CN201743777U - Triple-drive dipolar-coordinates and four-degree-of-freedom parallel robot - Google Patents

Abstract

The utility model discloses a three-drive bipolar coordinate four-degree-of-freedom parallel robot, which comprises a screw mechanism, a puncture needle mechanism, a bevel gear transmission mechanism, a main connecting plate, a parallel platform fixing frame and a support frame, and one end of the parallel platform fixing frame is arranged There is a three-claw structure, the three-claw structure is fixed on the main connecting plate through fastening screws, and the other end of the parallel platform fixing frame is also provided with a threaded interface, which is connected to the support frame through the threaded interface, and the bevel gear transmission mechanism is connected to the main connecting plate. There are two sets of screw mechanisms, which are symmetrically arranged on both sides of the center of the main connecting plate, and are respectively connected with the bevel gear transmission mechanism to form two degrees of freedom of rotation. The puncture needle mechanism is arranged on the screw mechanism to form two degrees of freedom of movement. . The utility model has the advantages of simple structure, convenient calculation of robot kinematics, large working space, high flexibility, lightness and stability, high positioning accuracy and compact structure, and can be used in the design of parallel robot mechanisms for minimally invasive surgery or other digital medical devices.

Description

Three-drive bipolar coordinate four-degree-of-freedom parallel robot

technical field

The utility model relates to a three-drive bipolar coordinate four-degree-of-freedom parallel robot, which belongs to a minimally invasive surgery puncture needle space pose digital automatic positioning device.

Background technique

At present, for surgical operations, the development and application of medical robot technology has been highly praised by various countries, and its related technologies have also been developed rapidly. The research on minimally invasive surgical robot technology for the purpose of surgical convenience and surgical efficiency has become one of the most important frontier research hotspots in my country and even the world. However, the current surgical puncture positioning robot in my country basically stays in the research and development stage. Surgical parallel robots have the following characteristics. 1. The topology structure follows the design idea of industrial robots, and the robot system is built with traditional dynamic and static platforms. This kind of mechanism is large in size and heavy, and it is inconvenient for doctors to operate; The robot has a small working space, a small range of surgical postures, and poor flexibility, which violate the requirements of minimally invasive puncture positioning surgical robots (such as neurosurgery robots), so it is difficult for such robots to move from the laboratory to clinical applications. A small, lightweight, and highly flexible parallel robot mechanism for minimally invasive surgery has not yet been developed. The development of a four-degree-of-freedom parallel robot for minimally invasive surgery will not only lay a foundation for the research of robotic mechanisms for active puncture positioning surgery, but also provide It provides a reference for the design and development of robots for other surgical indications. therefore,

Utility model content

In order to overcome the deficiencies of the prior art, the purpose of this utility model is to provide a three-drive bipolar coordinates four-degree-of-freedom parallel robot, which changes the manual positioning of the surgeon's surgical puncture needle into a fully automatic digital positioning, that is, it becomes a robot. automatic positioning,

In addition, the purpose of the utility model is to make the utility model not only be used as an automatic medical surgical instrument, but also be able to use the matching binocular stereo vision positioning, medical 2D and 3D image processing and positioning, and the solution of robot kinematics. The puncture path planned by the doctor in the image space is automatically mapped to the robot space, so as to realize the accurate positioning of the spatial position and posture of the surgical puncture needle vector, and can even be used as medical equipment for surgical puncture positioning and a stable surgical support platform at the same time.

In order to achieve the above object, the utility model is achieved through the following technical solutions:

A three-drive bipolar coordinate four-degree-of-freedom parallel robot is characterized in that it includes an upper screw mechanism, a lower screw mechanism, a puncture needle mechanism, a bevel gear transmission mechanism, a main connecting plate, a parallel platform fixing frame and a support frame, wherein , one end of the parallel platform fixed frame is provided with a three-claw structure, and the three-claw structure is fixed on the main connecting plate through fastening screws, and the other end of the parallel platform fixed frame is also provided with a threaded interface, which is connected to the support frame through the threaded interface, and the bevel gear The transmission mechanism is located on one side of the main connecting plate and is connected with the main connecting plate. The upper screw mechanism and the lower screw mechanism are symmetrically arranged on both sides of the center of the main connecting plate, and are respectively connected with the bevel gear transmission mechanism to form two freely rotating degree, while the puncture needle mechanism is set on the upper screw mechanism and the lower screw mechanism at the same time, forming two degrees of freedom of movement.

The aforementioned bevel gear transmission mechanism includes a small bevel gear motor seat, a small bevel gear seat, a large bevel gear seat A, a large bevel gear seat B, a DC motor, a small bevel gear coupling, a small bevel gear, a large bevel gear A and a large bevel gear Bevel gear B, wherein the small bevel gear motor seat, small bevel gear seat, large bevel gear seat A and large bevel gear seat B are respectively fixed on the main connecting plate by fastening screws, and the DC motor is fixed on the small bevel gear motor seat , the output shaft is connected to one end of the pinion bevel gear coupling, the other end of the pinion bevel gear coupling is connected to the rotating shaft of the pinion bevel gear, and the rotating shaft of the pinion bevel gear is limited and supported by the pinion bevel gear seat, The axes of the rotating shafts of the large bevel gear A and the large bevel gear B are on a straight line, and at the same time, they are arranged perpendicular to the rotating shafts of the small bevel gear, and the rotating shafts of the large bevel gear A and the large bevel gear B respectively pass through the large bevel gear seat A and the large bevel gear seat B are limited and supported, and the large bevel gear A and the large bevel gear B are meshed with the small bevel gear at the same time.

The aforementioned upper screw mechanism includes an upper screw bearing housing end cover, an upper screw bearing housing, an upper screw guide cover, an upper ball screw, an upper screw nut, an upper screw motor seat, an upper screw coupling and The upper lead screw DC motor, wherein, the upper lead screw motor seat is respectively in interference fit with the rotating shaft of the above-mentioned large bevel gear A, and the upper lead screw DC motor is connected to the side of the upper lead screw motor seat through screws, and its output shaft is connected to the upper screw motor seat. One end of the screw coupling is locked, and the other end of the upper screw coupling is connected with one end of the upper ball screw passing through the bearing seat on the upper screw motor base, and the upper ball screw is connected with the upper screw motor base. The output shaft is set coaxially, and its other end is limited and supported by the upper screw bearing seat, the upper screw bearing seat end cover is set on the end of the upper screw bearing seat, and the upper screw guide cover is set on the upper screw Between the screw bearing seat and the upper screw motor base, and set on the outside of the upper ball screw, and set concentrically with the axis of the upper ball screw, the upper screw guide cover is also provided with an upper ball screw in the middle of its side. The guide groove A in the axial direction, the upper screw nut is sleeved on the upper ball screw and limited in the guide groove A.

The aforementioned lower screw mechanism includes a lower screw bearing housing end cover, a lower screw bearing housing, a lower screw guide cover, a lower ball screw, a lower screw nut, a lower screw motor seat, a lower screw coupling and The lower lead screw DC motor, wherein, the lower lead screw motor seat is interference fit with the rotating shaft of the above-mentioned large bevel gear B respectively, the lower lead screw DC motor is connected to the side of the lower lead screw motor seat through screws, and its output shaft is connected to the lower screw motor seat. One end of the shaft coupling is locked, the other end of the lower screw coupling is connected to one end of the lower ball screw passing through the bearing seat on the lower screw motor base, and the output of the lower ball screw and the lower screw motor base The shafts are set coaxially, and the other end is limited and supported by the lower screw bearing seat, the end cover of the lower screw bearing seat is set on the end of the lower screw bearing seat, and the lower screw guide cover is set on the lower screw bearing seat Between the motor base of the lower screw and the outer part of the lower ball screw, and concentric with the axis of the lower ball screw, the guide cover of the lower screw is provided with a guide along the axis of the lower ball screw in the middle of its side. Groove B, the lower screw nut is sleeved on the lower ball screw and limited in the guide groove B.

The aforementioned puncture needle mechanism includes a puncture needle, a puncture needle fixing mechanism A, and a puncture needle fixing mechanism B. The puncture needle fixing mechanism A and the puncture needle fixing mechanism B are respectively arranged on the upper screw mechanism and the lower screw mechanism, and the puncture needle It is fixed on the puncture needle fixing mechanism A and the puncture needle fixing mechanism B at the same time.

The aforementioned puncture needle fixing mechanism A includes a guide sleeve U-shaped positioning ring A, a guide sleeve cylindrical positioning ring A, a positioning ring pin A and a puncture needle guide sleeve A, and the guide sleeve U-shaped positioning ring A passes through the above-mentioned upper screw nut. Sliding bearing connection, and it is a symmetrical structure, its rotation axis is perpendicular to the axis of the upper ball screw, and the cylindrical positioning ring A of the guide sleeve is connected to the open end of the U-shaped positioning ring A of the guide sleeve through the positioning ring pins A on both sides , the inside of which is also concentrically provided with a puncture needle guide sleeve A, and the puncture needle is set in the puncture needle guide sleeve A.

The aforementioned puncture needle fixing mechanism B includes a guide sleeve U-shaped positioning ring B, a guide sleeve cylindrical positioning ring B, a positioning ring pin B and a puncture needle guide sleeve B, and the guide sleeve U-shaped positioning ring B passes through the above-mentioned lower screw nut. Sliding bearing connection, and it is a symmetrical structure, its rotation axis is perpendicular to the shaft of the lower ball screw, and the cylindrical positioning ring B of the guide sleeve is connected to the open end of the U-shaped positioning ring B of the guide sleeve through the positioning ring pins B on both sides , the inside of which is also concentrically provided with a puncture needle guide sleeve B, and the puncture needle is set in the puncture needle guide sleeve B.

The axis of the aforementioned puncture needle guide sleeve A, the axis of the positioning ring pin A and the axis of the U-shaped positioning ring A of the guide sleeve intersect at one point to form a ball joint A, and the axis of the puncture needle guide sleeve B and the axis of the positioning ring pin B It intersects with the axis of the U-shaped positioning ring B of the guide sleeve at one point to form a spherical joint B.

The beneficial effects of the utility model are:

1. Simple structure: the utility model adopts bipolar coordinate topological structure, both the upper screw mechanism and the lower screw mechanism can realize the translation of the space point and the rotation of the space point around the fixed axis, and the upper screw mechanism and the lower screw mechanism The structure is consistent, making the design and manufacture very convenient and low cost;

2. The robot kinematics calculation is convenient: the bipolar coordinate structure adopted by the utility model can be calculated based on the geometric method, and there is no need to establish a mathematical model according to the traditional D-H method, and there is no need to perform complex matrix transformation, thereby greatly Reduce the difficulty of solving and programming;

3. The working space is large: the moving platform of the utility model is abstracted as a puncture needle for a doctor's operation. Compared with the size of the parallel robot, its working space is significantly increased;

4. Higher flexibility: due to the increase in the joint motion range of the utility model, the posture range of the moving platform increases, that is to say, the vector space posture of the puncture needle of the utility model increases significantly. Therefore, compared with the general parallel robot, Its flexibility is significantly improved, thereby improving the efficiency of doctors' operations;

5. Portable and stable: the main material of the four-degree-of-freedom parallel robot described in the utility model is made of high-strength engineering plastics, which is light in weight and good in rigidity;

6. High positioning accuracy: Compared with the robot with series structure, the joint of the utility model has no cumulative error and high positioning accuracy;

7. Compact structure: while the utility model adopts a bipolar coordinate topology structure, it adopts a bevel gear transmission structure in which three bevel gear axes intersect at one point. The system only uses three motors to drive four joints of a parallel robot, so that the The four-degree-of-freedom parallel robot is small in size, light in weight, and compact in structure. It can be used to design parallel robot mechanisms for minimally invasive surgery, and can also be applied to the design of other digital medical devices.

Description of drawings

Fig. 1 is the front view of an embodiment of the utility model;

Fig. 2 is the top view of an embodiment of the utility model;

Fig. 3 is a right view of an embodiment of the utility model.

The meanings of the main reference signs in the figure are:

1. Main connecting plate 2. Parallel platform fixing frame 3. Small bevel gear motor seat

4. Small bevel gear seat 5. Large bevel gear seat A 6. Large bevel gear seat

7. DC motor 8. Small bevel gear coupling 9. Small bevel gear

10. Large bevel gear A 11. Large bevel gear B 12. Upper screw bearing housing end cover

13. Upper screw bearing seat 14. Upper screw guide cover 15. Upper ball screw

16. Upper screw nut 17. Upper screw motor seat 18. Upper screw coupling

19. Upper screw DC motor 20. End cover of lower screw bearing housing 21. Lower screw bearing housing

22. Lower screw guide cover 23. Lower ball screw 24. Lower screw nut

25. Lower lead screw motor base 26. Lower lead screw coupling 27. Lower lead screw DC motor

28. Puncture needle 29. U-shaped positioning ring of guide sleeve A 30. Cylindrical positioning ring of guide sleeve A

31. Positioning ring pin A 32. Puncture needle guide sleeve A 33. Guide sleeve U-shaped positioning ring B

34. Guide sleeve cylindrical positioning ring B 35. Positioning ring pin B 36. Puncture needle guide sleeve B

Detailed ways

Below in conjunction with accompanying drawing, describe the specific embodiment of the utility model in detail:

Fig. 1 is a front view of an embodiment of the utility model; Fig. 2 is a top view of an embodiment of the utility model; Fig. 3 is a right view of an embodiment of the utility model.

As shown in Figure 1 to Figure 3: three-drive bipolar coordinate four-degree-of-freedom parallel robot, including upper screw mechanism, lower screw mechanism, puncture needle mechanism, bevel gear transmission mechanism, main connecting plate 1, parallel platform fixing frame 2 and support frame (not set forth in the utility model), wherein, the main connecting plate 1 is a part of the static platform of the parallel platform, which is the basic part of the utility model, and the three-claw structure provided at one end of the parallel platform fixing frame 2 passes through three screws Rigidly connected with the main connecting plate 1, the other end of the parallel platform fixing frame 2 is also provided with a threaded interface, which is connected to the support frame through the threaded interface, and the bevel gear transmission mechanism is located on the side of the main connecting plate 1 and connected with the main connecting plate 1, The upper screw mechanism and the lower screw mechanism are symmetrically arranged on both sides of the center of the main connecting plate 1, and are respectively connected with the bevel gear transmission mechanism to form two degrees of freedom of rotation, while the puncture needle mechanism is simultaneously arranged on the upper screw mechanism And on the lower lead screw mechanism, two degrees of freedom of movement are formed.

The above-mentioned bevel gear transmission mechanism includes small bevel gear motor seat 3, small bevel gear seat 4, large bevel gear seat A5, large bevel gear seat B6, DC motor 7, small bevel gear coupling 8, small bevel gear 9, large bevel gear seat Bevel gear A10 and large bevel gear B11, wherein small bevel gear motor seat 3, small bevel gear seat 4, large bevel gear seat A5 and large bevel gear seat B6 are respectively fixed on the main connecting plate 1 by fastening screws, and the DC motor 7 is fixed on the small bevel gear motor seat 3, its output shaft is connected with one end of the small bevel gear coupling 8, the other end of the small bevel gear coupling 8 is connected with the rotating shaft of the small bevel gear 9, and the small bevel gear The rotating shaft of 9 is limited and supported by the small bevel gear seat 4, the axes of the rotating shafts of the large bevel gear A10 and the large bevel gear B11 are on a straight line, and are vertically arranged with the rotating shaft of the small bevel gear 9 at the same time, and the large bevel gear The rotating shafts of the gear A10 and the large bevel gear B11 are limited and supported by the large bevel gear seat A5 and the large bevel gear seat B6 respectively, and the large bevel gear A10 and the large bevel gear B11 mesh with the small bevel gear 9 simultaneously.

The above-mentioned upper screw mechanism comprises an upper screw bearing housing end cover 12, an upper screw bearing housing 13, an upper screw guide cover 14, an upper ball screw 15, an upper screw nut 16, an upper screw motor seat 17, an upper The lead screw coupling 18 and the upper lead screw DC motor 19, wherein the upper lead screw motor base 17 is respectively in interference fit with the rotating shaft of the above-mentioned large bevel gear A10 to realize the rotation of the upper lead screw mechanism as a whole around the large bevel gear A10 The shaft rotates to form a rotational degree of freedom. The upper screw DC motor 19 is connected to the side of the upper screw motor base 17 by screws, and its output shaft is locked with one end of the upper screw coupling 18. The upper screw coupling 18 The other end of the other end is connected with one end of the upper ball screw 15 passing through the bearing seat on the upper screw motor base 13, the upper ball screw 15 is coaxially arranged with the output shaft of the upper screw motor base 17, and the other end passes through The upper screw bearing housing 13 is limited and supported, the upper screw bearing housing end cover 12 is arranged on the end of the upper screw bearing housing 13, and the upper screw bearing housing 14 is arranged on the upper screw bearing housing 13 and the upper screw housing. between the screw motor bases 17, and set on the outside of the upper ball screw 15, and set concentrically with the axis of the upper ball screw 15, the upper screw guide cover 14 is also provided in the middle part of its side surface along the axis of the upper ball screw 15. The guide groove A in the direction, the upper screw nut 16 is set on the upper ball screw 15 and is limited in the guide groove A, that is, the upper screw nut 16 of the upper ball screw 15 can move along the axis of the lower and upper ball screw 15 Direction movement, but must be limited within the range of guide groove A.

The structure of the lower screw mechanism is the same as that of the upper screw mechanism, which also includes the lower screw bearing housing end cover 20, the lower screw bearing housing 21, the lower screw guide cover 22, the lower ball screw 23, the lower screw Screw nut 24, following lead screw motor seat 25, following lead screw coupling 26 and following lead screw DC motor 27, wherein, following lead screw motor seat 25 is respectively with the rotating shaft interference fit of above-mentioned large bevel gear B11, realizes The whole lower screw mechanism rotates around the rotation axis of the large bevel gear B11 to form another degree of freedom of rotation. The lower screw DC motor 27 is connected to the side of the lower screw motor base 25 by screws, and its output shaft is connected to the lower screw coupling. 26 one end is locked, and the other end of the lower screw coupling 26 is connected with an end of the lower ball screw 23 passing through the bearing seat on the lower screw motor base 25, and the lower ball screw 23 is connected with the lower screw motor base 25 The output shaft is set coaxially, and the other end is limited and supported by the lower screw bearing housing 21, the lower screw bearing housing end cover 20 is arranged at the end of the lower screw bearing housing 21, and the lower screw bearing housing 22 is It is arranged between the lower screw bearing housing 21 and the lower screw motor base 25, and is enclosed within the outside of the lower ball screw 23, and is arranged concentrically with the axis of the lower ball screw 23. The lower screw guide cover 22 is also in the middle of its side. There is a guide groove B along the axial direction of the lower ball screw 23, and the lower screw nut 24 is sleeved on the lower ball screw 23 and is limited in the guide groove B, that is, the lower screw nut 24 of the lower ball screw 23 can move along the The axial movement of the lower ball screw 23 must be limited within the range of the guide groove B.

The puncture needle mechanism includes a puncture needle 28, a puncture needle fixing mechanism A and a puncture needle fixing mechanism B, and the puncture needle fixing mechanism A and the puncture needle fixing mechanism B are respectively arranged on the upper screw mechanism and the lower screw mechanism, and the puncture needle 28 is It is fixed on the puncture needle fixing mechanism A and the puncture needle fixing mechanism B at the same time.

Further, the puncture needle fixing mechanism A includes a guide sleeve U-shaped positioning ring A29, a guide sleeve cylindrical positioning ring A30, a positioning ring pin A31 and a puncture needle guide sleeve A32, the guide sleeve U-shaped positioning ring A29 and the above-mentioned upper screw nut 16 It is connected by a sliding bearing, and it is a symmetrical structure, and its rotation axis is perpendicular to the axis of the upper ball screw 15. The cylindrical positioning ring A30 of the guide sleeve is connected to the U-shaped positioning ring A29 of the guide sleeve through the positioning ring pins A31 on both sides. At the open end, the cylindrical positioning ring A30 of the guide sleeve can rotate around the positioning ring pin A31, and a puncture needle guide sleeve A32 is concentrically arranged inside it, and the puncture needle 28 is inserted in the puncture needle guide sleeve A32.

And puncture needle fixing mechanism B and comprise guide sleeve U-shaped positioning ring B33, guide sleeve cylindrical positioning ring B34, positioning ring pin B35 and puncture needle guide sleeve B36, guide sleeve U-shaped positioning ring B33 and above-mentioned lower screw nut 24 It is connected by a sliding bearing, and it is a symmetrical structure, and its rotation axis is perpendicular to the shaft of the lower ball screw 22. The cylindrical positioning ring B34 of the guide sleeve is connected to the U-shaped positioning ring B33 of the guide sleeve through the positioning ring pins B35 on both sides. At the open end, the cylindrical positioning ring B34 of the guide sleeve can rotate around the positioning ring pin A35, and a puncture needle guide sleeve B36 is concentrically arranged inside it, and the puncture needle 28 is inserted in the puncture needle guide sleeve B36. In addition, the puncture needle is fixed The difference between the mechanism B and the puncture needle fixing mechanism A is that the structure of the puncture needle guide sleeve B36 for fixing the puncture needle 28 is shorter than the length of the puncture needle guide sleeve A32 along the direction of the puncture needle 28, but the function remains the same.

The axis of the above-mentioned puncture needle guide sleeve A32, the axis of the positioning ring pin A31 and the axis of the guide sleeve U-shaped positioning ring 29 intersect at one point to form a spherical joint A, while the axis of the puncture needle guide sleeve B36 and the axis of the positioning ring pin B35 It intersects with the axis of the U-shaped positioning ring B33 of the guide sleeve at one point to form a spherical hinge B.

The working principle of the utility model is: the utility model has 4 degrees of freedom, 2 of which are moving degrees of freedom, and 2 are rotating degrees of freedom. The main shaft of A10 rotates. Similarly, the lower screw mechanism as a whole can rotate around the main shaft of the large bevel gear B11 driven by the DC motor 7, and the two rotary joints can move within ±90°. The upper lead screw nut 16 and the lower lead screw nut 24 are driven by the upper lead screw DC motor 19 and the lower lead screw DC motor 27 respectively, and move in translation along the upper ball screw 15 and the lower ball screw 24 respectively, driving the puncture needle The guide sleeve A32 and the puncture needle guide sleeve B36 do translational movement together, therefore, the upper screw mechanism can do translation and rotation movement, and the lower screw mechanism can also do translation and rotation movement, forming two polar coordinates up and down.

Before the operation, CT/MRI medical imaging tomography is performed on the patient's diseased area, and the position of the marker points is extracted through image processing to establish an image coordinate system. During the operation, the binocular stereo vision system tracks the visual positioning template, and then establishes the basic coordinate system of the robot through mathematical tools. In this way, through a series of space rigid body transformation processes, the surgical puncture path planned by the doctor in the image space is mapped to the basic coordinate space of the robot. Through the inverse solution of robot kinematics, the motion value of each joint is calculated, and the DC motor 7, the upper screw DC motor 19 and the lower screw DC motor 27 drive each joint to a designated position. When the positioning is finished, connect the puncture needle guide sleeve A32 and the puncture needle guide sleeve B36 of the upper screw mechanism and the lower screw mechanism to form a space vector, thereby realizing the positioning of the spatial position and attitude of the surgical puncture needle.

Above specific embodiment has been set forth to the implementation mode of the present utility model, and this setting has no limitation, and what show in the accompanying drawing is also only the basic implementation mode of the present utility model, and actual structure is not limited to this, so, if this Those skilled in the art or researchers are inspired by it, without departing from the purpose of the utility model, adopt other similar topological structures, other similar transmission structures, or just change the size of the rod, without creatively designing Structural forms with similar schemes should all belong to the protection scope of the present utility model.

Claims (9)

1. three drive bipolar coordinate four-freedom parallel device people, it is characterized in that: comprise screw mechanism, following screw mechanism, puncture needle mechanism, Bevel Gear Transmission mechanism, main connecting plate, parallel connection platform fixed mount and bracing frame, wherein, parallel connection platform fixed mount one end is provided with the three-jaw structure, its three-jaw structure is fixed on the main connecting plate by trip bolt, the parallel connection platform fixed mount other end also is provided with hickey, it is connected with bracing frame by hickey, and Bevel Gear Transmission mechanism is positioned at main connecting plate one side and be connected with main connecting plate, last screw mechanism and following screw mechanism are symmetricly set in the both sides at main connecting plate center respectively, and be connected with Bevel Gear Transmission mechanism respectively, form two rotational freedoms, puncture needle mechanism then is arranged on screw mechanism and the following screw mechanism simultaneously, forms two one-movement-freedom-degrees.

2. according to claim 1 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that described Bevel Gear Transmission mechanism comprises the bevel pinion motor cabinet, the bevel pinion seat, large conic gear seat A, large conic gear seat B, direct current generator, the bevel pinion shaft coupling, bevel pinion, bevel gear wheel A and bevel gear wheel B, wherein, the bevel pinion motor cabinet, the bevel pinion seat, large conic gear seat A and large conic gear seat B are fixed on the main connecting plate by trip bolt respectively, direct current generator is fixed on the bevel pinion motor cabinet, its output shaft is connected with an end of bevel pinion shaft coupling, the other end of bevel pinion shaft coupling is connected with the turning cylinder of bevel pinion, and the spacing and support by the bevel pinion seat of the turning cylinder of bevel pinion, the axis of the turning cylinder of bevel gear wheel A and bevel gear wheel B point-blank, and simultaneously with vertical setting of turning cylinder of bevel pinion, and the turning cylinder of bevel gear wheel A and bevel gear wheel B passes through large conic gear seat A respectively and large conic gear seat B is spacing and support, and bevel gear wheel A and bevel gear wheel B mesh with bevel pinion simultaneously.

3. according to claim 1 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that the described screw mechanism of going up comprises the leading screw bearing cover, last lead screw shaft bearing, last leading screw guide housing, last ball-screw, last feed screw nut, last spindle motor seat, last leading screw shaft coupling and last leading screw direct current generator, wherein, last spindle motor seat respectively with the turning cylinder interference fit of above-mentioned bevel gear wheel A, last leading screw direct current generator is connected the side of spindle motor seat by screw, its output shaft and the locking of last leading screw shaft coupling one end, the other end of last leading screw shaft coupling is connected with the end of last ball-screw of bearing block on passing the spindle motor seat, last ball-screw and the coaxial setting of the output shaft of last spindle motor seat, and its other end is spacing and support by last lead screw shaft bearing, last leading screw bearing cover is arranged on the end of lead screw shaft bearing, last leading screw guide housing then is arranged between lead screw shaft bearing and the last spindle motor seat, and be enclosed within the outside of ball-screw, and with last ball-screw the axle concentric setting, last leading screw guide housing middle part, its side also have along on the gathering sill A of ball-screw axis direction, last feed screw nut is enclosed within on the ball-screw and is spacing in gathering sill A.

4. according to claim 1 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that described screw mechanism down comprises leading screw bearing cover down, following lead screw shaft bearing, following leading screw guide housing, following ball-screw, following feed screw nut, following spindle motor seat, following leading screw shaft coupling and following leading screw direct current generator, wherein, following spindle motor seat respectively with the turning cylinder interference fit of above-mentioned bevel gear wheel B, following leading screw direct current generator is connected down the side of spindle motor seat by screw, its output shaft and following leading screw shaft coupling one end locking, the other end of following leading screw shaft coupling is connected with the end of following ball-screw of bearing block on passing down the spindle motor seat, following ball-screw and the coaxial setting of the output shaft of following spindle motor seat, and its other end is by the spacing and support of lead screw shaft bearing down, following leading screw bearing cover is arranged on down the end of lead screw shaft bearing, following leading screw guide housing then is arranged on down between lead screw shaft bearing and the following spindle motor seat, and the outside of cover infra ball-screw, and with following ball-screw the axle concentric setting, following leading screw guide housing middle part, its side also have along under the gathering sill B of ball-screw axis direction, on the following screw nut sleeve infra ball-screw and spacing in gathering sill B.

5. according to claim 1 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that described puncture needle mechanism comprises puncture needle, puncture needle fixed mechanism A and puncture needle fixed mechanism B, puncture needle fixed mechanism A and puncture needle fixed mechanism B are separately positioned on screw mechanism and the following screw mechanism, and puncture needle then is fixed on puncture needle fixed mechanism A and the puncture needle fixed mechanism B simultaneously.

6. according to claim 5 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that described puncture needle fixed mechanism A comprises fairlead U-shaped locating ring A, fairlead cylindricality locating ring A, location battle pin A and puncture needle fairlead A, fairlead U-shaped locating ring A is connected by sliding bearing with above-mentioned last feed screw nut, and it is a symmetrical structure, its turning cylinder is perpendicular to the axle of last ball-screw, fairlead cylindricality locating ring A is connected the opening of fairlead U-shaped locating ring A by the location battle pin A of its both sides, its inside also is provided with puncture needle fairlead A with one heart, and puncture needle then is located in the puncture needle fairlead A.

7. according to claim 5 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that described puncture needle fixed mechanism B comprises fairlead U-shaped locating ring B, fairlead cylindricality locating ring B, location battle pin B and puncture needle fairlead B, fairlead U-shaped locating ring B is connected by sliding bearing with above-mentioned following feed screw nut, and it is a symmetrical structure, its turning cylinder is perpendicular to the axle of following ball-screw, fairlead cylindricality locating ring B is connected the opening of fairlead U-shaped locating ring B by the location battle pin B of its both sides, its inside also is provided with puncture needle fairlead B with one heart, and puncture needle then is located in the puncture needle fairlead B.

8. according to claim 6 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that the axis of described puncture needle fairlead A, the axis of location battle pin A and the axis of fairlead U-shaped locating ring A meet at a bit, form ball pivot A.

9. according to claim 7 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that the axis of described puncture needle fairlead B, the axis of location battle pin B and the axis of fairlead U-shaped locating ring B meet at a bit, form ball pivot B.

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