CN112754659B - Converter for combination of UR robot and software operator - Google Patents
Converter for combination of UR robot and software operator Download PDFInfo
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- CN112754659B CN112754659B CN202011456493.1A CN202011456493A CN112754659B CN 112754659 B CN112754659 B CN 112754659B CN 202011456493 A CN202011456493 A CN 202011456493A CN 112754659 B CN112754659 B CN 112754659B
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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
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Abstract
The invention relates to a converter design for UR robot and software manipulator combination. The translator is mounted at the end of the UR robot. The structure mainly comprises: pneumatic device air inlet, software manipulator passageway and UR robot keysets. The pneumatic device air inlet is arranged on the side face of the converter, and 3 air ducts can enter the converter conveniently, so that the converter is connected with the bottom of the soft manipulator to control stretching, bending and twisting of the soft manipulator. The soft manipulator channel is used for placing the bottom of the soft manipulator and is fixed by 4 equidistant screws on the periphery. The UR robot adapter plate is fixed at the tail end of the UR robot and connected with the UR robot adapter plate. These three parts together constitute the converter. The converter has small volume, light weight, convenient disassembly and complete fit with a soft manipulator.
Description
Technical Field
The invention belongs to the field of medical robots, and particularly relates to a converter for combination of a UR robot and a software manipulator.
Background
In recent years, with the development of new materials and rapid prototyping technologies, the research enthusiasm of soft robots has been raised worldwide, and the soft robots are gradually applied to the medical field. The research relates to multidisciplinary cross fusion of materials science, bionics, mechanical design and manufacture, sensor technology and the like. The design inspiration of the soft robot is mainly derived from imitating natural soft organisms, such as a mechanical arm type soft robot imitating structures like a trunk, an octopus tentacle and the like, and the soft robot can adapt to a complex and narrow environment and carry out soft and safe target holding and operation tasks. However, the individual soft robots are limited to a single workspace, and in order to carry the soft robots within the workspace required by the individual, they need to be combined with a drive mechanism. At present, the most widely used da vinci surgical robot carries an end effector to a focus point of a patient by a plurality of mechanical arms to perform surgical operation. The system is operated by UR5 robot, i.e. a robot arm carrying a soft robot (manipulator).
The UR5 robot is a six-degree-of-freedom man-machine cooperative robot derived from Universal Robots in Denmark, is flexible, portable and famous, and can realize 360-degree rotation of all joints and infinite rotation of a tail end joint. The robot itself is an arm consisting of a link and a joint, and as shown in fig. 3, the base is the mounting position of the robot, and the end (first wrist) of the robot is connected to the tool. By coordinating the movement of each joint, the robot can move the end tool at will, and the effective working radius can reach 850mm.
Disclosure of Invention
The present invention is directed to overcome the disadvantages of the prior art, and provides a converter for combination of a UR robot and a soft manipulator, which can safely and accurately carry the soft manipulator to a designated working space for corresponding operation, and the converter has the advantages of light weight, low cost, simple structure, and easy detachment, and increases the applicability of the device.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a converter for combination of a UR robot and a soft manipulator comprises an adapter plate, wherein a soft manipulator channel is arranged at one end of the adapter plate, which is far away from the UR robot, and an air inlet is formed in the side wall of the soft manipulator channel; the adapter plate is provided with a first threaded hole, the end part of the UR robot is provided with a second threaded hole, and the adapter plate and the tail end of the adapter plate sequentially penetrate through the first threaded hole and the second threaded hole through screws to be movably connected; four openings are formed in the soft manipulator channel, and screws penetrate through the four openings to fix the soft manipulator.
Preferably, the adapter plate is of a visor type structure.
Preferably, the converter is made by Solidworks software.
The invention also provides a software operator installation method, which comprises the following steps: a, sequentially passing screws through a first threaded hole and a second threaded hole to enable a converter to be connected with the tail end of the UR robot; b, arranging a hollow interlayer in the converter according to the size of the base of the software operator, so that the base of the software operator can be just placed in the channel of the software operator; c, four openings are formed in the soft body operator channel, and screws respectively penetrate through the four openings to fix the soft body actuator; d, a vent pipe of the pneumatic device enters from an air inlet on the left side of the lower layer of the converter and is connected to the bottom of the soft body operator through a hollow channel in the converter; the UR robot is coupled to the software operator via the translator.
Compared with the prior art, the invention has the beneficial effects that: the converter can safely and accurately carry the software operator to reach the designated working space for corresponding operation, and has the advantages of light weight, low cost, simple structure and simple disassembly.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
Drawings
Further objects, features and advantages of the present invention will become apparent from the following description of embodiments of the invention, with reference to the accompanying drawings, in which:
FIG. 1 schematically illustrates a converter architecture according to the present invention;
FIG. 2 schematically illustrates a physical schematic of the converter of the present invention;
FIG. 3 is a schematic diagram of the UR5 robot structure of the present invention;
fig. 4 is a schematic diagram showing the structure of the transducer of the invention mounted at the end of the UR5 robot.
In the figure:
1. adapter plate 2 and first threaded hole
3. Software manipulator channel 4, first wrist
5. The second wrist 6 and a second threaded hole
7. Third wrist 8, elbow joint
9. Shoulder joint 10, frame
11. Air inlet
Detailed Description
The objects and functions of the present invention and methods for accomplishing the same will be apparent by reference to the exemplary embodiments. However, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in different forms. The nature of the description is merely to assist those skilled in the relevant art in a comprehensive understanding of the specific details of the invention.
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.
The invention aims to ensure that the UR robot can safely and accurately carry a software manipulator to reach the focus of a surgical patient, and in order to realize the aim, the technical scheme of the invention is as follows: a converter for connecting the UR robot and the soft operating device is designed, so that the UR robot and the soft operating device are completely matched under the condition of not interfering with each other, and a complete soft operating robot operating system is formed together.
The invention relates to a converter design for UR robot and software manipulator combination. The translator is mounted at the end of the UR robot. The structure mainly comprises: pneumatic device air inlet 11, soft manipulator channel 3 and UR robot adapter plate 1. The pneumatic device air inlet 11 is arranged on the side face of the converter, and 3 air ducts can enter the converter conveniently so as to be connected with the bottom of the soft manipulator to control stretching, bending and twisting of the soft manipulator. The soft manipulator channel is used for placing the bottom of the soft manipulator and is fixed by 4 equidistant screws on the periphery. The UR robot adapter plate is fixed at the tail end of the UR robot and connected with the UR robot adapter plate. These three parts together constitute the converter. The converter has small volume, light weight and convenient disassembly, and is completely matched with a soft manipulator.
The SolidWorks is adopted for structural design, and the structural design of the converter is shown in figure 1. The finished transducer is shown in fig. 2. The transducers are mounted at the end of the UR5 robot as shown in figure 4.
In fig. 3, the base is the adapter plate 1 of the UR robot, and is fixed at the end of the UR robot by 4 screws, so that the whole converter is connected with the UR robot; a hollow interlayer is arranged in the converter according to the size of the base of the soft manipulator, so that the bottom of the soft manipulator can be just placed in the channel 3 of the soft manipulator, and 4 first threaded holes 2 are formed in the periphery of the upper layer of the converter so as to facilitate fixation; the pneumatic means' vent tube can enter from the air inlet 11 on the left side of the lower deck of the converter and connect to the bottom of the soft manipulator through a hollow channel inside the converter. Therefore, the UR robot is combined with the soft manipulator through the converter, the UR robot can be remotely controlled to reach a required working space by carrying the soft manipulator, and the moving range is greatly improved.
Experiments prove that the UR robot can safely and accurately carry a software operator to reach a designated working space for corresponding operation, and the converter has the advantages of light weight, low cost, simple structure and simplicity in disassembly, thereby achieving the purpose of the invention.
The invention has the beneficial effects that: the converter can safely and accurately carry the software operator to reach the designated working space for corresponding operation, and has the advantages of light weight, low cost, simple structure and simple disassembly.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (3)
1. A converter for UR robot and soft manipulator combination is characterized in that the converter is made by Solidworks software; the converter comprises an adapter plate, one end of the adapter plate, which is far away from the UR robot, is provided with a soft manipulator channel, and the side wall of the soft manipulator channel is provided with an air inlet, so that 3 ventilation pipelines can conveniently enter to be connected with the bottom of the soft manipulator to further control the stretching, bending and twisting of the soft manipulator;
the adapter plate is provided with a first threaded hole, the end part of the UR robot is provided with a second threaded hole, and the adapter plate and the tail end of the adapter plate sequentially penetrate through the first threaded hole and the second threaded hole through screws to be movably connected;
four openings are formed in the soft manipulator channel, and screws respectively penetrate through the four openings to fix the soft manipulator;
a hollow interlayer is arranged in the converter according to the size of the base of the soft manipulator, so that the bottom of the soft manipulator can be just placed in the channel of the soft manipulator.
2. The converter of claim 1, wherein the adapter plate is a visor-type structure.
3. A software operator installation method, comprising the steps of:
a, sequentially passing screws through a first threaded hole and a second threaded hole to enable a converter to be connected with the tail end of the UR robot;
b, arranging a hollow interlayer in the converter according to the size of the base of the soft manipulator, so that the base of the soft manipulator can be just placed in the channel of the soft manipulator;
c, four openings are formed in the soft manipulator channel, and screws respectively penetrate through the four openings to fix the soft manipulator;
d, a vent pipe of the pneumatic device enters from an air inlet on the left side of the lower layer of the converter and is connected to the bottom of the soft manipulator through a hollow channel in the converter, so that 3 vent pipes can conveniently enter and are connected with the bottom of the soft manipulator to control the stretching, bending and twisting of the soft manipulator; the UR robot is coupled to the software operator via the translator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011456493.1A CN112754659B (en) | 2020-12-11 | 2020-12-11 | Converter for combination of UR robot and software operator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011456493.1A CN112754659B (en) | 2020-12-11 | 2020-12-11 | Converter for combination of UR robot and software operator |
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| CN112754659A CN112754659A (en) | 2021-05-07 |
| CN112754659B true CN112754659B (en) | 2023-03-03 |
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Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202016002733U1 (en) * | 2016-04-22 | 2017-07-26 | Kuka Roboter Gmbh | End effector means |
| CN106426287A (en) * | 2016-11-09 | 2017-02-22 | 北京工业大学 | Flexible tail end connecting device for industrial robot |
| CN107932533B (en) * | 2017-12-19 | 2023-06-20 | 燕山大学 | Pneumatic flexible high-force gripping device based on food winding principle |
| CN108436954B (en) * | 2018-04-02 | 2020-03-13 | 燕山大学 | Bionic pneumatic flexible grasping device |
| JP7403832B2 (en) * | 2018-03-27 | 2023-12-25 | ソフト ロボティクス， インコーポレイテッド | Field-assembled soft grips for industrial and collaborative robots |
| CN108814740B (en) * | 2018-06-22 | 2019-09-06 | 雅客智慧（北京）科技有限公司 | End clamping apparatus and end effector of robot localization method |
| CN110509267B (en) * | 2019-08-21 | 2022-10-25 | 燕山大学 | Soft manipulator based on swallowing effect |
| CN110561411B (en) * | 2019-09-16 | 2021-04-13 | 燕山大学 | Bionic soft heavy-load manipulator based on vacuum driver |
| CN211610047U (en) * | 2019-12-13 | 2020-10-02 | 杭州三坛医疗科技有限公司 | Surgical robot and end surgical instrument thereof |
| CN111843991B (en) * | 2020-07-01 | 2021-09-21 | 浙江工业大学 | Inside rigid structure of software arm and pneumatic mechanical arm formula software robot |
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