CN113598958B - Device and method for balancing gravity of master hand of surgical robot - Google Patents
Device and method for balancing gravity of master hand of surgical robot Download PDFInfo
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- CN113598958B CN113598958B CN202110891877.4A CN202110891877A CN113598958B CN 113598958 B CN113598958 B CN 113598958B CN 202110891877 A CN202110891877 A CN 202110891877A CN 113598958 B CN113598958 B CN 113598958B
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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
- A61B34/37—Master-slave robots
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
Abstract
The invention belongs to the technical field of main hand gravity balance, and relates to a main hand gravity balance device and a method of a surgical robot, which comprises a main hand forearm and a main hand upper arm, wherein a fixed station is arranged above the top end of the main hand upper arm, the fixed station is connected with a first shaft top disc to rotate, the first shaft top disc is fixedly connected with one end of a connecting hanging bracket, the other end of the connecting hanging bracket is rotatably connected with a horizontal second shaft, and the horizontal second shaft is fixedly connected with the top end of the main hand upper arm; the horizontal two shafts are respectively connected with a two-shaft balance mechanism fixing part and a three-shaft driving wheel, a three-shaft gravity balancing weight is fixed on the three-shaft driving wheel, one part of the three-shaft driving wheel is hinged with one end of a front arm pull rod, the other end of the front arm pull rod is hinged with a main hand front arm, and the position of the three-shaft driving wheel connected with the front arm pull rod and the three-shaft gravity balancing weight are respectively positioned on two sides of the horizontal two shafts; the three-shaft driving wheel is connected with the one-shaft top disc through a spring tension type balancing mechanism. The method improves the effect of gravity balance and can reduce the energy consumption of the main hand in the operation process.
Description
Technical Field
The invention relates to a main hand gravity balance device and method for a surgical robot, and belongs to the technical field of main hand gravity balance.
Background
The master hand of the surgical robot is a key input device for surgeons to perform surgical operations using the surgical robot. The operation flexibility and portability of the master hand are of great significance for relieving fatigue of surgeons and smoothly executing the operation. At present, the gravity balance method of the master hand of the surgical robot mainly takes dynamic calculation as the main part. The torque caused by the weight of the forearm and the upper arm of the main hand is calculated and compensated in real time from the movements of the main hand using a dynamic model. This counter-weight approach increases the power consumption of the moving motor and thus the energy consumption of the whole apparatus. In addition, because the current compensation model is difficult to be accurately established, the compensation effect in the actual operation process is not ideal.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the gravity balancing device and the method for the main hand of the surgical robot improve the gravity balancing effect and can reduce the energy consumption of the main hand in the surgical process.
The gravity balancing device for the main hand of the surgical robot comprises a main forearm, wherein one end of the main forearm is hinged with the bottom end of the main upper arm through three shafts, and the other end of the main forearm is connected with a handle; a fixed platform is arranged above the top end of the upper arm of the main hand, the fixed platform is rotationally connected with a first shaft top disc below the fixed platform through a vertical rotating shaft, a first shaft motor is arranged at one end of the fixed platform, a main shaft of the first shaft motor and an arc curved surface on one side of the first shaft top disc form a driving pair, the first shaft top disc is fixedly connected with one end of a connecting hanging bracket, the other end of the connecting hanging bracket is rotationally connected with a second horizontal shaft, and the second horizontal shaft is fixedly connected with the top end of the upper arm of the main hand; one end of a horizontal two-shaft is fixedly connected with a two-shaft balance mechanism, the other end of the horizontal two-shaft is rotatably connected with a three-shaft driving wheel, a three-shaft gravity balancing weight is fixed on the three-shaft driving wheel, one position of the three-shaft driving wheel is hinged with one end of a forearm pull rod, the other end of the forearm pull rod is hinged with a main forearm, and the position of the three-shaft driving wheel, which is connected with the forearm pull rod, and the three-shaft gravity balancing weight are respectively positioned on two sides of the horizontal two-shaft; the three-shaft driving wheel is connected with the one-shaft top disc through a spring tension type balancing mechanism; a three-axis motor is fixed on the connecting hanger, and a main shaft of the three-axis motor and the outer ring arc curved surface of the three-axis driving wheel form a driving pair.
In the working process, the fixed table is fixed with the equipment rack, and then the gravity balance adjustment is carried out, so that the operation master hand is easy. The three-axis driving wheel between the forearm pull rod and the upper arm of the main hand and the forearm stroke of the main hand form a parallelogram. The main forearm and the main upper arm are in gravity balance through different mechanisms, and the main upper arm is mainly in gravity balance through a two-axis balance mechanism; the balance of the forearm gravity of the main hand comprises primary static balance and secondary dynamic balance, wherein the primary static balance mainly balances the forearm gravity of the main hand in a three-axis driving wheel by a three-axis gravity balancing weight in a lever principle to the maximum extent; the second-stage dynamic balance is realized by a spring tension type balance mechanism, and the gravity of the main forearm, the three-axis gravity balancing weight, except the gravity, is balanced. The one-shaft motor and the three-shaft motor respectively form a driving pair with the arc curved surface on one side of the one-shaft top disc and the arc curved surface on the outer ring of the three-shaft driving wheel, so that the handle can feel forceful in the process of operating the handle, and the gravity balance cannot be influenced.
Preferably, the spring tension type balance mechanism comprises a three-shaft hanger, one end of the three-shaft hanger is fixedly connected with one side of the central position of a three-shaft driving wheel, the other end of the three-shaft hanger is provided with a three-shaft guide wheel strip type adjusting groove, and a three-shaft guide wheel is arranged in the three-shaft guide wheel strip type adjusting groove; one side of a top plate right above the horizontal two shafts is provided with a central guide wheel, one end of the upper surface of the top plate is fixed with a spring guide wheel, the other end of the upper surface of the top plate is fixed with one end of a spring, one end of a tension cord is hung on the three-shaft guide wheel, and the other end of the tension cord is connected with the other end of the spring after passing through the central guide wheel and the spring guide wheel.
Principle of equilibrium action: when the main forearm rotates around the three axes to be separated from the horizontal position, the gravity moment caused by the gravity of the main forearm is changed, the main forearm rotates to drive the forearm pull rod to act, the forearm pull rod acts to drive the three-axis driving wheel to rotate, the three-axis driving wheel rotates to pull the three-axis hangers, the positions of the three-axis hangers change to pull the tension cords, and therefore the torsion generated by the spring is tensioned; when the spring with proper stiffness coefficient is selected and the relative position between the three-shaft hangers and the three-shaft driving wheel is reasonably adjusted, the change of the gravity moment and the change of the spring moment can generate consistent change, and the action directions of the spring moment and the gravity moment are opposite all the time, so that the changes of the two moments are mutually offset, and finally, the dynamic gravity balance is realized. The specific position of the three-axis guide wheel in the strip-type adjusting groove of the three-axis guide wheel can be adjusted according to actual conditions.
Preferably, the two-shaft balancing mechanism comprises a two-shaft driving wheel and a two-shaft hanging lug, the central position of the two-shaft driving wheel is fixedly connected with one end of a horizontal two-shaft, a two-shaft gravity balancing weight is fixed on the two-shaft driving wheel, a two-shaft motor is fixed on the connecting hanging bracket, and a main shaft of the two-shaft motor and an outer ring arc curved surface of the two-shaft driving wheel form a driving pair; one end of a two-shaft hanging lug is fixedly connected with the central position of a two-shaft driving wheel, the other end of the two-shaft hanging lug is provided with a two-shaft hanging lug strip type adjusting groove, a sliding rod fixing bolt is arranged in the two-shaft hanging lug strip type adjusting groove, and a guide rod fixing bolt is arranged right above a horizontal two-shaft on the other side of a one-shaft top disc; the sliding rod fixing bolt is connected with one end of the sliding rod, the other end of the sliding rod is provided with a plurality of first magnet mounting grooves, and first magnets are fixed in the first magnet mounting grooves; the guide rod fixing bolt is connected with one end of the guide rod, the other end of the guide rod is provided with a sliding groove, one end of the sliding rod provided with the first magnet is inserted into the sliding groove, one side of the sliding groove is provided with a plurality of second magnet mounting grooves, the second magnet mounting grooves are internally fixed with a second magnet, and the first magnet and the second magnet are attracted.
The gravity balance of the main arm also comprises primary static balance and secondary dynamic balance, the primary static balance mainly balances the gravity of the main arm in the two-axis driving wheel by the lever principle to the maximum extent through the two-axis gravity balancing weight, when the main arm rotates around the horizontal two-axis to be separated from the vertical position, the gravity center of the two-axis gravity balancing weight deviates from the gravity center of the main arm, and the gravity center of the two-axis gravity balancing weight and the gravity center of the main arm are respectively positioned at two sides of the horizontal two-axis, so that the two-axis gravity balancing weight can balance part of the gravity of the main arm; and secondary dynamic balance is realized, when the upper arm of the main hand rotates around the horizontal two shafts to be separated from the vertical position, the gravity moment caused by the gravity of the upper arm of the main hand is changed, the two-shaft driving wheel rotates to pull the two-shaft hangers, so that the sliding rod and the guide rod are driven to generate relative displacement, the pulling force between the sliding rod and the guide rod is changed, and the pulling moment formed by the pulling force between the first magnet and the second magnet on the two shafts is further changed. Because the tension change and the distance change between the first magnet and the second magnet are in an inverse relation, when the sliding rod is embedded into the guide rod, the larger the tension of the magnets is, and the larger the formed tension moment is; the tension moment is opposite to the gravity moment formed by the upper arm and the forearm of the main hand. When the distribution positions of the strong magnets, the first magnets and the second magnets are properly selected, the gravity moment formed by the upper arm and the forearm of the main hand can be approached to the maximum extent, and therefore the gravity of the forearm of the main hand is balanced. When the upper arm of the main hand is in a vertical state, the gravity center of the two-axis gravity balancing weight is positioned right above the gravity center of the upper arm of the main hand. The matching of the two-shaft motor and the circular arc curved surface of the outer ring of the two-shaft driving wheel ensures that the spindle has a powerful feeling in the operation process and cannot influence the gravity balance. The distribution positions of the first magnet and the second magnet in the first magnet mounting groove or the second magnet mounting groove can be adjusted according to actual conditions.
Preferably, one end of the three-shaft suspension loop connected with the three-shaft driving wheel is provided with a plurality of first long circular arc adjusting holes, and the bolt penetrates through the first long circular arc adjusting holes to lock and fix the three-shaft driving wheel and the three-shaft suspension loop. The inclination angle of the three-axis hangers is properly adjusted as required to adjust the initial gravity balance position, so that the force arm is adjusted, and the torque generated by the spring tension can better balance the gravity of the forearm of the main hand.
Preferably, one end of the two-axle suspension loop connected with the two-axle driving wheel is provided with a plurality of second long arc adjusting holes, and the bolt penetrates through the second long arc adjusting holes to lock and fix the two-axle driving wheel and the two-axle suspension loop. The position relation between the two-axis hangers and the two-axis gravity balancing weight can be properly adjusted as required, the initial gravity balance position is adjusted, the force arm is adjusted, and the balance gravity can be better achieved by the magnet force between the first magnet and the second magnet.
Preferably, the three-axis guide wheel is fixed in the strip-type adjusting groove of the three-axis guide wheel through the matching of the first bolt and the first nut, and the peripheral bottom surface of the strip-type adjusting groove of the three-axis guide wheel, which is tightly attached to the first nut, is a tooth-shaped bottom surface of the three-axis hangers, so that the position of the three-axis guide wheel can be effectively prevented from being unnecessarily moved back and forth.
Preferably, the sliding rod fixing bolt is matched with the sliding rod fixing nut to determine the position of the sliding rod fixing bolt in the two-shaft hanging lug strip type adjusting groove, and the peripheral bottom surface of the two-shaft hanging lug strip type adjusting groove tightly attached to the sliding rod fixing nut is a two-shaft hanging lug toothed bottom surface, so that unnecessary relative displacement between the sliding rod and the guide rod can be effectively prevented.
Preferably, the three-axis gravity balancing weight is in a fan-shaped annular shape and is arranged at the center end of the far three-axis driving wheel, the rotational inertia formed by the three-axis gravity balancing weight is large, the inherent vibration frequency of the three axes can be effectively reduced, and the high-frequency vibration caused by three-axis control is restrained.
Preferably, the two-axis gravity balancing weight is in a sector annular shape and is arranged at the center end of the far two-axis driving wheel, the rotational inertia formed by the two-axis gravity balancing weight is large, and the natural vibration frequency of the horizontal two-axis gravity balancing weight can be effectively reduced, so that the high-frequency vibration caused by horizontal two-axis control is inhibited.
The gravity balancing method for the master hand of the surgical robot comprises the following specific steps,
calculating a proper three-axis gravity balancing weight according to the gravity center position and the mass of the front arm of the main hand and the limit of the installation space on the three-axis driving wheel, balancing a part of gravity of the front arm of the main hand based on a lever principle, and then balancing the gravity moment caused by the residual gravity by using a spring tension type balancing mechanism;
secondly, primarily selecting a stiffness coefficient of a tension spring according to the gravity center position of the front arm of the main hand and the three-axis driving wheel, mounting a three-axis suspension loop at a position forming an angle of-45 degrees with a horizontal line, properly adjusting the position of a three-axis guide wheel to enable the deviation of the balance moment and the actual gravity moment of the front arm of the main hand to be minimum, and then adjusting the position of the three-axis suspension loop to enable the spring pull moment to be maximum when the front arm of the main hand is horizontal; when the gravity balance effect is not ideal, selecting other stiffness coefficient springs, and repeating the step;
thirdly, calculating a proper two-axis gravity balancing weight according to the gravity center position and the mass of the upper arm of the main hand and the limit of the installation space on the two-axis driving wheel, balancing a part of gravity of the upper arm of the main hand based on a lever principle, and then balancing the gravity moment caused by the residual gravity by using a magnet pull type balancing device;
step four, primarily selecting magnet blocks and installing the magnet blocks on the sliding rod and the guide rod; the included angle between the two-axis hangers and the vertical direction needs to be adjusted according to the position relation between the gravity center of the upper arm of the main hand and the horizontal two-axis, and meanwhile, the static moment formed by the forearm of the main hand on the horizontal two-axis is also considered; the sliding distance between the sliding rod and the guide rod can be effectively adjusted by adjusting the position of the sliding rod fixing bolt in the two-shaft hanging lug strip type adjusting groove, so that the acting distance between the first magnet and the second magnet is adjusted;
and step five, after the horizontal two-axis gravity balance is adjusted, if the three-axis balance has deviation, the position of the three-axis hangers and/or the position of the three-axis guide wheel need to be adjusted again according to the method in the step 2, so that the three-axis balance effect is optimal.
In the above steps, a spring tension meter may be installed at the distal end of the forearm or the upper arm of the main hand to measure the balanced gravitational moment.
Calculating the size of the triaxial gravity balancing weight: and calculating the gravity moment formed by the gravity of the main forearm to the three-axis driving wheel through the forearm pull rod and the three-axis hangers by using the horizontal two-axis as a fulcrum by using a lever principle, and calculating the corresponding mass according to the mounting position of the three-axis gravity balancing weight. Calculating the size of the biaxial gravity balancing weight: and calculating the gravity moment formed by the gravity of the upper arm of the main hand to the two-axis driving wheel through the two-axis hangers by using the horizontal two-axis as a fulcrum by utilizing a lever principle, and calculating the corresponding mass according to the installation position of the two-axis configuration block.
Compared with the prior art, the invention has the beneficial effects that:
in the invention, the gravity balance at the three axes and the gravity balance at the horizontal two axes respectively comprise primary static balance and secondary dynamic balance; the first-stage static balance is realized through the three-axis gravity balancing weight and the two-axis gravity balancing weight respectively, the second-stage dynamic balance is balanced through spring tension and magnet suction respectively, power consumption of a moving motor does not exist in the whole gravity balancing process, power consumption of the whole equipment is reduced, a supplementary model does not need to be established, the mechanical structure is adjusted, and the gravity balancing effect is ideal.
Drawings
FIG. 1 is a schematic structural diagram of a main hand gravity balance device of a surgical robot;
FIG. 2 is a schematic view of a three-axis drive wheel portion;
FIG. 3 is a schematic view of a two-axis drive wheel;
FIG. 4 is a schematic view of a three-axis hanger structure;
FIG. 5 is a schematic view of a two-axis hanger;
FIG. 6 is a schematic view of the guide bar construction;
FIG. 7 is a schematic view of a slide bar construction;
FIG. 8 is a rear view of the surgical robot master hand weight balancing apparatus;
fig. 9 is a schematic diagram of spring moment generation.
In the figure: 1. a fixed table; 2. a rotating shaft; 3. a shaft motor; 4. a shaft top plate; 5. a two-axis motor; 6. a three-axis motor; 7. a three-axis drive wheel; 8. a three-axis gravity balancing weight; 9. a master arm; 10. three axes; 11. a main forearm; 12. a forearm pull rod; 13. a horizontal biaxial; 14. a handle; 15. pulling a cord; 16. connecting a hanging bracket; 17. a spring; 18. a central guide wheel; 19. a spring guide wheel; 20. a three-axis guide wheel; 21. a three-shaft guide wheel strip type adjusting groove; 22. a three-axis suspension loop; 23. a guide bar; 24. a slide bar; 25. a slide rod fixing bolt; 26. a two-shaft suspension loop; 27. a biaxial gravity balance weight; 28. a two-axis drive wheel; 29. a guide rod fixing bolt; 30. a first long circular arc adjusting hole; 31. a tooth-shaped bottom surface of the three-axis suspension loop; 32. a long arc adjusting hole II; 33. the tooth-shaped bottom surface of the two-shaft hanging lug; 34. a two-shaft hanger strip type adjusting groove; 35. a magnet mounting groove II; 36. a second magnet; 37. a sliding groove; 38. a magnet mounting groove I; 39. and a first magnet.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1 and 9, the surgical robot main hand gravity balance device according to the present invention includes a main forearm 11, one end of the main forearm 11 is hinged to the bottom end of an upper arm 9 of the main hand through a three-axis 10, and the other end of the main forearm 11 is connected to a handle 14; a fixed platform 1 is arranged above the top end of the main hand upper arm 9, the fixed platform 1 is rotatably connected with a lower first shaft top disc 4 through a vertical rotating shaft 2, a first shaft motor 3 is arranged at one end of the fixed platform 1, a main shaft of the first shaft motor 3 and an arc curved surface on one side of the first shaft top disc 4 form a driving pair, the first shaft top disc 4 is fixedly connected with one end of a connecting hanging bracket 16, the other end of the connecting hanging bracket 16 is rotatably connected with a horizontal second shaft 13, and the horizontal second shaft 13 is fixedly connected with the top end of the main hand upper arm 9; one end of a horizontal two-shaft 13 is fixedly connected with a two-shaft balance mechanism, the other end of the horizontal two-shaft 13 is rotatably connected with a three-shaft driving wheel 7, a three-shaft gravity balancing weight 8 is fixed on the three-shaft driving wheel 7, one position of the three-shaft driving wheel 7 is hinged with one end of a forearm pull rod 12, the other end of the forearm pull rod 12 is hinged with a main forearm 11, and the position of the three-shaft driving wheel 7, which is connected with the forearm pull rod 12, and the three-shaft gravity balancing weight 8 are respectively positioned at two sides of the horizontal two-shaft 13; the three-shaft driving wheel 7 is connected with the one-shaft top disc 4 through a spring tension type balance mechanism; a three-axis motor 6 is fixed on the connecting hanger 16, and a main shaft of the three-axis motor 6 and the outer ring arc curved surface of the three-axis driving wheel 7 form a driving pair.
In this embodiment:
the spring 17 tension type balance mechanism comprises a three-shaft hanging lug 22, one end of the three-shaft hanging lug 22 is fixedly connected with one side of the central position of a three-shaft driving wheel 7, a three-shaft guide wheel strip type adjusting groove 21 is formed in the other end of the three-shaft hanging lug 22, and a three-shaft guide wheel 20 is arranged in the three-shaft guide wheel strip type adjusting groove 21; a central guide wheel 18 is arranged on one side of a first shaft top disk 4 right above a horizontal second shaft 13, a spring guide wheel 19 is fixed at one end of the upper surface of the first shaft top disk 4, the other end of the upper surface of the first shaft top disk 4 is fixed with one end of a spring 17, one end of a tension cord 15 is hung on a triaxial guide wheel 20, and the other end of the tension cord 15 sequentially bypasses the central guide wheel 18 and the spring guide wheel 19 and then is connected with the other end of the spring 17.
Principle of equilibrium action: when the main forearm 11 rotates around the three shafts 10 to be separated from the horizontal position, the gravity moment caused by the gravity of the main forearm 11 is changed, the main forearm 11 rotates to drive the forearm pull rod 12 to act, the forearm pull rod 12 acts to drive the three-shaft driving wheel 7 to rotate, the three-shaft driving wheel 7 rotates to pull the three-shaft suspension loop 22, the position of the three-shaft suspension loop 22 changes to pull the tension cord 15, and therefore the torsion generated by the spring 17 is tensioned; when the spring 17 with proper stiffness coefficient is selected and the relative position between the three-shaft hanging lug 22 and the three-shaft driving wheel 7 is reasonably adjusted, the change of the gravity moment and the change of the moment of the spring 17 can generate consistent change, and the action directions of the moment of the spring 17 and the gravity moment are always opposite, so that the changes of the two moments are mutually offset, and finally, the dynamic gravity balance is realized. The specific position of the three-axis guide wheel 20 in the strip-type adjusting groove 21 of the three-axis guide wheel can be adjusted according to actual conditions.
The two-shaft balancing mechanism comprises a two-shaft driving wheel 28 and a two-shaft hanging lug 26, the central position of the two-shaft driving wheel 28 is fixedly connected with one end of the horizontal two-shaft 13, a two-shaft gravity balancing weight 27 is fixed on the two-shaft driving wheel 28, a two-shaft motor 5 is fixed on the connecting hanging bracket 16, and a main shaft of the two-shaft motor 5 and an outer ring arc curved surface of the two-shaft driving wheel 28 form a driving pair; one end of a two-shaft hanging lug 26 is fixedly connected with the central position of a two-shaft driving wheel 28, the other end of the two-shaft hanging lug 26 is provided with a two-shaft hanging lug strip type adjusting groove 34, a sliding rod fixing bolt 25 is arranged in the two-shaft hanging lug strip type adjusting groove 34, and a guide rod fixing bolt 29 is arranged right above a horizontal two-shaft 13 on the other side of a one-shaft top disc 4; the sliding rod fixing bolt 25 is connected with one end of the sliding rod 24, the other end of the sliding rod 24 is provided with a plurality of first magnet mounting grooves 38, and first magnets 39 are fixed in the first magnet mounting grooves 38; the guide rod fixing bolt 29 is connected with one end of the guide rod 23, the sliding groove 37 is formed in the other end of the guide rod 23, one end of the sliding rod 24 provided with the first magnet 39 is inserted into the sliding groove 37, a plurality of second magnet mounting grooves 35 are formed in one side of the sliding groove 37, the second magnet 36 is fixed in the second magnet mounting grooves 35, and the first magnet 39 is attracted with the second magnet 36.
The gravity balance of the main arm 9 also comprises a primary static balance and a secondary dynamic balance, the primary static balance mainly balances the gravity of the main arm 9 in the two-axis driving wheel 28 by a lever principle to the maximum extent through the two-axis gravity balancing weight 27, when the main arm 9 rotates around the horizontal two-axis 13 to be separated from the vertical position, the gravity center of the two-axis gravity balancing weight 27 deviates from the gravity center of the main arm 9, the gravity centers of the two-axis gravity balancing weight 27 and the main arm 9 are respectively positioned at two sides of the horizontal two-axis 13, so that the two-axis gravity balancing weight 27 can balance part of the gravity of the main arm 9; and secondary dynamic balance is realized, when the main arm 9 rotates around the horizontal second shaft 13 to be separated from the vertical position, the gravity moment caused by the gravity of the main arm 9 is changed, the second shaft driving wheel 28 rotates to pull the second shaft hanging lug 26, so that the sliding rod 24 and the guide rod 23 are driven to relatively displace, the pulling force between the sliding rod 24 and the guide rod 23 is changed, and the pulling moment formed by the pulling force between the first magnet 39 and the second magnet 36 on the second shaft is changed. Since the tension change and the distance change between the first magnet 39 and the second magnet 36 are in inverse relation, the larger the slide rod 24 is embedded into the guide rod 23, the larger the tension of the magnets is, and the larger the formed tension moment is; this moment of tension is in the opposite direction to the moment of gravity created by the upper arm 9 of the main hand and the forearm. When the distribution positions of the strong magnets and the first magnets 39 and the second magnets 36 are properly selected, the gravity moment formed by the upper arm 9 and the forearm of the main hand can be maximally approximated, and thus the gravity of the forearm 11 of the main hand is balanced. When the upper arm 9 of the main hand is in a vertical state, the gravity center of the two-axis gravity balancing weight 27 is positioned right above the gravity center of the upper arm 9 of the main hand. The matching of the two-shaft motor 5 and the outer ring arc curved surface of the two-shaft driving wheel 28 ensures that the main shaft has a strong feeling in the operation process and cannot influence the gravity balance. The distribution positions of the first magnet 39 and the second magnet 36 in the first magnet mounting groove 38 or the second magnet mounting groove 35 can be adjusted according to actual conditions.
One end of the three-shaft hanging lug 22 connected with the three-shaft driving wheel 7 is provided with a plurality of long circular arc adjusting holes I30, and a bolt penetrates through the long circular arc adjusting holes I30 to lock and fix the three-shaft driving wheel 7 and the three-shaft hanging lug 22. The inclination angle of the three-axis hangers 22 is properly adjusted as required to adjust the initial gravity balance position, so as to play a role in adjusting the force arm, and the torque generated by the tension of the spring 17 can better balance the gravity of the main forearm 11.
One end of the two-shaft hanging lug 26 connected with the two-shaft driving wheel 28 is provided with a plurality of second long arc adjusting holes 32, and bolts penetrate through the second long arc adjusting holes 32 to lock and fix the two-shaft driving wheel 28 and the two-shaft hanging lug 26. The position relation between the two-axis hangers 26 and the two-axis gravity balance weight 27 can be properly adjusted according to the needs, and the two-axis gravity balance weight is used for adjusting the initial gravity balance position, so that the force arm is adjusted, and the gravity can be better balanced by the magnet force between the first magnet 39 and the second magnet 36.
The three-axis guide wheel 20 is fixed in the three-axis guide wheel strip type adjusting groove 21 through the matching of the first bolt and the first nut, and the bottom surface of the periphery of the three-axis guide wheel strip type adjusting groove 21 tightly attached to the first nut is a three-axis lug tooth-shaped bottom surface 31, so that unnecessary back and forth movement of the position of the three-axis guide wheel 20 can be effectively prevented.
The sliding rod fixing bolt 25 is matched with the sliding rod 24 fixing nut to determine the position of the sliding rod fixing bolt 25 in the two-shaft hanging lug strip type adjusting groove 34, the peripheral bottom surface of the two-shaft hanging lug strip type adjusting groove 34 tightly attached to the sliding rod 24 fixing nut is a two-shaft hanging lug toothed bottom surface 33, and unnecessary relative displacement between the sliding rod 24 and the guide rod 23 can be effectively prevented.
Triaxial gravity balancing weight 8 is fan-shaped annular to triaxial gravity balancing weight 8 sets up at three axle drive wheel 7 central points far away end, and the inertia that triaxial gravity balancing weight 8 formed is big, can effectively reduce triaxial 10 natural vibration frequency, thereby suppresses the high-frequency vibration that triaxial 10 control arouses.
The two-axis gravity balancing weight 27 is in a fan-shaped ring shape, the two-axis gravity balancing weight 27 is arranged at the center end of the far two-axis driving wheel 28, the rotational inertia formed by the two-axis gravity balancing weight 27 is large, the inherent vibration frequency of the horizontal two-axis 13 can be effectively reduced, and therefore high-frequency vibration caused by control of the horizontal two-axis 13 is restrained.
The gravity balance is to balance the moments on the horizontal two-axis 13 and the three-axis 10 caused by the self weight of the upper arm 9 and the forearm 11 of the main hand, and to keep the main hand from being influenced by the gravity basically in the operation process.
In the working process, the fixed table 1 and the equipment frame are fixed, and then the gravity balance adjustment is carried out, so that the master control hand 14 is easy to operate. The travel of the main forearm 11, the forearm pull rod 12, the three-axis drive wheel 7 between the main upper arm 9 and the forearm pull rod 12 and the main forearm 11 is a parallelogram. The balance of the gravity of the main forearm 11 comprises primary static balance and secondary dynamic balance, wherein the primary static balance mainly balances the gravity of the main forearm 11 in the triaxial driving wheel 7 by a triaxial gravity balancing weight 8 in a lever principle to the maximum extent; the second-stage dynamic balance is realized by a spring 17 pulling force type balance mechanism, and the balance main forearm 11 and the three-axis gravity balancing weight 8 balance the gravity except the gravity. The first shaft motor 3 and the third shaft motor 6 are respectively matched with the arc curved surface on one side of the first shaft top disc 4 and the arc curved surface on the outer ring of the third shaft driving wheel 7, so that the main shaft can feel powerful in the operation process, and the gravity balance cannot be influenced.
The gravity balancing method for the main hand 14 of the surgical robot comprises the following steps,
step one, calculating a proper three-axis gravity balancing weight 8 according to the gravity center position and the mass of a main forearm 11 and the limit of a mounting space on a three-axis driving wheel 7, balancing a part of gravity of the main forearm 11 based on a lever principle, and balancing a gravity moment caused by the residual gravity by using a spring 17 pulling force type balancing mechanism;
secondly, selecting the stiffness coefficient of the tension spring 17 preliminarily according to the gravity center position of the front arm 11 of the main hand and the three-axis driving wheel 7, installing the three-axis suspension loop 22 at a position forming an angle of-45 degrees with the horizontal line, properly adjusting the position of the three-axis guide wheel 20 to enable the deviation between the balance moment and the actual gravity moment of the front arm 11 of the main hand to be minimum, and then adjusting the position of the three-axis suspension loop 22 to enable the tension moment of the spring 17 to be maximum when the front arm 11 of the main hand is horizontal; when the gravity balance effect is not ideal, selecting other stiffness coefficient springs 17, and repeating the step;
thirdly, calculating a proper two-axis gravity balancing weight 27 according to the gravity center position and the mass of the main hand upper arm 9 and the installation space limit on the two-axis driving wheel 28, balancing a part of gravity of the main hand upper arm 9 based on a lever principle, and then balancing the gravity moment caused by the residual gravity by using a magnet pull type balancing device;
step four, primarily selecting magnet blocks and installing the magnet blocks on the sliding rod 24 and the guide rod 23; the included angle between the two-axis hangers 26 and the vertical direction needs to be adjusted according to the position relation between the gravity center of the upper arm 9 of the main hand and the horizontal two-axis 13, and meanwhile, the static moment formed by the front arm 11 of the main hand on the horizontal two-axis 13 is also considered; the relative sliding distance between the sliding rod 24 and the guide rod 23 can be effectively adjusted by adjusting the position of the sliding rod fixing bolt 25 in the two-axis hanging lug strip type adjusting groove 34, so that the acting distance between the first magnet 39 and the second magnet 36 is adjusted;
and step five, after the gravity balance of the horizontal two-axis 13 is adjusted, if the balance of the three-axis 10 deviates, the position of the three-axis hangers 22 and/or the position of the three-axis guide wheel 20 need to be adjusted again by referring to the method in the step 2, so that the balance effect of the three-axis 10 is optimal.
Step two is to balance the gravity moment by the tension of the spring 17,
when the main forearm 11 of the surgical robot rotates around the axis of the three shafts 10, the forearm pull rod 12 is pulled, so that the three-shaft driving wheel 7 is pulled to rotate, and the three-shaft driving wheel 7 drives the three-shaft lug 22 to rotate around the axis of the three-shaft driving wheel 7; the triaxial suspension loop 22 transmits the force to the spring 17 via the tension cord 15. The moment formed by the tension spring 17 is nonlinear because the arm of the spring 17 on the axis of the three-axis driving wheel 7 is changed due to the rotation movement of the three-axis hanging lug 22, and the tension of the tension spring 17 is also changed in a nonlinear manner. As shown in fig. 9, the moment generated by the tension spring 17 can be calculated as follows:
wherein T is the pulling moment of the spring 17, k is the stiffness coefficient of the spring 17, l is the elongation of the spring 17, l0For the initial extension of the spring 17, r is the distance from the hanger guide wheel to the axis of the three shafts 10, mr is the distance from the dome end with r as the radius to the central guide wheel 18, and θ is the distance between the three shaft hanger 22 and the horizontal lineThe included angle of (a). As can be seen from the equation, the larger r, the larger the moment generated by the spring 17.
Initially, when the center of the forearm 11 of the main hand of the surgical robot is on a horizontal plane with the three axes 10, the spring 17 forms the maximum moment when θ is 45 °. When the three-axis hanging lug 22 deviates from the angle, the moment is reduced in any direction, which just accords with the rule that when the forearm 11 of the main hand deviates from the horizontal position, the gravity of the three-axis hanging lug also reduces the moment. Therefore, selecting an appropriate stiffness coefficient k may effectively balance the moment created by the primary forearm 11.
In practical application, the center of the main forearm 11 generally does not pass through the axes of the three shafts 10, so that the angle theta of the three-shaft suspension lug 22 cannot be exactly 45 degrees when the tension spring 17 forms the maximum moment, and the angle adjustment is carried out by using the three-shaft guide wheel strip type adjusting groove 21.
After the selection of the spring 17, the stiffness coefficient k is also determined, and r can be adjusted appropriately to deviate the balancing moment from the gravity moment of the actual main forearm 11 in order to adjust the balancing effect more precisely. Adjustment r is accomplished by adjusting the position of the three-axis guide wheel 20.
After the adjustment of the angle of the three-axis hanger 22 and the position of the three-axis guide wheel 20 is completed, the tension type balance weight moment balance of the spring 17 is completed.
And step four, horizontal biaxial 13 magnet pull force type gravity balance, and because of space limitation, the main hand 14 of the surgical robot is basically installed vertically downwards, so that the horizontal biaxial 13 gravity moment can not be subjected to gravity moment balance by adopting a spring 17 pull force type balance method, and the pull force of the spring 17 can not form leverage with gravity. Therefore, the present invention selects the magnet tension type balancing method, because the new attraction of the magnet is in inverse relation to the distance, and the new attraction is opposite to the phenomenon that the tension of the spring 17 is in proportional relation to the displacement, and the new attraction and the displacement can form a lever action with the gravity moment.
Because the force between the magnets is quite complex, a corresponding calculation formula cannot be given. The size and the number of the magnet blocks are adjusted according to the actual requirement to adapt to the gravity balance requirement of the upper arm 9 of the main hand. The included angle between the two-axis hangers 26 and the vertical direction needs to be adjusted according to the position relation between the gravity center of the main arm 9 and the two-axis line, and meanwhile, the static moment formed by the main forearm 11 on the two axes is also considered. The relative sliding distance between the sliding rod 24 and the guide rod 23 can be effectively adjusted by adjusting the position of the sliding rod fixing bolt 25 in the two-axle suspension lug strip type adjusting groove 34, so that the acting distance between the magnets can be adjusted.
In the above steps, a spring tension meter may be installed at the distal end of the forearm 11 or the upper arm 9 of the main hand to measure the balanced gravitational moment.
Calculating the size of the triaxial gravity balancing weight 8: the gravity moment formed by the gravity of a main forearm 11 to a three-axis driving wheel 7 through a forearm pull rod 12 and a three-axis suspension loop 22 is calculated by using a horizontal two-axis 13 as a fulcrum through a lever principle, and then the corresponding mass is calculated according to the installation position of a three-axis gravity balancing weight 8. Calculation of the size of the biaxial gravitational weight 27: the gravity moment formed by the gravity of the upper arm 9 of the main hand to a two-axis driving wheel 28 through a two-axis hanger 26 is calculated by using the horizontal two-axis 13 as a fulcrum by utilizing a lever principle, and then the corresponding mass is calculated according to the installation position of a two-axis gravity balancing weight 27.
Claims (8)
1. A gravity balancing device for a main hand of a surgical robot comprises a main forearm (11), wherein one end of the main forearm (11) is hinged with the bottom end of an upper arm (9) of the main hand through a three-axis (10), and the other end of the main forearm (11) is connected with a handle (14); the main hand upper arm (9) top is equipped with fixed station (1), and fixed station (1) rotates through a vertical rotating shaft (2) and a top dish (4) of below and is connected, and fixed station (1) one end is equipped with a motor (3), and the main shaft of a motor (3) and the circular arc curved surface of a top dish (4) one side constitute the drive pair, its characterized in that: the first shaft top disc (4) is fixedly connected with one end of a connecting hanger (16), the other end of the connecting hanger (16) is rotatably connected with a horizontal second shaft (13), and the horizontal second shaft (13) is fixedly connected with the top end of the main hand upper arm (9); one end of a horizontal biaxial (13) is fixedly connected with a biaxial balance mechanism, the other end of the horizontal biaxial (13) is rotatably connected with a triaxial driving wheel (7), a triaxial gravity balancing weight (8) is fixed on the triaxial driving wheel (7), one position of the triaxial driving wheel (7) is hinged with one end of a forearm pull rod (12), the other end of the forearm pull rod (12) is hinged with a forearm (11) of a main hand, and the position of the triaxial driving wheel (7) connected with the forearm pull rod (12) and the triaxial gravity balancing weight (8) are respectively positioned at two sides of the horizontal biaxial (13); the three-shaft driving wheel (7) is connected with the one-shaft top disc (4) through a spring tension type balancing mechanism; a three-axis motor (6) is fixed on the connecting hanger (16), and a main shaft of the three-axis motor (6) and an outer ring arc curved surface of the three-axis driving wheel (7) form a driving pair;
the spring tension type balance mechanism comprises a three-shaft hanging lug (22), one end of the three-shaft hanging lug (22) is fixedly connected with one side of the central position of a three-shaft driving wheel (7), a three-shaft guide wheel strip type adjusting groove (21) is formed in the other end of the three-shaft hanging lug (22), and a three-shaft guide wheel (20) is arranged in the three-shaft guide wheel strip type adjusting groove (21); a central guide wheel (18) is arranged on one side of a first shaft top disc (4) right above a horizontal second shaft (13), a spring guide wheel (19) is fixed at one end of the upper surface of the first shaft top disc (4), the other end of the upper surface of the first shaft top disc (4) is fixed with one end of a spring (17), one end of a tension cord (15) is hung on a third shaft guide wheel (20), and the other end of the tension cord (15) sequentially bypasses the central guide wheel (18) and the spring guide wheel (19) and then is connected with the other end of the spring (17);
the two-shaft balancing mechanism comprises a two-shaft driving wheel (28) and a two-shaft hanging lug (26), the central position of the two-shaft driving wheel (28) is fixedly connected with one end of a horizontal two-shaft (13), a two-shaft gravity balancing weight (27) is fixed on the two-shaft driving wheel (28), a two-shaft motor (5) is fixed on a connecting hanger (16), and a main shaft of the two-shaft motor (5) and an outer ring arc curved surface of the two-shaft driving wheel (28) form a driving pair; one end of a two-shaft hanging lug (26) is fixedly connected with the center of a two-shaft driving wheel (28), the other end of the two-shaft hanging lug (26) is provided with a two-shaft hanging lug strip type adjusting groove (34), a sliding rod fixing bolt (25) is arranged in the two-shaft hanging lug strip type adjusting groove (34), and a guide rod fixing bolt (29) is arranged right above a horizontal two-shaft (13) on the other side of a one-shaft top disc (4); the sliding rod fixing bolt (25) is connected with one end of the sliding rod (24), the other end of the sliding rod (24) is provided with a plurality of first magnet mounting grooves (38), and first magnets (39) are fixed in the first magnet mounting grooves (38); the guide rod fixing bolt (29) is connected with one end of the guide rod (23), the other end of the guide rod (23) is provided with a sliding groove (37), one end of the sliding rod (24) provided with a first magnet (39) is inserted into the sliding groove (37), one side of the sliding groove (37) is provided with a plurality of second magnet mounting grooves (35), a second magnet (36) is fixed in the second magnet mounting grooves (35), and the first magnet (39) and the second magnet (36) are attracted to each other.
2. The surgical robot master hand gravity balancing device of claim 1, wherein: one end of a three-axis lug (22) connected with the three-axis driving wheel (7) is provided with a plurality of long arc adjusting holes I (30), and a bolt penetrates through the long arc adjusting holes I (30) to lock and fix the three-axis driving wheel (7) and the three-axis lug (22).
3. The surgical robot master hand gravity balancing device of claim 1, wherein: one end of a two-shaft hanger (26) connected with the two-shaft driving wheel (28) is provided with a plurality of long arc adjusting holes II (32), and a bolt penetrates through the long arc adjusting holes II (32) to lock and fix the two-shaft driving wheel (28) and the two-shaft hanger (26).
4. The surgical robot master hand gravity balancing device of claim 1, wherein: the three-axis guide wheel (20) is fixed in the three-axis guide wheel strip type adjusting groove (21) through the matching of the first bolt and the first nut, and the bottom surface of the periphery of the three-axis guide wheel strip type adjusting groove (21) tightly attached to the first nut is a tooth-shaped bottom surface (31) of the three-axis hangers.
5. The surgical robot master hand gravity balancing device of claim 1, wherein: the sliding rod fixing bolt (25) is matched with the sliding rod fixing nut to determine the position of the sliding rod fixing bolt (25) in the two-shaft hanger strip type adjusting groove (34), and the peripheral bottom surface of the two-shaft hanger strip type adjusting groove (34) tightly attached to the sliding rod fixing nut is a two-shaft hanger toothed bottom surface (33).
6. The surgical robot master hand gravity balancing device of claim 1, wherein: the three-axis gravity balancing weight (8) is in a fan-shaped annular shape, and the three-axis gravity balancing weight (8) is arranged at the far central end of the three-axis driving wheel (7).
7. A surgical robot master hand gravity balance device according to claim 1, wherein: the two-shaft gravity balancing weight (27) is in a sector annular shape, and the two-shaft gravity balancing weight (27) is arranged at the far central end of the two-shaft driving wheel (28).
8. A surgical robot master gravity balance method using the surgical robot master gravity balance device according to claim 1, characterized in that: the specific steps are as follows,
step one, calculating a proper three-axis gravity balancing weight (8) according to the gravity center position and mass of a main forearm (11) and the limit of a mounting space on a three-axis driving wheel (7), balancing a part of gravity of the main forearm (11) based on a lever principle, and then balancing a gravity moment caused by the residual gravity by using a spring tension type balancing mechanism;
secondly, selecting stiffness coefficients of a tension spring (17) preliminarily according to the gravity center position of the front arm (11) of the main hand and the radius of the three-axis driving wheel (7), installing a three-axis suspension loop (22) at a position forming an angle of-45 degrees with the horizontal line, properly adjusting the position of the three-axis guide wheel (20) to enable the deviation between the balance moment and the actual gravity moment of the front arm (11) of the main hand to be minimum, and then adjusting the position of the three-axis suspension loop (22) to enable the pull moment of the spring (17) to be maximum when the front arm (11) of the main hand is horizontal; when the gravity balance effect is not ideal, selecting other stiffness coefficient springs (17) and repeating the step;
thirdly, calculating a proper two-axis gravity balancing weight (27) according to the gravity center position and the mass of the main hand upper arm (9) and the limit of the installation space on the two-axis driving wheel (28), balancing a part of the gravity of the main hand upper arm (9) based on a lever principle, and then balancing the gravity moment caused by the residual gravity by using a magnet pull type balancing device;
step four, primarily selecting magnet blocks and installing the magnet blocks on a sliding rod (24) and a guide rod (23); the included angle between the two-axis hangers (26) and the vertical direction needs to be adjusted according to the position relation between the gravity center of the upper arm (9) of the main hand and the horizontal two-axis (13), and meanwhile, the static moment formed by the front arm (11) of the main hand on the horizontal two-axis (13) is also considered; the relative sliding distance between the sliding rod (24) and the guide rod (23) can be effectively adjusted by adjusting the position of the sliding rod fixing bolt (25) in the two-shaft hanging lug strip type adjusting groove (34), so that the acting distance between the first magnet (39) and the second magnet (36) is adjusted;
and step five, after the gravity balance of the horizontal two-shaft (13) is adjusted, if the balance of the three-shaft (10) deviates, the position of the three-shaft suspension loop (22) and/or the position of the three-shaft guide wheel (20) need to be adjusted again according to the method in the step two, so that the balance effect of the three-shaft (10) is optimal.
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| US3391801A (en) * | 1965-11-12 | 1968-07-09 | Central Res Lab Inc | Balanced articulated manipulator |
| JPS617188A (en) * | 1984-06-18 | 1986-01-13 | フアナツク株式会社 | Lower-arm gravity balancer mechanism of industrial robot |
| US7837674B2 (en) * | 2005-01-24 | 2010-11-23 | Intuitive Surgical Operations, Inc. | Compact counter balance for robotic surgical systems |
| CN102825596B (en) * | 2012-09-13 | 2015-08-12 | 天津大学 | The 6DOF tandem Zhu Shou robot of complete gravitational equilibrium |
| CN110340910A (en) * | 2019-06-28 | 2019-10-18 | 浩科机器人（苏州）有限公司 | A kind of small-sized static load balance belt drive tool arm |
| CN110561390A (en) * | 2019-09-04 | 2019-12-13 | 广西大学 | controllable parasitic mechanism type palletizing robot with gravity balance characteristic |
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