CN113749773B - Two-rotation one-movement remote motion center mechanism - Google Patents
Two-rotation one-movement remote motion center mechanism Download PDFInfo
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- CN113749773B CN113749773B CN202110941381.3A CN202110941381A CN113749773B CN 113749773 B CN113749773 B CN 113749773B CN 202110941381 A CN202110941381 A CN 202110941381A CN 113749773 B CN113749773 B CN 113749773B
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- connecting rod
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- rotation
- revolute pair
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention relates to the technical field of robots. The technical scheme is as follows: the utility model provides a two change one and move long-range center of motion mechanism which characterized in that: the mechanism comprises a rack, a first connecting rod, a second connecting rod, a third connecting rod, a sliding block, a fourth connecting rod, a fifth connecting rod and an output platform; one end of the first connecting rod is connected to the rack through a Hooke hinge, and one end of the second connecting rod is connected to the rack through a cylindrical pair; one end of the third connecting rod is connected with the other end of the second connecting rod through a first revolute pair, and a sliding block of a moving pair formed by the third connecting rod and the first connecting rod is movably positioned on the first connecting rod through the moving pair; one end of a fourth connecting rod is connected with the other end of the third connecting rod through a second revolute pair, the middle of the fourth connecting rod is connected with the lower part of the sliding block through the third revolute pair, and one end of a fifth connecting rod is connected with the upper part of the sliding block through the fourth revolute pair; the lower part of the output platform is connected with the other end of the fourth connecting rod through a fifth revolute pair. The mechanism has the advantages of small rod piece number, small joint number, high precision and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a two-rotation one-shift remote motion center mechanism.
Background
The remote center of motion mechanism is constrained by mechanical structure, and the motion of the output end is limited to rotation around a fixed point and movement through the point. This fixed point is generally remote from the mechanism and exists virtually, referred to as the remote center of motion of the mechanism. Due to the unique advantages in the aspect of safety, the remote motion center mechanism has good application prospect in the field of minimally invasive surgery.
The output motion of the remote motion center mechanism can be generally classified into three categories: one rotation plus one movement, two rotations plus one movement, three rotations plus one movement. It is common to output two rotations plus one movement, i.e., two rotations and one movement remote center of motion mechanism. The output platform of the mechanism is provided with a rotatable surgical instrument, so that all degrees of freedom required by minimally invasive surgery can be provided. The currently proposed two-rotation one-shift remote motion center mechanisms (CN 106806002A, CN 107049495A) have a large number of rods and joints, and the rigidity and precision cannot be ensured, so that the application in minimally invasive surgery is limited.
Disclosure of Invention
The invention aims to overcome the defects in the background technology and provide a two-rotation one-shift remote motion center mechanism which has the advantages of small number of rod pieces, small number of joints, high precision and the like.
The technical scheme provided by the invention is as follows:
a two-rotation one-shift remote motion center mechanism is characterized in that: the mechanism comprises a rack, a first connecting rod, a second connecting rod, a third connecting rod, a sliding block, a fourth connecting rod, a fifth connecting rod and an output platform;
one end of the first connecting rod is connected to the rack through a Hooke hinge, and one end of the second connecting rod is connected to the rack through a cylindrical pair; one end of the third connecting rod is connected with the other end of the second connecting rod through the first revolute pair, and a sliding block of a moving pair formed by the third connecting rod and the first connecting rod is movably positioned on the first connecting rod through the moving pair; one end of a fourth connecting rod is connected with the other end of the third connecting rod through a second revolute pair, the middle of the fourth connecting rod is connected with the lower part of the sliding block through the third revolute pair, and one end of a fifth connecting rod is connected with the upper part of the sliding block through the fourth revolute pair; the lower part of the output platform is connected with the other end of the fourth connecting rod through a fifth revolute pair, and the upper part of the output platform is connected with the other end of the fifth connecting rod through a sixth revolute pair;
the axis of a rotating shaft connected with the rack by the Hooke hinge is superposed with the axis of the cylindrical pair and is parallel to the axes of the first rotating pair and the second rotating pair; the axis of a rotating shaft connected with the Hooke hinge and the first connecting rod is parallel to the axes of the third rotating pair, the fourth rotating pair, the fifth rotating pair and the sixth rotating pair;
in the above mechanism, point A 1 、A 2 、A 3 Collinear; a. The 2 A 3 A 5 A 4 Is a parallelogram, A 1 A 2 A 4 O is a parallelogram;
wherein: a. The 1 Is the intersection point of the first axis of rotation and the second axis of rotation of the Hooke's hinge, A 2 Is the rotation center of the third revolute pair, A 3 Is the rotation center of the fourth revolute pair, A 4 Is the rotation center of the fifth revolute pair, A 5 Is the rotation center of the sixth revolute pair.
The axis of the flange plate on the output platform passes through a point A 4 And A 5 And intersects the cylinder minor axis at a fixed point O.
The hook joint is a driving pair; two sets of servo motors and a reducer are combined to drive two rotating shafts of the Hooke's hinge.
The moving pair is a driving pair; the driving pair adopts a combination of a servo motor and a ball screw.
The beneficial effects of the invention are: the fixed point O in the mechanism provided by the invention is a remote motion center, the mechanism can do two-rotation one-movement motion, and the mechanism has the advantages of less rod pieces, less joints, high precision and the like, and can be used in the field of minimally invasive surgery.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a schematic front view of the structure according to the embodiment of the present invention.
The figure shows that: the device comprises a rack 1, a first connecting rod 2, a second connecting rod 3, a third connecting rod 4, a sliding block 5, a fourth connecting rod 6, a fifth connecting rod 7, an output platform 8, a cylindrical pair C, a Hooke's joint U, a sliding pair T, a first rotating pair R1 and a second rotating pairThe first rotation axis and the second rotation axis of the kinematic pair R2, the third rotation pair R3, the fourth rotation pair R4, the fifth rotation pair R5, the sixth rotation pair R6, the fixed point O and the Hooke's joint U 1 And the rotation center A of the third revolute pair R3 2 And the rotation center A of the fourth revolute pair R4 3 And the rotation center A of the fifth revolute pair R5 4 And the rotation center A of the sixth revolute pair R6 5 And a flange F on the output platform 8.
Detailed Description
The invention will be further elucidated with reference to the embodiments shown in the drawing.
The two-rotation one-shift remote motion center mechanism shown in fig. 1 and 2 comprises a frame 1, a first connecting rod 2, a second connecting rod 3, a third connecting rod 4, a sliding block 5, a fourth connecting rod 6, a fifth connecting rod 7 and an output platform 8.
One end of the first connecting rod 2 is connected to the frame 1 through a Hooke joint U. One end of the second connecting rod 3 is connected to the frame 1 through a cylindrical pair C. One end of the third connecting rod 4 is connected with the other end of the second connecting rod 3 through a first revolute pair R1. The slide block 5 is movably positioned at the other end of the first connecting rod 2 through a sliding pair T (the slide block 5 and the first connecting rod 2 form the sliding pair T). One end of a fourth connecting rod 6 is connected with the other end of the third connecting rod 4 through a second revolute pair R2, and the middle part of the fourth connecting rod is connected with the lower part of the sliding block 5 through a third revolute pair R3. One end of the fifth link 7 is connected to the upper part of the slider 5 through a fourth revolute pair R4. The lower part of the output platform 8 is connected to the other end of the fourth connecting rod 6 through a fifth revolute pair R5, and the upper part of the output platform 8 is connected to the other end of the fifth connecting rod 7 through a sixth revolute pair R6.
The first rotating axis of the Hooke's joint U (namely the rotating axis of the Hooke's joint U connected with the frame 1) coincides with the axis of the cylindrical pair C and is parallel to the axes of the first rotating pair R1 and the second rotating pair R2. The second rotation axis of the hooke joint U (i.e. the rotation axis of the hooke joint U connected to the first link 2) is parallel to the rotation axes of the third revolute pair R3, the fourth revolute pair R4, the fifth revolute pair R5 and the sixth revolute pair R6. The first rotation axis of the Hooke joint U is perpendicular to the second rotation axis of the Hooke joint U.
On the output platform 8Axial passing point A of flange F 4 And A 5 And intersects the axis of the cylindrical pair C at a fixed point O. Point A 1 、A 2 、A 3 Are always collinear. During the movement of the mechanism, the fourth connecting rod 6 is always parallel to the fifth connecting rod 7 2 A 3 A 5 A 4 Always a parallelogram, A 1 A 2 A 4 O is always a parallelogram.
In this embodiment, a hooke joint and a moving pair may be selected as the driving pair. Two sets of servo motors and a reducer can be combined to drive two rotating shafts of the Hooke hinge; the driving mode of the moving pair can adopt a combination of a servo motor and a ball screw. The output platform can realize two rotation motions around the fixed point O and a moving motion passing through the fixed point O through the drive of the servo motor.
Claims (4)
1. A two-rotation one-shift remote motion center mechanism is characterized in that: the mechanism comprises a rack (1), a first connecting rod (2), a second connecting rod (3), a third connecting rod (4), a sliding block (5), a fourth connecting rod (6), a fifth connecting rod (7) and an output platform (8);
one end of the first connecting rod is connected to the rack through a Hooke joint (U), and one end of the second connecting rod is connected to the rack through a cylindrical pair (C); one end of the third connecting rod is connected with the other end of the second connecting rod through a first revolute pair (R1), and a sliding block of a moving pair formed by the third connecting rod and the first connecting rod is movably positioned on the first connecting rod through a moving pair (T); one end of a fourth connecting rod is connected with the other end of the third connecting rod through a second revolute pair (R2), the middle part of the fourth connecting rod is connected with the lower part of the sliding block through a third revolute pair (R3), and one end of a fifth connecting rod is connected with the upper part of the sliding block through a fourth revolute pair (R4); the lower part of the output platform is connected with the other end of the fourth connecting rod through a fifth revolute pair (R5), and the upper part of the output platform is connected with the other end of the fifth connecting rod through a sixth revolute pair (R6);
the axis of a rotating shaft connected with the frame by the hook hinge is superposed with the axis of rotation of the cylindrical pair and is parallel to the axes of rotation of the first rotating pair and the second rotating pair; the axis of a rotating shaft connected with the first connecting rod through the Hooke hinge is parallel to the rotating axes of the third rotating pair, the fourth rotating pair, the fifth rotating pair and the sixth rotating pair;
point A 1 、A 2 、A 3 Are always collinear; a. The 2 A 3 A 5 A 4 Is a parallelogram, A 1 A 2 A 4 O is a parallelogram;
wherein: a. The 1 Is the intersection point of the first axis of rotation and the second axis of rotation of the Hooke's joint, A 2 Is the rotation center of the third revolute pair, A 3 Is the rotation center of the fourth revolute pair, A 4 Is the rotation center of the fifth revolute pair, A 5 And O is the rotating center of the sixth rotating pair, namely the intersection point of the remote moving center, namely the first rotating axis of the Hooke's joint, and the connecting line of the points A4 and A5.
2. The two-shift one-shift remote center of motion mechanism of claim 1, wherein: the axis of the flange plate on the output platform passes through a point A 4 And A 5 And intersects the cylinder minor axis at a fixed point O.
3. The two-shift one-shift remote center of motion mechanism of claim 2, wherein: the hook joint is a driving pair; two sets of servo motors and a speed reducer are combined to drive two rotating shafts of the Hooke's hinge.
4. The two-shift one-shift remote center of motion mechanism of claim 2, wherein: the moving pair is a driving pair; the driving pair adopts a combination of a servo motor and a ball screw.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110941381.3A CN113749773B (en) | 2021-08-17 | 2021-08-17 | Two-rotation one-movement remote motion center mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110941381.3A CN113749773B (en) | 2021-08-17 | 2021-08-17 | Two-rotation one-movement remote motion center mechanism |
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| CN113749773A CN113749773A (en) | 2021-12-07 |
| CN113749773B true CN113749773B (en) | 2023-03-10 |
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| CN202110941381.3A Active CN113749773B (en) | 2021-08-17 | 2021-08-17 | Two-rotation one-movement remote motion center mechanism |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106255575A (en) * | 2014-04-28 | 2016-12-21 | 川崎重工业株式会社 | Industrial robot |
| CN106806002A (en) * | 2016-12-13 | 2017-06-09 | 上海工程技术大学 | A kind of end effector mechanism for external Minimally Invasive Surgery support endoscope |
| CN107049495A (en) * | 2017-05-15 | 2017-08-18 | 浙江理工大学 | A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery |
| CN111544119A (en) * | 2020-05-26 | 2020-08-18 | 浙江理工大学 | Two-degree-of-freedom telecentric mechanism for minimally invasive surgery |
| EP3831543A1 (en) * | 2019-12-02 | 2021-06-09 | Katholieke Universiteit Leuven KU Leuven Research & Development | Remote centre of motion mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6110527B1 (en) * | 2016-01-28 | 2017-04-05 | 上銀科技股▲分▼有限公司 | Control mechanism for elastic medical devices |
-
2021
- 2021-08-17 CN CN202110941381.3A patent/CN113749773B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106255575A (en) * | 2014-04-28 | 2016-12-21 | 川崎重工业株式会社 | Industrial robot |
| CN106806002A (en) * | 2016-12-13 | 2017-06-09 | 上海工程技术大学 | A kind of end effector mechanism for external Minimally Invasive Surgery support endoscope |
| CN107049495A (en) * | 2017-05-15 | 2017-08-18 | 浙江理工大学 | A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery |
| EP3831543A1 (en) * | 2019-12-02 | 2021-06-09 | Katholieke Universiteit Leuven KU Leuven Research & Development | Remote centre of motion mechanism |
| CN111544119A (en) * | 2020-05-26 | 2020-08-18 | 浙江理工大学 | Two-degree-of-freedom telecentric mechanism for minimally invasive surgery |
Non-Patent Citations (2)
| Title |
|---|
| 《一种可用于微创手术的并联机构运动学分析与》;叶 伟；谢镇涛； 李秦川;《机械工程学报》;20201031;第56卷(第19期);全文 * |
| 《一种远中心并联机构运动学与性能分析》;叶 伟，杨 臻，李秦川;《机械工程学报》;20190331;第55卷(第5期);全文 * |
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| CN113749773A (en) | 2021-12-07 |
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