520 and second level
Section between 701 constitutes second level second and draws section；Three-level cable 1003 is located at double reduction pulley 520 and three-level first commutates
Section between wheel 711 constitutes three-level first and draws section.Level-one first draws section, level-one second draws section and second level first is drawn
Section is parallel to each other；Second level first draws section, second level second draws section and the traction of three-level first section is parallel to each other.Therefore level-one cable
1001 four unit lengths of every folding and unfolding cause 1002 folding and unfolding of second level cable, two unit lengths, cause 1003 folding and unfolding of three-level cable
One unit length realizes the output speed of motor passing to end cable by the reduction ratio of 4:1.
Increase the thought of the reduction pulley of movable pulley form step by step according to the embodiment, the present invention can be according to practical need
Reduction pulley is further added, to realize bigger reduction ratio.
The third embodiment of traction device
The third embodiment of traction device is reduction pulley 500 and level-one the in the first embodiment to traction device
The deformation of positional relationship between one angle pulley 601, the second angle pulley of level-one 602, to provide be different from traction device the
The reduction ratio of one embodiment.
Referring to Fig. 6, level-one cable 1011 is located at the section structure between the first angle pulley of level-one 611 and reduction pulley 500
Section is drawn at level-one first, level-one cable 1011 is located at the section structure between the second angle pulley of level-one 612 and reduction pulley 500
Section is drawn at level-one second, second level cable 1002 is located at the section structure between the first angle pulley of second level 701 and reduction pulley 500
Section is drawn at second level first.It is α that level-one first, which draws angle between section and the traction section of second level first, and level-one second draws section and two
It is β that grade first, which draws angle between section,.At this point, a unit length of the every folding and unfolding of level-one cable 1011 (1/cos α+1/cos β), causing
Second level cable 1002 folding and unfolding, one unit length is realized the output speed of motor by (1/cos α+1/cos β): 1 deceleration
Than passing to end cable.As reduction pulley 500 is moved back and forth along reduction pulley sliding groove 901, the size of angle α and β will
It changes.I.e. the reduction ratio of the traction device is non-according to difference displacement of the reduction pulley 500 on reduction pulley sliding groove 901
Linearly change.
It should be appreciated that reduction pulley direct neighbor (the i.e. cable in above each embodiment in addition to being bypassed with cables at different levels
Successively directly around reduction pulley and angle pulley) angle pulley outside, the setting of remaining each pulley does not influence traction device
Reduction ratio, therefore the quantity of these remaining pulleys and position can convert set-up mode according to the trend of cable.In addition,
Tight pulley can also play the role of making cable deflecting, therefore as needed, and tensioning can be used at the angle pulley of each fixation
Pulley replaces.
It should be appreciated that the pulley structure that circular wheel disc is formed is set on center shaft it is not necessary to.In the present invention
Each pulley can not have wheeling disk structure；The wheeling disk structure of other abnormity can also be set on center shaft, and wheel disc can not
It relatively rotates with central axis, central axis and substrate also do not relatively rotate.In addition, the other end and substrate 3 in the present invention
Relatively-stationary level-one cable 1001/1011 and second level cable 1002 (refer to the other end and substrate 3 in second embodiment
Relatively-stationary second level cable 1002), commutation can also be directly fixed on around substrate 3 is fixed on after angle pulley
Pulley；When the other end of level-one cable 1001/1011 be fixed on the second angle pulley of level-one 602, second level cable 1002 it is another
End is when being fixed on the first angle pulley 701 of second level, the second angle pulley of level-one 602, the first angle pulley of second level 701 wheel disc with
Substrate 3 cannot rotate.
It should be appreciated that in the present invention for pulley provide move back and forth guiding sliding groove also can be used it is in the prior art
Other guide structures replace, such as rail structure.
It should be appreciated that the cable in the present invention is the strip transmission belt of broad sense, its constituent material or hardness are not limited
System.
It should be appreciated that the present invention in driving motor can also be replaced by other actuators in the prior art, as cylinder,
Hydraulic cylinder etc..
In order to realize the feedback control to cable displacement accuracy in traction device, in the present invention it is possible in traction device
Any cable trails on sensor for measuring distance is set, in conjunction with the measurement data of sensor and the deceleration of traction device
Than the practical traction displacement when pre-traction device provides can be calculated, when actually traction displacement is deviated with displacement of targets,
Error can be compensated in time.
Above each embodiment is without prejudice to can arbitrarily be combined within the scope of spirit of that invention.For brevity,
There is omitted herein the descriptions of parts thereof, however the parts thereof should all be interpreted as implementing using the prior art.
It should be appreciated that above embodiment is merely exemplary, it is not used in the limitation present invention.Those skilled in the art can be with
Various modifications and changes are made to above embodiment under the teachings of the present invention, without departing from the scope of the present invention.
Furthermore, it is necessary to illustrate:
(1) showing a kind of tool being made of six sets of traction devices according to embodiment of the present invention, there are six freely
The manipulator of degree, in practical applications, the freedom degree of manipulator and the quantity of traction device can carry out according to actual needs
Adjustment.
(2) the so-called manipulation device of the present invention is not limited to the manipulator shaped like hand shape with wrist and claw structure, grasps
The movement execution unit of vertical device action actuating station, which can according to need, changes its form；Each movement execution unit can mutually solely
It erects and sets, it can also be by multiple action components series/parallel in the form of ground can be mutually shifted, at this point, a set of traction device is still corresponding
A movement execution unit is controlled, but the movement of a movement execution unit may be influenced by more set traction devices, because of phase
Mutually movably multiple movement execution units of series/parallel, movement are that meeting is interactional.
(3) the so-called movement execution unit of the present invention, the movement including being only made of a movable components execute
Component also includes movement enforcement division being made of multiple movable components, being capable of relative motion between multiple movable components
Part.
Claims (10)
1. a kind of traction device comprising substrate, driving device, the first deceleration roller, primary transmission band and secondary transmission band, institute
Substrate is stated equipped with the first sliding groove, the first deceleration roller can reciprocally be set to described along first sliding groove
On substrate, wherein
The first end of the primary transmission band is connected with the driving device, and the second end of the primary transmission band is around described the
The substrate is fixed on after one deceleration roller, the first end of the secondary transmission band is connected with the first deceleration roller, described
The second end of secondary transmission band downstream extends.
2. traction device according to claim 1, it is characterised in that: further include the first reversing roller of level-one, level-one second
The first reversing roller of reversing roller and second level, the second end of the primary transmission band successively bypass the commutation of level-one first rolling
Be fixed on second reversing roller of level-one after sub, the described first deceleration roller, the second end of the secondary transmission band first around
Downstream extend after crossing first reversing roller of second level.
3. traction device according to claim 2, it is characterised in that: the primary transmission band is located at the level-one first and changes
Level-one first is constituted to the section between roller and the first deceleration roller and draws section, and the primary transmission band is located at described one
Section between the second reversing roller of grade and the first deceleration roller constitutes level-one second and draws section, secondary transmission band position
Section between first reversing roller of second level and the first deceleration roller constitutes second level first and draws section,
The level-one first draws section, the level-one second draws section and the traction of the second level first section is parallel to each other.
4. traction device according to claim 2, it is characterised in that: the primary transmission band is located at the level-one first and changes
Level-one first is constituted to the section between roller and the first deceleration roller and draws section, and the primary transmission band is located at described one
Section between the second reversing roller of grade and the first deceleration roller constitutes level-one second and draws section, secondary transmission band position
Section between first reversing roller of second level and the first deceleration roller constitutes second level first and draws section,
The second level first draws section and the level-one first traction section is not parallel and/or the traction section of second level first with it is described
It is not parallel that level-one second draws section.
5. traction device according to claim 1, it is characterised in that: it further include three-level transmission belt and the second deceleration roller,
The second sliding groove is additionally provided on the substrate, the second deceleration roller can be reciprocally set to along second sliding groove
On the substrate, the second end of the secondary transmission band is around being fixed on the substrate after the second deceleration roller, and described three
The first end of grade transmission belt is connected with the second deceleration roller, and the second end of the three-level transmission belt downstream extends.
6. traction device according to any one of claim 1 to 5, it is characterised in that: it further include tensioning apparatus, described
Tight device includes at least one tension rollers, and the relatively described substrate position of the tension rollers is adjustably set to the substrate,
The primary transmission band and/or the secondary transmission band bypass the tension rollers.
7. traction device according to any one of claim 1 to 5, it is characterised in that: it further include sensor, the sensing
Device is used to measure the displacement of target point on any transmission belt.
8. a kind of manipulation device comprising at least one set of traction device and at least one action piece, the traction device are right
It is required that traction device described in any one of 1 to 7, traction device described in each group extends to the end and one of the transmission belt in downstream
A action piece is connected to transmit tractive force.
9. manipulation device according to claim 8, it is characterised in that: the traction device has multiple groups, and the action piece has
Multiple, at least two in multiple action pieces can be movably connected with opposite to each other to constitute linkage action part, described
Each of dynamic action piece action piece can individually receive one group described in traction device traction and act, and the linkage action
At least one action piece in part can follow the movement of another action piece in the linkage action part and act.
10. manipulation device according to claim 8, it is characterised in that: the traction device has multiple groups, and the action piece has
Multiple, at least one action piece in multiple action pieces constitutes the claw of the manipulation device, in multiple action pieces
At least one action piece constitute the wrist of the manipulation device, the action piece of the claw is set to the action piece of the wrist
Above and the action piece of the wrist can be followed to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810316149.9A CN110353807B (en) | 2018-04-10 | 2018-04-10 | Traction device and operating device with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810316149.9A CN110353807B (en) | 2018-04-10 | 2018-04-10 | Traction device and operating device with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110353807A true CN110353807A (en) | 2019-10-22 |
| CN110353807B CN110353807B (en) | 2022-03-01 |
Family
ID=68213651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810316149.9A Active CN110353807B (en) | 2018-04-10 | 2018-04-10 | Traction device and operating device with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110353807B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113208732A (en) * | 2021-04-30 | 2021-08-06 | 康诺思腾机器人(深圳)有限公司 | Rear end transmission device, medical instrument and surgical robot |
| JP6991637B1 (en) * | 2020-09-01 | 2022-01-13 | リバーフィールド株式会社 | Surgical tool |
| CN114166395A (en) * | 2021-12-03 | 2022-03-11 | 中国原子能科学研究院 | Fault monitoring device and method |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2316674Y (en) * | 1997-07-04 | 1999-04-28 | 鸿友科技股份有限公司 | Ring driver for optical scanner |
| CN1554000A (en) * | 2001-05-24 | 2004-12-08 | �Ǵĺ�˾ | Asymmetric damping tensioner belt drive system |
| CN1752406A (en) * | 2005-10-28 | 2006-03-29 | 大庆油田有限责任公司 | Single crank double stroke flexible rope beam-pumping unit |
| CN2839738Y (en) * | 2005-10-26 | 2006-11-22 | 施爱龙 | Mechanical transmission |
| CN1950584A (en) * | 2004-05-04 | 2007-04-18 | 阿尔巴尼国际公司 | High load operation of an industrial roll door |
| CN101128289A (en) * | 2005-02-28 | 2008-02-20 | 日本电产三协株式会社 | Robot arm and robot |
| CN201089686Y (en) * | 2007-09-27 | 2008-07-23 | 日立电梯（中国）有限公司 | Observation elevator device |
| WO2012049623A1 (en) * | 2010-10-11 | 2012-04-19 | Ecole Polytechnique Federale De Lausanne (Epfl) | Mechanical manipulator for surgical instruments |
| CN202810800U (en) * | 2012-08-06 | 2013-03-20 | 王颖 | Direct-drive vertical type oil pumping machine with electrical switching machine and uninstall hanging linkage electrical machine |
| CN102979079A (en) * | 2012-11-22 | 2013-03-20 | 三一重工股份有限公司 | Cylinder driven derricking mechanism of dynamic compaction machine and dynamic compaction machine |
| CN103276928A (en) * | 2013-05-20 | 2013-09-04 | 四川五新智能设备有限公司 | Mechanical parking garage with oil cylinder stroke amplification device |
| US20140000411A1 (en) * | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Differential locking arrangements for rotary powered surgical instruments |
| CN105163679A (en) * | 2013-03-14 | 2015-12-16 | Sri国际公司 | Compact robotic wrist |
| CN105387157A (en) * | 2015-12-15 | 2016-03-09 | 施勤 | Winding transmission structure and method of pulleys and flexible rope |
| CN206026957U (en) * | 2016-08-02 | 2017-03-22 | 余军 | Adjustable counter balance piece gravity effect combined training ware |
| CN206035002U (en) * | 2016-08-30 | 2017-03-22 | 陕西泊客停车设备有限公司 | Mechanical parking device hoist mechanism |
| CN107198854A (en) * | 2016-09-18 | 2017-09-26 | 江苏科技大学 | A kind of counterweight adjusting device of body-building apparatus |
| CN206529118U (en) * | 2017-01-21 | 2017-09-29 | 连云港连锐针布有限公司 | Electronic drawing stone roller |
| CN206955531U (en) * | 2017-07-18 | 2018-02-02 | 刘小池 | A kind of shutter door installation and maintenance lifting device |
| CN107664181A (en) * | 2016-12-17 | 2018-02-06 | 黄山富田精工制造有限公司 | Speed change gear |
-
2018
- 2018-04-10 CN CN201810316149.9A patent/CN110353807B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2316674Y (en) * | 1997-07-04 | 1999-04-28 | 鸿友科技股份有限公司 | Ring driver for optical scanner |
| CN1554000A (en) * | 2001-05-24 | 2004-12-08 | �Ǵĺ�˾ | Asymmetric damping tensioner belt drive system |
| CN1950584A (en) * | 2004-05-04 | 2007-04-18 | 阿尔巴尼国际公司 | High load operation of an industrial roll door |
| CN101128289A (en) * | 2005-02-28 | 2008-02-20 | 日本电产三协株式会社 | Robot arm and robot |
| CN2839738Y (en) * | 2005-10-26 | 2006-11-22 | 施爱龙 | Mechanical transmission |
| CN1752406A (en) * | 2005-10-28 | 2006-03-29 | 大庆油田有限责任公司 | Single crank double stroke flexible rope beam-pumping unit |
| CN201089686Y (en) * | 2007-09-27 | 2008-07-23 | 日立电梯（中国）有限公司 | Observation elevator device |
| WO2012049623A1 (en) * | 2010-10-11 | 2012-04-19 | Ecole Polytechnique Federale De Lausanne (Epfl) | Mechanical manipulator for surgical instruments |
| US20140000411A1 (en) * | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Differential locking arrangements for rotary powered surgical instruments |
| CN202810800U (en) * | 2012-08-06 | 2013-03-20 | 王颖 | Direct-drive vertical type oil pumping machine with electrical switching machine and uninstall hanging linkage electrical machine |
| CN102979079A (en) * | 2012-11-22 | 2013-03-20 | 三一重工股份有限公司 | Cylinder driven derricking mechanism of dynamic compaction machine and dynamic compaction machine |
| CN105163679A (en) * | 2013-03-14 | 2015-12-16 | Sri国际公司 | Compact robotic wrist |
| CN103276928A (en) * | 2013-05-20 | 2013-09-04 | 四川五新智能设备有限公司 | Mechanical parking garage with oil cylinder stroke amplification device |
| CN105387157A (en) * | 2015-12-15 | 2016-03-09 | 施勤 | Winding transmission structure and method of pulleys and flexible rope |
| CN206026957U (en) * | 2016-08-02 | 2017-03-22 | 余军 | Adjustable counter balance piece gravity effect combined training ware |
| CN206035002U (en) * | 2016-08-30 | 2017-03-22 | 陕西泊客停车设备有限公司 | Mechanical parking device hoist mechanism |
| CN107198854A (en) * | 2016-09-18 | 2017-09-26 | 江苏科技大学 | A kind of counterweight adjusting device of body-building apparatus |
| CN107664181A (en) * | 2016-12-17 | 2018-02-06 | 黄山富田精工制造有限公司 | Speed change gear |
| CN206529118U (en) * | 2017-01-21 | 2017-09-29 | 连云港连锐针布有限公司 | Electronic drawing stone roller |
| CN206955531U (en) * | 2017-07-18 | 2018-02-02 | 刘小池 | A kind of shutter door installation and maintenance lifting device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6991637B1 (en) * | 2020-09-01 | 2022-01-13 | リバーフィールド株式会社 | Surgical tool |
| WO2022049631A1 (en) * | 2020-09-01 | 2022-03-10 | リバーフィールド株式会社 | Surgical tool |
| EP4193955A4 (en) * | 2020-09-01 | 2023-09-27 | RIVERFIELD Inc. | Surgical tool |
| CN113208732A (en) * | 2021-04-30 | 2021-08-06 | 康诺思腾机器人(深圳)有限公司 | Rear end transmission device, medical instrument and surgical robot |
| CN114166395A (en) * | 2021-12-03 | 2022-03-11 | 中国原子能科学研究院 | Fault monitoring device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110353807B (en) | 2022-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110353807A (en) | Traction device and manipulation device with the traction device | |
| AU2010311589B2 (en) | Minimally invasive laparoscopic surgical pliers | |
| SU1292661A3 (en) | Manipulator | |
| US20150167798A1 (en) | Motion transmitting device with epicyclic reduction gearing, epicyclic reduction gearing and manipulating arm | |
| CN105856191B (en) | The more body mechanisms of high speed of rope parallel drive | |
| RU2007100059A (en) | ACTUATING MECHANISM | |
| US5267478A (en) | Device for a rapid positioning of a heavy carriage | |
| CN106037934B (en) | Operating robot and its mechanical arm | |
| CN102488557A (en) | Device capable of realizing combinatorial motion output of 3PUU (three-prismatic-universal-universal) mechanism and 3UPU (three-universal-prismatic- universal) mechanism | |
| CN106181980A (en) | Synchronous driven type Cartesian robot | |
| CN109176491A (en) | A kind of single-degree-of-freedom module that rope drives and the multiple-degree-of-freedom mechanism using it | |
| KR100848536B1 (en) | Drawing unit for drawing long stretched material and drawing line | |
| CN104827467A (en) | Plane two-freedom moving device | |
| CN109873528A (en) | A kind of electric system with state self-monitoring function | |
| CN216570196U (en) | Multi-degree-of-freedom surgical robot rigid clamp and distal clamp mechanism thereof | |
| JP2726728B2 (en) | Equipment for high-speed positioning of heavy carriages | |
| CN205870594U (en) | Straight line joint | |
| CN109108949B (en) | Parallel mechanism with three motion modes of 3T, 2T1R and 1T2R | |
| KR100848170B1 (en) | Yaw device of multi-finger hand and multi-finger hand device including the same | |
| US5560250A (en) | Variable speed mechanism | |
| CN114041879B (en) | Multi-freedom-degree surgical robot rigid clamp | |
| CN106426114B (en) | The flat one turn of high-speed parallel manipulator of four branch of cross slider type three | |
| KR101981928B1 (en) | Length adjustable device | |
| CN108858159B (en) | Partially-decoupled two-degree-of-freedom mobile parallel mechanism | |
| CN108916335B (en) | Nano-grade differential friction transmission actuator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |