CN1417004A - Five-coardinate space positioning robot mechanism - Google Patents
Five-coardinate space positioning robot mechanism Download PDFInfo
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- CN1417004A CN1417004A CN 02153286 CN02153286A CN1417004A CN 1417004 A CN1417004 A CN 1417004A CN 02153286 CN02153286 CN 02153286 CN 02153286 A CN02153286 A CN 02153286A CN 1417004 A CN1417004 A CN 1417004A
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Abstract
The present invention relates to a five-corodinate space positioning robot mechanism and belongs to medical operational assistant positioning mechanism. The robot mechanism consists of elevating arm, large arm, small arm, wrist and needle stand, and each two parts are connected via rotating shaft. All the parts are motor driven to produce relative motion. The robot driving and controlling system consists of AC servo motor, driver, optoelectronic coder, control card and computer. The present invention can realize autonomous high-precision absolute positioning according to the doctor set route, and has relatively large working space and certain load capacity. Its use can lower the work strength of doctor, decrease operation error and decrease wound and pain of the patient. It may be remote controlled via network.
Description
Technical field
The present invention relates to a kind of assist location robot mechanism that is applied to the medical surgery operation, specifically be meant five coordinate space positioning robots.
Background technology
In recent years, domestic and international application all increases comparatively fast in the robot type and the quantity of medical field, and these robots can be divided into according to type of drive: passive-type and active.Self does not have drive system the passive-type robot, generally relies on manpower to drive, as the frameless stereotactic apparatus of CAS-R-2 type of the magnificent will computer application in Chinese Tianjin Co., Ltd production; Active robot self has drive system, generally relies on drivings such as motor or hydraulic cylinder, as " Aesop 3000 " medical surgery robot of U.S. computer motion company exploitation.
In the stereotaxis cerebral surgery operation, traditional approach is with the framework that is fixed in patient's head the focus point to be positioned.Its defective is that wound is big, precision is not high, patient suffering, doctor's fatigue.
BeiJing, China Aero-Space university robot research institute developed CRAS-BH1 passive-type stereotaxis robot for cerebral surgery operation in 1999, be successfully applied to 400 surplus routine clinical operation.Develop the active stereotaxis robot for cerebral surgery operation of CRAS-BH4 in 2000 again, also be successfully applied to clinical operation.
Summary of the invention
The objective of the invention is: design active high-precision robot, replace the conventional frame locate mode, be used for location and support of surgical instruments, auxiliary doctor carries out the stereotaxis cerebral surgery operation, and the remote operation function is provided.
The present invention is a kind of five coordinate space placed machine robot mechanisms, its robot mechanism is made of lifting arm, big arm, forearm, wrist and punch block five major parts, lifting arm is connected with big arm by the guide rail slide unit, between big arm and the forearm, between forearm and the wrist, be connected with turning cylinder between wrist and the punch block, each several part can produce relative motion under motor-driven.Described robot drives and control system is made up of AC servo motor, driver, photoelectric encoder, control card and computer and control software.
Described robot, its kinematic structure has five frees degree, is respectively I, II, III, IV and V joint, and at pre-operating position state, I joint motions direction is perpendicular to horizontal plane; The axis in II, III joint is parallel with I joint motions direction; IV joints axes and II, III joints axes are vertical; The V joints axes is vertical with the IV joints axes; The load axis is vertical with the V joints axes.
Described robot, its lifting arm is made up of rectilinear motion unit, drive motors, bracing frame, base and power supply box, drive motors is installed on the top of rectilinear motion unit, the rectilinear motion unit is installed on the bracing frame, base and bracing frame are connected, robot integral body installs and fixes with base, and power supply box is installed on the base.Slide unit on the rectilinear motion unit is the movement parts of rectilinear motion unit, is connected with crotch, near place, two ends, rectilinear motion unit, is separately installed with a limit switch, and mounting blocks is fixed to the rectilinear motion unit on the bracing frame.
Described robot, its big arm drive motors is installed on the crotch, the connecting axle upper end is connected with big arm driving shaft and big arm body respectively, axle head and connecting axle lower end respectively are installed on the crotch with rolling bearing, rolling bearing on the big arm driving shaft, and axle head is connected by shaft joint and motor shaft on the big arm driving shaft, between big arm body and the crotch, limit switch is installed, the nut back-up ring is connected with internal thread and big arm driving shaft, and the back-up roller dynamic bearing, and loose piece and crotch are connected.
Described robot, its forearm drive motors is installed on the motor installing rack, the motor installing rack is a cup shell, the cup shell outer rim is installed on the big arm body, motor cover covers in outside the forearm drive motors, and be installed on the big arm body, connector is connected forearm driving shaft and forearm with screw connecting mode; axle head is installed on the big arm body with rolling bearing on the forearm driving shaft; overhanging upper end is connected by the axle of shaft joint and drive motors, and forearm driving shaft bottom has blind hole, is used for drawing the cable of forearm; the sleeve upper limb forms to roll with big arm body with rolling bearing and is connected; the lower edge step forms to roll with big arm body by rolling bearing and is connected, and between big arm body and forearm body, limit switch is installed; the back-up ring nut is connected with internal thread and forearm driving shaft, and the back-up roller dynamic bearing.
Described robot, its wrist drive motors is installed on the motor frame, and together is installed in the forearm body, and an end and the wrist of connector are connected, and the other end is connected with the axle of motor by shaft joint, between forearm body and the wrist, limit switch is installed.
Described robot, its punch block drive motors is installed on the motor frame, together be installed in wrist together with motor cover, the upper limb of sleeve forms to roll by rolling bearing and wrist body and is connected, and the lower edge step forms to roll by rolling bearing and wrist body and is connected, and the connecting axle upper end is connected with the axle of punch block drive motors by shaft joint, the connecting axle lower end is connected with sleeve and punch block respectively, between wrist and the punch block, limit switch is installed, the back-up ring nut is connected and the back-up roller dynamic bearing with screw thread and sleeve.
Described robot, its punch block have two anchorage clips, are used for installing and the fixing operation pin.
Advantage of the present invention is: structural design is simple, and operation has bigger working space and load capacity easily.Precision height, wound be little, can alleviate the patient suffering and reduce doctor's fatigue of performing the operation.This robot mechanism also is applicable to the network remote control operation.
Five coordinate space positioning robot major functions are that auxiliary doctor accurately locatees medicine equipment, and play the locating rack effect in operation.Can realize the high accuracy absolute fix according to the autonomous path of doctor's planning, have bigger working space and certain load capacity.Can alleviate doctor's working strength, reduce operate miss, the wound that the patient is caused is little, reduce patient suffering etc.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention.
Fig. 2 is a kinematic structure schematic diagram of the present invention.
Fig. 3 is a lifting arm structural representation of the present invention.
Fig. 4 is a big arm configuration schematic diagram of the present invention.
Fig. 5 is a big arm configuration A-A cutaway view of the present invention.
Fig. 6 is forearm of the present invention and wrist part structure schematic diagram.
Fig. 7 is forearm of the present invention and wrist part structure B-B cutaway view.
Fig. 8 is forearm of the present invention and wrist part structure C-C cutaway view.
In the drawings: 1. lifting arm 2. large arm 3. forearms 4. wrists 5. punch blocks 6. linear motion units 7. lifting arm drive motors 8. bracing frames 9. bases 10. power supply boxs 11. guide rail slide units 12. crotch 13. mounting blocks 14. cables 15. large arm drive motors 16. large arm driving shaft 17. loose pieces 18. shaft joints 19. rolling bearings 20. limit switches 21. connecting axles 22. rolling bearings 23. nut back-up rings 24. forearm drive motors 25. motor mounting racks 26. forearm driving shafts 27. motor cover 28. wrist drive motors 29. motor racks 30. connecting axles 31. connectors 32. motor cover 33. punch block drive motors 34. motor racks 35. rolling bearings 36. shaft joints 37. sleeves 38. rolling bearings 39. back-up ring nuts 40. limit switches 41. connectors 42. rolling bearings 43. shaft joints 44. sleeves 45. rolling bearings 46. back-up ring nuts 47. connecting axles
The specific embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
See also shown in Fig. 1～8, five coordinate space placed machine robot mechanisms of the present invention are made of lifting arm 1, big arm 2, forearm 3, wrist 4 and punch block 5 five major parts, lifting arm 1 connects with big arms 2 by guide rail slide unit 11, between big arm 2 and the forearm 3, between forearm 3 and the wrist 4, be connected with turning cylinder between wrist 4 and the punch block 5.Each several part can produce relative motion under motor-driven, the high accuracy absolute fix is realized according to the autonomous path of planning in the working end, has bigger working space and load capacity.Described robot drives and control system is made up of AC servo motor, driver, photoelectric encoder, control card and computer and control software.
Robot kinematics's structure of the present invention has five frees degree, is respectively I, II, III, IV and V joint.During work, I joint motions direction is perpendicular to horizontal plane; The axis in II, III joint is parallel with I joint motions direction; IV joints axes and II, III joints axes are vertical; The V joints axes is vertical with the IV joints axes; The load axis is vertical with the V joints axes.Robot motion's mathematic(al) parameter sees attached list 1, and each movable joint angle range sees attached list 2.
The structural parameters of subordinate list 1 mechanism
| Member | Structural parameters | ||||
| ??α i | ???a i | ???d i | ??θ i | Initial value θ i0 | |
| ??J1 | ??0 | ???0 | ???d 1 | ||
| ????J2 | ????0 | ??300 | ????0 | ????θ 2 | ????0 |
| ????J3 | ????-90° | ??0 | ????0 | ????θ 3 | ????90° |
| ????J4 | ????90° | ??0 | ????300mm | ????θ 4 | ????180° |
| ????J5 | ????90° | ??0 | ????100mm | ????θ 5 | ????90° |
| ????J6 | ????0 | ??0 | ????175mm | ????0 | ????0 |
Annotate: member 6 is a needle
| The joint | Range of movement | Maximal rate | The joint acceleration time | |
| Sequence number | Kinematic parameter | |||
| ???I | ????d 1 | ?????0～400mm | ??0.05m/s | ??????0.5s |
| ???II | ????θ 2 | ????-90°～90° | ??1.05rad/s | ??????0.5s |
| ???III | ????θ 3 | ????-150°～150° | ??1.05rad/s | ??????0.5s |
| ???IV | ????θ 4 | ????-165°～165° | ??2.10rad/s | ??????0.5s |
| ???V | ????θ 5 | ????-180°～180° | ??2.10rad/s | ??????0.5s |
See also shown in Figure 3ly, lifting arm 1 is made up of rectilinear motion unit 6, lifting arm drive motors 7, support 8, base 9 and power supply box 10.Rectilinear motion unit 6 is selected German NEFF company product for use, and concrete parameter sees attached list 3.Drive motors 7 is installed on 6 tops, rectilinear motion unit, and each drive motors parameter sees attached list 4.Rectilinear motion unit 6 is installed on the bracing frame 8, requires to have higher flatness and rigidity.Base 9 is connected with bracing frame 8, and robot is whole to install and fix with base 9, and requirement is strict vertical with bracing frame 8, requires parallel with horizontal plane during work.Bracing frame 8 and base 9 are made by No. 45 hardened and tempered steel plates.Power supply box 10 is made by light aluminum alloy, and internal electric source and signal wire interface are installed on the base 9.Guide rail slide unit 11 on the rectilinear motion unit 6 is movement parts of rectilinear motion unit 6, is connected with crotch 12, and does elevating movement by the big arm 2 of crotch 12 drives, forearm 3, wrist 4 and punch block 5 etc.Near 6 two ends, rectilinear motion unit places, be separately installed with a limit switch, the distance between two limit switches is the effective travel of lifting arm.Mounting blocks 13 is fixed to rectilinear motion unit 6 on the bracing frame 8.14 is cable.
| Product type | Cross section (mm) 2 | Turn-screw | Helical pitch (mm) | Maximal rate (m/s) | Repetitive positioning accuracy (mm) | Dynamic centripetal force (N) | Dynamic torque (Nm) |
| ??Fx???Fz???Fy | ??Mx??My??Mz | ||||||
| WM60 | 60×60 | Φ20 | ?5 | ???2.5 | ±0.01 | ??4000?2000?2000 | ??100?200?200 |
Subordinate list 4 parameters of electric machine
| The joint | ????5 | ????4 | ????3 | ??2 | ????1 |
| Motor type | ????RE118752 | ????RE118752 | ????RE118752 | ??RE148867 | ????RE148867 |
| Power (W) | ????20 | ????20 | ????20 | ??150 | ????150 |
| Voltage (V) | ????24 | ????24 | ????24 | ??24 | ????24 |
| No-load speed (rpm) | ????9550 | ????9550 | ????9550 | ??7580 | ????7580 |
| Staring torque (mNm) | ????241 | ????241 | ????241 | ??2290 | ????2290 |
| Speed-torque ratio (rpm/mNm) | ????40.6 | ????40.6 | ????40.6 | ??3.32 | ????3.32 |
| Rated moment (mNm) | ????28.67 | ????28.67 | ????28.67 | ??181 | ????181 |
| Rotor inertia (gcm2) | ????10.4 | ????10.4 | ????10.4 | ??134 | ????134 |
| Weight (g) | ????130 | ????130 | ????130 | ??480 | ????480 |
| Motor size (diameter * length, mm) | ????25×55 | ????25×55 | ????25×55 | ??40×71 | ????40×71 |
| The motor shaft size (diameter * length, mm) | ????3×12.8 | ????3×12.8 | ????3×12.8 | ??6×20 | ????6×20 |
| Moment-rotor ratio of inertias | ????2.76 | ????2.76 | ????2.76 | ??1.36 | ????1.36 |
| The decelerator type | ????114479 | ????114483 | ????114488 | ??203131 | ????203115 |
| Speed ratio | ????111 | ????190 | ????318 | ??230 | ????12 |
| Progression | ????3 | ????3 | ????4 | ??4 | ????2 |
| Input speed (rpm) | ????＜6000 | ????＜6000 | ????＜6000 | ??＜8000 | ????＜8000 |
| Rated output torque (Nm) | ????4.5 | ????4.5 | ????4.5 | ??15 | ????7.5 |
| Maximal efficiency (%) | ????70 | ????70 | ????60 | ??64 | ????81 |
| Weight (g) | ????194 | ????194 | ????226 | ??560 | ????360 |
| Rotary inertia (gcm2) | ????0.7 | ????0.7 | ????0.7 | ??15 | ????9.1 |
| Diameter (mm) | ??32 | ???32 | ??32 | ???42 | ????42 |
| The code-disc model | ??110512 | ???110512 | ??110512 | ???110514 | ????110514 |
| The line number | ??500 | ???500 | ??500 | ???500 | ????500 |
| Operating frequency (kHz) | ??100 | ???100 | ??100 | ???100 | ????100 |
| The band-type brake model | ????228387 | ||||
| Braking moment (Nm) | ????0.4 | ||||
| Motor+decelerator+code-disc (+band-type brake) | |||||
| Size (diameter * length, mm) | ??32×118.4 | ???32×118.4 | ???32×125.1 | ???42×176.3 | ????42×189 |
| Weight (g) | ??324 | ???324 | ???356 | ???1040 | ????890 |
See also shown in Fig. 4,5, big arm body is the casing of being made by aluminum alloy plate materials.Big arm drive motors 15 is installed on the crotch 12.Connecting axle 21 upper ends are connected with screw with big arm driving shaft 16 and big arm body respectively, and big arm driving shaft 16 and big arm are connected.Axle head and connecting axle 21 lower ends respectively are installed on the crotch 12 with rolling bearing 19, rolling bearing 22 on the big arm driving shaft 16.Axle head is connected by shaft joint 18 and motor shaft on the big arm driving shaft 16.Big arm drive motors 15 drives big arm 2 and the following componental movement of big arm when working.Between big arm body and crotch 12, limit switch 20 is installed, limit the effective corner of big arm body.Loose piece 17 is to design for the mounting process that guarantees big arm driving shaft 16.Nut back-up ring 23 is connected with screw thread and big arm driving shaft 16, as the back-up ring of rolling bearing 22.
See also shown in Fig. 6,7, forearm main body 3 and wrist 4 also mainly are the casings of being made by aluminum alloy plate materials.Forearm drive motors 24 is installed on the motor installing rack 25, and motor installing rack 25 is a cup shell, and cup shell 25 outer rims are installed on the big arm body 2.Motor cover 27 covers in outside the forearm drive motors 24, and is installed on the big arm body 2.Connector 41 is connected forearm driving shaft 26 and forearm 3 with screw connecting mode.Axle head is installed on the big arm body 2 with rolling bearing 38 on the forearm driving shaft 26, and overhanging upper end is connected by the axle of shaft joint 36 with drive motors 24, and the bottom has blind hole, is used for drawing the cable 14 of forearm 3.The upper limb of sleeve 37 abductions forms to roll with big arm body 2 with rolling bearing 35 and is connected, and the lower edge step forms to roll with big arm body 2 by rolling bearing 38 and is connected.Back-up ring nut 39 is connected with internal thread and forearm driving shaft 26, as the back-up ring of rolling bearing 38.Between big arm body 2 and forearm body 3, limit switch 40 is installed, limit the effective corner of forearm body.
Wrist drive motors 28 is installed on the motor frame 29, and together is installed in the forearm body 3.One end of connector 31 and wrist 4 are fixing, and the other end is connected with the axle of motor 28 by shaft joint 30, and during motor 28 work, drive wrist 4 produces and rotatablely moves.Between forearm body 3 and wrist 4, limit switch is installed, limit the effective corner of wrist.
See also shown in Fig. 6,8, punch block 5 is the parts that are assembled into by connected modes such as welding by aluminum alloy part.Punch block drive motors 31 is installed on the motor frame 34, together is installed in wrist 4 together with motor cover 32.The upper limb rolling bearing 42 of sleeve 44 abductions forms to roll with the wrist body and is connected, and the lower edge step forms to roll by rolling bearing 45 and wrist body and is connected.Connecting axle 47 upper ends are minor axises, are connected with the axle of punch block drive motors 33 by shaft joint 43, and the lower end is an individual joint face, are connected with screw with sleeve 44 and punch block 5 respectively.Back-up ring nut 46 is connected with internal thread and sleeve 44, as the back-up ring of rolling bearing 45.During motor 33 work, drive punch block 5 generations and rotatablely move.Between wrist 4 and punch block 5, limit switch is installed, limit the effective corner of punch block.Punch block 5 has two anchorage clips, is used for installing and the fixing operation pin.
Robot mechanism structural design of the present invention is simple, and operation has bigger working space and load capacity easily; Precision height, wound be little, can alleviate the patient suffering and reduce doctor's fatigue of performing the operation.Said mechanism also is applicable to network tele-operation etc.
Five coordinate space positioning robot major functions of the present invention are that auxiliary doctor accurately locatees medicine equipment, and play the locating rack effect in operation.Five coordinate space positioning robot axis direction rigidity height, the method for principal axes in-plane moving is flexible, has bigger working space, high orientation precision and load capacity.In general, the flexible wrist of robot should have the rotary freedom of three intersect vertical axis, and in the present invention, operating load has axial symmetry, and wrist joint only is provided with the rotary freedom of two intersect vertical axis, can guarantee robot end's flexibility.The present invention can realize the high accuracy absolute fix according to the autonomous path of doctor's planning, have bigger working space and certain load capacity, can alleviate doctor's working strength, reduce operate miss, the wound that the patient is caused is little, the minimizing patient suffering, and this mechanism also is applicable to the network remote control operation.
Claims (8)
1, a kind of five coordinate space placed machine robot mechanisms, it is characterized in that, robot mechanism is by lifting arm (1), big arm (2), forearm (3), wrist (4) and punch block (5) five most of formations, lifting arm (1) is connected with big arm (2) by guide rail slide unit (11), between big arm (2) and the forearm (3), between forearm (3) and the wrist (4), be connected with turning cylinder between wrist (4) and the punch block (5), each several part can produce relative motion under motor-driven; Described robot drives and control system is made up of AC servo motor, driver, photoelectric coded disk, control card and computer and control software.
2, robot according to claim 1 is characterized in that: robot kinematics's structure has five frees degree, is respectively I, II, III, IV and V joint, and at pre-operating position state, I joint motions direction is perpendicular to horizontal plane; The axis in II, III joint is parallel with I joint motions direction; IV joints axes and II, III joints axes are vertical; The V joints axes is vertical with the IV joints axes; The load axis is vertical with the V joints axes.
3, according to claim 1,2 described robots, it is characterized in that: lifting arm (1) is made up of rectilinear motion unit (6), drive motors (7), bracing frame (8), base (9) and power supply box (10), drive motors (7) is installed on the top of rectilinear motion unit (6), rectilinear motion unit (6) is installed on the bracing frame (8), base (9) is connected with bracing frame (8), robot integral body installs and fixes with base (9), and power supply box (10) is installed on the base (9); Slide unit (11) on the rectilinear motion unit (6) is the movement parts of rectilinear motion unit (6), be connected with crotch (12), near place, two ends, rectilinear motion unit (6), be separately installed with a limit switch, mounting blocks (13) is fixed to rectilinear motion unit (6) on the bracing frame (8).
4, according to claim 1,2 described robots, it is characterized in that: big arm drive motors (15) is installed on the crotch (12), connecting axle (21) upper end is connected with big arm driving shaft (16) and big arm body respectively, last axle head of big arm driving shaft (16) and connecting axle (21) lower end are respectively with rolling bearing (19), rolling bearing (22) is installed on the crotch (12), big arm driving shaft (16) is gone up axle head and is connected by shaft joint (18) and motor shaft, between big arm body and the crotch (12), limit switch (20) is installed, nut back-up ring (23) is connected with internal thread and big arm driving shaft (16), and back-up roller dynamic bearing (22), loose piece (17) is connected with crotch (12).
5; According to claim 1; 2 described robots; It is characterized in that: forearm drive motors (24) is installed on the motor mounting rack (25); Motor mounting rack (25) is cup shell; The cup shell outer rim is installed on the big arm body; Motor cover (27) covers in outside the forearm drive motors (24); And be installed on the big arm body (2); Connector (41) is connected forearm driving shaft (26) and forearm (3) with screw connecting mode; The upper axle head of forearm driving shaft (26) is installed on the big arm body (2) with rolling bearing (38); Overhanging upper end is connected by the axle of shaft joint (36) with drive motors (24); Forearm driving shaft (26) bottom has blind hole; Be used for drawing the cable (14) of forearm (3); Sleeve (37) upper limb forms to roll with big arm body with rolling bearing (35) and is connected; The lower edge step forms to roll with big arm body by rolling bearing (38) and is connected; Between big arm body (2) and forearm body (3); Limit switch (40) is installed; Back-up ring nut (39) is connected with internal thread and forearm driving shaft (26), and back-up roller dynamic bearing (38).
6, according to claim 1,2 described robots, it is characterized in that: wrist drive motors (28) is installed on the motor frame (29), and together be installed in the forearm body (3), one end of connector (31) and wrist (4) are connected, the other end is connected with the axle of motor (28) by shaft joint (30); between forearm body (3) and the wrist (4), limit switch is installed.
7, according to claim 1,2 described robots, it is characterized in that: punch block drive motors (33) is installed on the motor frame (34), together be installed in wrist (4) together with motor cover (32), the upper limb of sleeve (44) forms to roll by rolling bearing (42) and wrist body and is connected, the lower edge step forms to roll by rolling bearing (45) and wrist body and is connected, connecting axle (47) upper end is connected with the axle of punch block drive motors (33) by shaft joint (43), connecting axle (47) lower end is connected with sleeve (44) and punch block (5) respectively, between wrist and the punch block, limit switch is installed, and back-up ring nut (46) is connected and back-up roller dynamic bearing (45) with screw thread and sleeve (44).
8, according to claim 1,2 described robots, it is characterized in that: punch block (5) has two anchorage clips, is used for installing and the fixing operation pin.
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| CN1328018C (en) * | 2005-01-05 | 2007-07-25 | 天津大学 | Main operation hand with clamping force sensation |
| CN101804636A (en) * | 2010-03-09 | 2010-08-18 | 上海大学 | Five degree-of-freedom reconfigurable modular service robot arm |
| CN101700656B (en) * | 2009-10-21 | 2011-06-08 | 昆山市工业技术研究院有限责任公司 | Surgical mechanical arm joint hydraulic locking power generator |
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