CN113456236A

CN113456236A - Rope-driven parallel main manipulator

Info

Publication number: CN113456236A
Application number: CN202110731524.8A
Authority: CN
Inventors: 李长胜; 段星光; 孟繁盛
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2021-10-01
Anticipated expiration: 2041-06-29
Also published as: CN113456236B

Abstract

The application discloses rope drive parallel force feedback main manipulator includes: a force feedback member and an operating member; the force feedback parts are at least arranged into three groups, and each group of force feedback parts comprises a fixing part for fixing on the bearing structure and a fixing rod component arranged on the fixing part; the fixed rod component comprises a rod body arranged on the fixed part, and an upper motor, a lower motor, an upper reel and a lower reel which are arranged on the rod body; the output ends of the upper motor and the lower motor are respectively in transmission connection with the upper reel and the lower reel after keeping set torque; the upper reel and the lower reel are respectively connected with the upper end and the lower end of the operating piece through an upper connecting rope and a lower connecting rope; the operating piece is provided with a rotating piece and an encoder for acquiring a rotating signal of the rotating piece. The parallel main operating handle solves the problems that the size and the weight of a parallel main operating handle are large and the working space is limited in the related technology.

Description

Rope-driven parallel main manipulator

Technical Field

The application relates to the technical field of surgical medical instruments, in particular to a rope-driven parallel main manipulator.

Background

Compared with the traditional operation, the minimally invasive surgery has the advantages of small wound, light pain and quick recovery, the robot-assisted minimally invasive surgery provides better flexibility, accuracy and operability for doctors, and the main operating hand is used as a man-machine interaction interface, is an important component in the robot-assisted minimally invasive surgery, is used for collecting the hand movement and force information of an operator to control the slave hand and feeding the force of the slave hand back to the main operating hand, so that the master-slave operation is realized.

At present, the main operators which are successfully applied mainly comprise an Omega series main operator of Force Dimension company and a PHOTOM series main operator of sensor company, wherein the Omega series main operator mainly adopts a parallel mechanism, the volume and the weight of the Omega series main operator are large, the working space is limited, and the Omega series main operator has defects in special occasions with special requirements; the PHANTOM series main manipulator adopts a serial structure, so that gravity balance is difficult to realize by the PHANTOM series main manipulator, and the application environment of the PHANTOM series main manipulator is limited.

Disclosure of Invention

The main purpose of this application is to provide a parallelly connected main manipulator of rope drive to solve parallelly connected main manipulator volume among the correlation technique and weight all great, and the limited problem of working space.

In order to achieve the above object, the present application provides a rope-driven parallel force feedback main operator, including: a force feedback member and an operating member; the force feedback parts are at least arranged into three groups, and each group of force feedback parts comprises a fixing part for fixing on a bearing structure and a fixing rod assembly arranged on the fixing part; the fixed rod assembly comprises a rod body arranged on the fixed part, and an upper motor, a lower motor, an upper reel and a lower reel which are arranged on the rod body; the output ends of the upper motor and the lower motor are in transmission connection with the upper reel and the lower reel respectively after keeping set torque; the upper reel and the lower reel are respectively connected with the upper end and the lower end of the operating element through an upper connecting rope and a lower connecting rope, so that the upper reel and the lower reel are linked with the operating element; and the operating piece is provided with a rotating piece and an encoder for acquiring a rotating signal of the rotating piece.

Furthermore, the force feedback components are arranged into three groups, the first ends of the three upper connecting ropes are respectively wound on the corresponding upper reel, and the second ends of the three upper connecting ropes are fixed on the upper part of the operating component and are positioned on the same horizontal plane;

the first ends of the three lower connecting ropes are respectively wound on the corresponding lower reels, and the second ends of the three lower connecting ropes are fixed at the lower part of the operating piece and are positioned on the same horizontal plane.

Further, the operating member is provided as a threaded rod.

Further, the operating part is of a polished rod structure, the upper part and the lower part of the operating part are both provided with fixing rings, and the fixing rings are provided with at least three fixing points which are positioned on the same horizontal plane;

and the second ends of the upper connecting rope and the lower connecting rope are fixed on the fixing points of the corresponding fixing rings.

Further, the operating part upper end is provided with the encoder mounting, the encoder is fixed on the encoder mounting, the rotating member is located on the encoder.

Further, the upper reel and the lower reel are identical in structure;

the upper portion reel is provided with a wire inlet hole along the axial direction, the reel is provided with a wire outlet hole communicated with the wire inlet hole along the radial direction, the first end of the upper portion connecting rope is fixed to the wire inlet hole, and the second end of the upper portion connecting rope sequentially penetrates through the wire inlet hole and the wire outlet hole and then winds the wire inlet hole and the wire outlet hole to be fixed to the operating part after extending outwards.

Further, the inside cavity setting that is of the body of rod, upper portion motor and lower part motor set gradually from last to down, the output of upper portion motor and lower part motor is respectively towards top and below.

Furthermore, an upper through hole and a lower through hole which are used for the upper connecting rope and the lower connecting rope to penetrate through are respectively formed in the upper end and the lower end of the rod body.

Further, the base is adhered to the sucker, and the rod body is fixedly connected with the base through a bolt.

In the embodiment of the application, the force feedback part and the operating part are arranged; the force feedback parts are at least arranged into three groups, and each group of force feedback parts comprises a fixing part for fixing on a bearing structure and a fixing rod assembly arranged on the fixing part; the fixed rod assembly comprises a rod body arranged on the fixed part, and an upper motor, a lower motor, an upper reel and a lower reel which are arranged on the rod body; the output ends of the upper motor and the lower motor are in transmission connection with the upper reel and the lower reel respectively after keeping set torque; the upper reel and the lower reel are respectively connected with the upper end and the lower end of the operating piece through an upper connecting rope and a lower connecting rope, so that the upper reel and the lower reel are linked with the operating piece, the motion state of the operating piece can be obtained by performing positive kinematic solution on signals through encoders carried by an upper motor and a lower motor, and the motion signals are transmitted to the tail end of the mechanical arm by a main controller; the operating part is provided with a rotating part and an encoder for acquiring a rotating signal of the rotating part, so that the structure of the main operation is simplified, the operating part has the characteristics of small size and light weight, and the working space is flexible and variable, and the problems that the size and the weight of a parallel main operating hand in the related art are large and the working space is limited are solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

FIG. 1 is a schematic structural diagram according to an embodiment of the present application;

FIG. 2 is a schematic view of the structure of an upper reel according to the embodiment of the present application;

FIG. 3 is a schematic view of a rod body according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural view of an upper motor according to an embodiment of the present application;

the device comprises an operating part 1, a force feedback part 2, a fixing part 21, a fixing rod component 22, a rod body 221, an upper motor 222, a lower motor 223, an upper winding wheel 224, a lower winding wheel 225, an upper connecting rope 3, a lower connecting rope 4, an encoder 5, a rotating part 6, an encoder fixing part 7, a base 8, a wire inlet hole 9, a wire outlet hole 10 and a through hole 11.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used.

In this application, the terms "upper", "lower", "inside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "disposed," "provided," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1 to 4, an embodiment of the present application provides a rope-driven parallel force feedback main operator, including: a force feedback member 2 and an operating member 1; the force feedback pieces 2 are at least arranged into three groups, and each group of force feedback pieces 2 comprises a fixing part 21 for fixing on the bearing structure and a fixed rod assembly 22 arranged on the fixing part 21; the fixed rod assembly 22 comprises a rod 221 arranged on the fixed part 21, an upper motor 222, a lower motor 223, an upper reel 224 and a lower reel 225 arranged on the rod 221; the output ends of the upper motor 222 and the lower motor 223 are in transmission connection with the upper reel 224 and the lower reel 225 respectively after keeping the set torque; the upper reel 224 and the lower reel 225 are connected to the upper and lower ends of the operating element 1 through the upper connecting string 3 and the lower connecting string 4, respectively, so that the upper reel 224 and the lower reel 225 are interlocked with the operating element; the operating element 1 is provided with a rotary member 6 and an encoder 5 for acquiring a rotation signal of the rotary member 6.

In the embodiment, the rope-driven parallel force feedback main manipulator mainly comprises a force feedback part 2 and an operating part 1, wherein the operating part 1 is held by an operator, the operating part 1 moves in space and transmits a motion signal to the tail end of the mechanical arm from the force feedback part 2 so as to control the tail end of the mechanical arm to execute actions, and the force signal in the tail end executing process of the mechanical arm is also fed back to the operating part 1 through the force feedback part 2 so as to be fed back to the hand end of the operator. Specifically, it should be noted that, in order to stably support the operating element 1, the force feedback members 2 are provided in at least three groups, and in this embodiment, the force feedback members 2 are exemplified as three groups. Each group of force feedback parts 2 has the same structure, only the arrangement positions are different, and the three groups are distributed in a triangular mode.

Each set of force feedback members 2 is composed of an upper motor 222, a lower motor 223, an upper reel 224 and a lower reel 225, i.e. in the whole manipulator, the upper motor 222, the lower motor 223, the upper reel 224 and the lower reel 225 are respectively set to three, each upper reel 224 is connected with the operation member 1 through an upper connecting rope 3, each lower reel 225 is connected with the operation member 1 through a lower connecting rope 4, and therefore the movement of the operation member 1 can drive the movement of the upper connecting rope 3 and the lower connecting rope 4. In addition, since the upper motor 222 is connected to the upper reel 224 by maintaining a set torque, and the lower motor 223 is also connected to the lower reel 225 by maintaining a set torque, the upper and

lower connection ropes

3 and 4 simultaneously rotate the upper and

lower reels

224 and 225, i.e., the output ends of the upper and

lower motors

222 and 223. The upper motor 222 and the lower motor 223 each have an encoder, and rotation signals corresponding to the output terminals of the upper motor 222 and the lower motor 223 are obtained by the encoders. When the manipulator is used, after the upper motor 222 and the lower motor 223 are connected with the controller, the motion state of the manipulator 1 can be obtained by performing positive kinematic calculation on a rotation signal through encoders of the upper motor 222 and the lower motor 223, and the controller transmits the motion signal to the tail end of the manipulator, so that the control of the tail end of the manipulator is realized.

More specifically, the force feedback member 2 is fixed on a smooth surface through the fixing portion 21, the upper motor 222 and the lower motor 223 are adjusted to output fixing torque to enable the corresponding upper connecting rope 3 and the corresponding lower connecting rope 4 to keep a certain tension, and an operator can generate a motion signal by operating the operating member 1 and send the motion signal to the slave manipulator to enable the slave manipulator to move; the interactive force signals generated from the robot and the environment are fed back to the upper motor 222 and the lower motor 223 to adjust the output torque, so that the operator can feel the force and the torque received from the end of the robot. The fixed position of the force feedback part 2 can be adjusted at will, the working space of a main manipulator is adjusted according to task requirements and environment, the initial setting can be carried out before operation, the operation part 1 is sequentially moved to a position close to the rod body 221, the original rope lengths of the upper connecting rope 3 and the lower connecting rope 4 are obtained through measurement, the variable quantity of the rope length in the movement process of the operation part 1 can be obtained through encoders carried by the upper motor 222 and the lower motor 223, and finally the space pose of the operation rod and the working space of the main manipulator are obtained through kinematics calculation. Each of the upper motor 222 and the lower motor 223 corresponds to a motor encoder.

Through the cooperation of the connecting rope, the winding wheel and the motor, the operating part 1 can realize the freedom degrees of up-and-down translation, front-and-back rotation, left-and-right translation and left-and-right rotation, and an independent rotation freedom degree can be obtained through the rotating part 6 arranged on the operating part 1 and the encoder 5 for acquiring the rotation signal of the rotating part 6, so that the main operator can have six freedom degrees.

Compared with the related technology, the invention has the beneficial effects that: the main manipulator adopts a rope to drive the parallel mechanism, has simple structure, small volume and light weight, and has flexible and variable working space; the main manipulator can be fixed at any position through the sucking disc, the operation is convenient, the body of the robot can be detached at any time, and the carrying is convenient; the main manipulator has 6 degrees of freedom in operation, and can meet the requirements of master-slave operation; the main manipulator adopts a motor-reel-rope driving mode, and the driving motor can be fixed on the supporting rod, so that the mechanism of the operation end is simplified, the weight is reduced, and the operation is convenient.

As shown in fig. 1 to 4, the force feedback members 2 are provided in three sets, the first ends of the three upper connecting ropes 3 are respectively wound on the corresponding upper reels 224, and the second ends are fixed on the upper portion of the operating member 1 and located on the same horizontal plane; the three lower connecting strings 4 are wound around the corresponding lower reels 225 at first ends thereof, and fixed to the lower portion of the operating member 1 at second ends thereof on the same horizontal plane. In this embodiment, the second ends of the three upper connecting ropes 3 and the lower connecting ropes 4 are fixed on the same horizontal plane, so that kinematics calculation can be facilitated, and the use efficiency can be improved.

As shown in fig. 1 to 4, the operating member 1 is configured as a threaded rod, the second ends of the three upper connecting strings 3 can be fixed in the same threaded groove of the threaded rod, and the second ends of the three lower connecting strings 4 can also be fixed in the same threaded groove of the threaded rod, so that the upper connecting strings 3 and the lower connecting strings 4 can be fixed conveniently.

The operating piece 1 is of a polished rod structure, the upper part and the lower part of the operating piece 1 are both provided with fixing rings, and the fixing rings are provided with at least three fixing points which are positioned on the same horizontal plane; the second ends of the three upper connecting ropes 3 and the lower connecting ropes 4 are fixed on the fixing points of the corresponding fixing rings.

The operating part 1 is for the handheld operation of the operator of polished rod structure being convenient for, compares in the threaded rod structure, has increased solid fixed ring's structure, though at more structures, but through solid fixed ring can be accurate with the second end of three upper portion connection rope 3 fix at same horizontal plane, also fix the stiff end at same horizontal plane with three lower part connection rope 4.

As shown in fig. 1 to 4, operating parts 1 upper end is provided with the 5 mounting of encoder, and encoder 5 is fixed on the 5 mounting of encoder, and on encoder 5 was located to rotating member 6, the connection of encoder 5 and operating parts 1 can be convenient for through the 5 mounting of encoder, accessible bolt fixed connection between 5 mounting of encoder and the operating parts 1, also can be through bolt fixed connection between 5 mounting of encoder and the encoder, and rotating member 6 sets up to columniform rotation handle.

As shown in fig. 1 to 4, the upper reel 224 and the lower reel 225 have the same structure, and therefore, the structure of the upper reel 224 will be described in detail in this embodiment, that is, the upper reel 224 has a wire inlet hole 9 formed along the axial direction, the reel has a wire outlet hole 10 formed along the radial direction and communicating with the wire inlet hole 9, the upper connecting string 3 has a first end fixed to the wire inlet hole 9, and a second end passing through the wire inlet hole 9 and the wire outlet hole 10 in sequence, then being wound around the reel, and then extending outward and being fixed to the operating member 1.

Further, body of rod 221 is inside to be the cavity setting, upper portion motor 222 and lower part motor 223 set gradually from last to down, upper portion motor 222 and lower part motor 223's output is respectively towards top and below, the upper and lower both ends of body of rod 221 are offered respectively and are used for upper portion to connect the upper portion through-hole 11 and the lower part through-hole 11 that rope 3 and lower part connection rope 4 passed, be convenient for upper portion to connect rope 3 and lower part connection rope 4 and operating parts 1's being connected, base 8 bonds with the sucking disc, body of rod 221 passes through bolt fixed connection with base 8.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A rope-driven parallel force feedback main manipulator is characterized by comprising: a force feedback member and an operating member; wherein the content of the first and second substances,

the force feedback parts are arranged into at least three groups, and each group of force feedback parts comprises a fixing part for fixing on a bearing structure and a fixing rod assembly arranged on the fixing part;

the fixed rod assembly comprises a rod body arranged on the fixed part, and an upper motor, a lower motor, an upper reel and a lower reel which are arranged on the rod body; the output ends of the upper motor and the lower motor are in transmission connection with the upper reel and the lower reel respectively after keeping set torque;

the upper reel and the lower reel are respectively connected with the upper end and the lower end of the operating element through an upper connecting rope and a lower connecting rope, so that the upper reel and the lower reel are linked with the operating element;

and the operating piece is provided with a rotating piece and an encoder for acquiring a rotating signal of the rotating piece.

2. The rope-driven parallel force-feedback main operator according to claim 1, wherein said force-feedback members are provided in three sets, first ends of three said upper connecting ropes are respectively wound around corresponding upper reels, and second ends thereof are fixed to upper portions of the operating members and located on the same horizontal plane;

3. The cord driven parallel force feedback main operator according to claim 2, wherein said operator is provided as a threaded rod.

4. The rope-driven parallel force-feedback main manipulator according to claim 2, wherein the operating member is configured as a polished rod structure, and the upper part and the lower part of the operating member are provided with fixing rings, and the fixing rings are provided with at least three fixing points which are located on the same horizontal plane;

5. The rope-driven parallel force feedback main manipulator according to any one of claims 2 to 4, wherein an encoder fixing member is arranged at the upper end of the operating member, the encoder is fixed on the encoder fixing member, and the rotating member is arranged on the encoder.

6. The rope driven parallel force feedback master manipulator of claim 5, wherein said upper and lower reels are identical in construction;

7. The rope-driven parallel force-feedback main operator according to claim 6, wherein the rod body is hollow inside, the upper motor and the lower motor are sequentially arranged from top to bottom, and the output ends of the upper motor and the lower motor respectively face upwards and downwards.

8. The rope-driven parallel force-feedback main operator according to claim 7, wherein the upper and lower ends of the lever body are respectively provided with an upper through hole and a lower through hole for the upper connecting rope and the lower connecting rope to pass through.

9. The rope driven parallel force feedback master operator according to claim 8, wherein said fixed portion comprises a suction cup and a base fixed to an upper end of said suction cup, said rod body being fixed to said base.

10. The rope-driven parallel force-feedback main operator according to claim 9, wherein said base is bonded to said suction cup, and said rod body is fixedly connected to said base by means of bolts.