CN201743778U - Bipolar-coordinate four-degree-of-freedom parallel robot - Google Patents
Bipolar-coordinate four-degree-of-freedom parallel robot Download PDFInfo
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- CN201743778U CN201743778U CN2010205128808U CN201020512880U CN201743778U CN 201743778 U CN201743778 U CN 201743778U CN 2010205128808 U CN2010205128808 U CN 2010205128808U CN 201020512880 U CN201020512880 U CN 201020512880U CN 201743778 U CN201743778 U CN 201743778U
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Abstract
The utility model relates to a bipolar-coordinate four-degree-of-freedom parallel robot, which comprises lead screw mechanisms, puncture needle mechanisms, a hypoid transmission mechanism, a main connecting plate and the like, wherein one end of a parallel-platform fixing frame is a three-jaw structure, the parallel-platform fixing frame is fixed on the main connecting plate through the three-jaw structure, the other end of the parallel-platform fixing frame is a threaded interface, the parallel-platform fixing frame is connected with a supporting frame through the threaded interface, the hypoid transmission mechanism comprises two groups of transmission mechanisms which are symmetrically arranged at both sides of the main connecting plate and connected with the main connecting plate, two groups of lead screw mechanisms are symmetrically arranged at both sides of the center of the main connecting plate and respectively connected with the two groups of transmission mechanisms to form two rotational degrees of freedom, and the puncture needle mechanisms are arranged on the lead screw mechanisms to form two mobile degrees of freedom. The utility model has simple structure, convenient robot kinematic resolution, large working space, high flexibility, portability, stability, high positioning precision and compact structure and can be used for the design of minimally-invasive surgery parallel-robot mechanisms or other digitalized medical devices.
Description
Technical field
This utility model relates to a kind of bipolar coordinate four-freedom parallel device people, belongs to micro-wound surgical operation puncture needle spatial pose digitized automatic positioning equipment.
Background technology
Enter 21 century, computer technology, medical robot technology, advanced manufacturing technology, surgery and surgery's technology etc. have all obtained develop rapidly, meanwhile, rapid raising along with China's economic strength and whole people's health care consciousness, with raising location of operation precision and facilitating operation degree and the efficient of performing the operation is the minimally invasive surgery robot Study on Technology of aim, become one of topmost forward position research focus in the China and even the whole world, also become the important industrial development direction that new high-tech enterprise pays close attention to.
China present surgical operation puncture positioning robot rests on development basically, and the surgical operation parallel robot of research and development has following characteristics.One, topological structure is continued to use the mentality of designing of industrial robot, makes up robot system with traditional moving platform and silent flatform, and this kind mechanism overall dimensions is big, and heavy, doctor's inconvenient operation; Two, the same with traditional parallel robot, this parallel robot work space is little, operation attitude scope is little, very flexible, the requirement of this and microtrauma puncture positioning operation robot (as the neurosurgery robot) is disagreed, therefore this robot is difficult to move towards clinical practice from laboratory, that is to say, the at present still untapped micro-wound surgical operation parallel robot mechanism that goes out the small volume and less weight high flexibility, therefore, exploitation has not only been established the research basis for the robot mechanism of the positioning operation that initiatively punctures towards the four-freedom parallel device people of micro-wound surgical operation, simultaneously, also, the robot of other operative indication provides reference for designing and developing.
The utility model content
In order to overcome the deficiencies in the prior art, the purpose of this utility model is to provide a kind of manual positioning with surgical operation puncturing pin to become full-automatic digitized location, both be the automatic location of robot, realize easy to operate, small and exquisite flexibly, bipolar coordinate four-freedom parallel device people that positioning accuracy is high.
For achieving the above object, this utility model is achieved through the following technical solutions:
A kind of bipolar coordinate four-freedom parallel device people, it is characterized in that: comprise screw mechanism, puncture needle mechanism, the hypoid drive 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 the hypoid drive mechanism comprises two groups of drive mechanisms that are symmetricly set in main connecting plate both sides and are connected with main connecting plate, screw mechanism also is two groups, be symmetricly set in the both sides at main connecting plate center respectively, be connected with two groups of drive mechanisms respectively, form two rotational freedoms, puncture needle mechanism then is arranged in the two cocainine thick stick mechanisms simultaneously, forms two one-movement-freedom-degrees.
Aforesaid drive mechanism comprises the unidirectional current support, the bevel pinion seat, large conic gear seat, direct current generator, the bevel pinion shaft coupling, hypoid bevel pinion and hypoid bevel gear wheel, wherein, the unidirectional current support, bevel pinion seat and large conic gear seat are fixed on the main connecting plate by trip bolt respectively, direct current generator is fixed on the unidirectional current support, its output shaft is connected with shaft coupling one end, the other end of shaft coupling is connected with the turning cylinder of hypoid bevel pinion, and the spacing and support by the bevel pinion seat of the turning cylinder of hypoid bevel pinion, the vertical setting of turning cylinder of the turning cylinder of hypoid bevel gear wheel and hypoid bevel pinion, and the turning cylinder of hypoid bevel gear wheel is spacing and support by large conic gear seat, and the above-mentioned screw mechanism of hypoid bevel gear wheel and the engagement of hypoid bevel pinion comprises the leading screw bearing cover, the lead screw shaft bearing, the leading screw guide housing, ball-screw, feed screw nut, the spindle motor seat, the leading screw shaft coupling, the leading screw direct current generator, wherein, the turning cylinder interference fit of spindle motor seat and above-mentioned hypoid bevel gear wheel, the leading screw direct current generator is connected the side of spindle motor seat by screw, its output shaft and the locking of leading screw shaft coupling one end, the other end of leading screw shaft coupling is connected with an end of the ball-screw that passes spindle motor seat top chock, ball-screw and the coaxial setting of the output shaft of spindle motor seat, and its other end is spacing and support by the lead screw shaft bearing, the leading screw bearing cover is arranged on the end of lead screw shaft bearing, the leading screw guide housing then is arranged between lead screw shaft bearing and the spindle motor seat, and be enclosed within the outside of ball-screw, and with ball-screw the axle concentric setting, the leading screw guide housing also has along the gathering sill of ball-screw axis direction at middle part, its side, and feed screw nut is enclosed within on the ball-screw and is spacing in gathering sill.
Aforesaid puncture needle mechanism comprises puncture needle and two groups of puncture needle fixed mechanisms that structure is identical, two groups of puncture needle fixed mechanisms are separately positioned in the two cocainine thick stick mechanisms, wherein, every group of puncture needle fixed mechanism comprises fairlead U-shaped locating ring, fairlead cylindricality locating ring, location battle pin and puncture needle fairlead, fairlead U-shaped locating ring is connected by sliding bearing with above-mentioned feed screw nut, and it is a symmetrical structure, its turning cylinder is perpendicular to the axle of ball-screw, fairlead cylindricality locating ring is connected the opening of fairlead U-shaped locating ring by the location battle pin of its both sides, its inside also is provided with the puncture needle fairlead with one heart, and puncture needle then is located in two puncture needle fairleads.
Further, the axis of above-mentioned puncture needle fairlead, the axis of location battle pin and the axis of fairlead U-shaped locating ring meet at a bit, form ball pivot.
The beneficial effects of the utility model are:
1, simple in structure: this utility model adopts the bipolar coordinate topological structure, and translation that two cocainine thick stick mechanisms can both implementation space point and spatial point are around the rotation of fixed axis, and two cocainine thick stick mechanism structure unanimities, make design, make all very convenient and cost lower;
2, the robot kinematics resolves conveniently: this bipolar coordinate structure, and its kinematic calculation gets final product based on method of geometry, need not set up mathematical model according to traditional D-H method, does not need to carry out complicated matrixing, reduces the difficulty of resolving and programming greatly;
3, work space is bigger: the abstract puncture needle for doctor's operation of moving platform of the present utility model, it can break away from parallel connection platform, the artificial Open architecture of machine described in the utility model, its rotary joint can move in ± 90 °, therefore its parallel robot with the identical appearance size is compared, and work space obviously increases;
4, motility is higher: because range of motion of the present utility model increases, then moving platform attitude scope increases, that is to say, described puncture needle vector space attitude showed increased, therefore, this utility model is compared with general parallel robot, and its motility significantly improves, thereby doctor's efficient of performing the operation is improved;
5, light firm: material of main part of the present utility model adopts high-strength engineering plastic, in light weight, good rigidly;
6, positioning accuracy is higher: the robot of the relative cascaded structure of this utility model, and its joint does not have cumulative errors, the positioning accuracy height;
7, compact conformation: this utility model is when adopting the bipolar coordinate topological structure, also adopted the hypoid bevel wheel drive mechanism, make that this four-freedom parallel device people gear ratio is big, bearing capacity is strong, volume is little, compact conformation, can be used for designing the micro-wound surgical operation parallel robot mechanism, also can be applied to other digital medical Design of device.
Description of drawings
Fig. 1 is the perspective view of this utility model one embodiment;
Fig. 2 is the front view of this utility model one embodiment;
Fig. 3 is the left view of this utility model one embodiment.
Main Reference numeral implication is among the figure:
1, main connecting plate 2, parallel connection platform fixed mount 3, unidirectional current support
4, bevel pinion seat 5, large conic gear seat 6, direct current generator
7, bevel pinion shaft coupling 8, hypoid bevel pinion 9, hypoid bevel gear wheel
10, leading screw bearing cover 11, lead screw shaft bearing 12, leading screw fairlead
13, ball-screw 14, feed screw nut 15, spindle motor seat
16, leading screw shaft coupling 17, leading screw direct current generator 18, puncture needle
19, fairlead U-shaped locating ring 20, fairlead cylindricality locating ring
21, location lock ring 22, puncture needle fairlead
The specific embodiment
Below in conjunction with accompanying drawing, describe the specific embodiment of the present utility model in detail:
Fig. 1 is the perspective view of this utility model one embodiment; Fig. 2 is the front view of this utility model one embodiment; Fig. 3 is the left view of this utility model one embodiment.
As shown in Figure 1 to Figure 3: bipolar coordinate four-freedom parallel device people, comprise screw mechanism, puncture needle mechanism, the hypoid drive mechanism, main connecting plate 1, parallel connection platform fixed mount 2 and bracing frame (in this utility model, not setting forth), wherein, main connecting plate 1 is as the part of the silent flatform of parallel connection platform, be the basic components of parallel robot, three-jaw structure on the parallel connection platform fixed mount 2 is rigidly connected by three screws and main connecting plate 1, the hickey of parallel connection platform fixed mount 2 ends is connected with bracing frame, and promptly whole parallel robot is fixed on this bracing frame.
Screw mechanism is two groups, is symmetricly set in the both sides at main connecting plate center respectively, and is connected with the hypoid drive mechanism respectively, forms two rotational freedoms, and puncture needle mechanism then is arranged in the two cocainine thick stick mechanisms simultaneously, forms two one-movement-freedom-degrees.
The hypoid drive mechanism then comprises two groups of drive mechanisms that are symmetricly set in main connecting plate both sides and are connected with main connecting plate, and described every group of drive mechanism all comprises unidirectional current support 3, bevel pinion seat 4, large conic gear seat 5, direct current generator 6, bevel pinion shaft coupling 7, hypoid bevel pinion 8 and hypoid bevel gear wheel 9, wherein, unidirectional current support 3, bevel pinion seat 4 and large conic gear seat 5 are fixed on the main connecting plate 1 by trip bolt respectively, direct current generator 6 is fixed on the unidirectional current support 3, its output shaft is connected with bevel pinion shaft coupling 7 one ends, the other end of bevel pinion shaft coupling 7 is connected with the turning cylinder of hypoid bevel pinion 9, and the turning cylinder of hypoid bevel pinion 8 is by the 4 spacing and supports of bevel pinion seat, the vertical setting of turning cylinder of the turning cylinder of hypoid bevel gear wheel 9 and hypoid bevel pinion 8, and the turning cylinder of hypoid bevel gear wheel 9 is by large conic gear seat 5 spacing and supports, and hypoid bevel gear wheel 9 and 8 engagements of hypoid bevel pinion.
Above-mentioned screw mechanism also is two groups, be divided into screw mechanism and following screw mechanism, last screw mechanism and following screw mechanism are symmetricly set in the both sides at main connecting plate 1 center, and be connected with the hypoid drive mechanism respectively, wherein, last screw mechanism and following screw mechanism all comprise leading screw bearing cover 10, lead screw shaft bearing 11, leading screw guide housing 12, ball-screw 13, feed screw nut 14, spindle motor seat 15, leading screw shaft coupling 16, leading screw direct current generator 17, wherein, the turning cylinder interference fit of spindle motor seat 15 and above-mentioned hypoid bevel gear wheel 9, whole go up screw mechanism and following screw mechanism can be respectively around the main axis rotation of two hypoid bevel gear wheels 9, form two rotational freedoms, leading screw direct current generator 17 is connected the side of spindle motor seat 15 by screw, its output shaft and the locking of leading screw shaft coupling 16 1 ends, the other end of leading screw shaft coupling 16 is connected with the end of ball-screw 13 of bearing block on passing spindle motor seat 15, ball-screw 13 and the coaxial setting of the output shaft of spindle motor seat 15, and its other end is by the 15 spacing and supports of lead screw shaft bearing, leading screw bearing cover 10 is arranged on the end of lead screw shaft bearing 11, leading screw guide housing 12 then is arranged between lead screw shaft bearing 11 and the spindle motor seat 15, and be enclosed within the outside of ball-screw 13, and with ball-screw 13 the axle concentric setting, leading screw guide housing 12 also has along the gathering sill of ball-screw 13 axis directions at middle part, its side, and feed screw nut 14 is enclosed within on the ball-screw 13 and is spacing in gathering sill.
Above-mentioned puncture needle mechanism comprises puncture needle 18 and two groups of puncture needle fixed mechanisms that structure is identical, two groups of puncture needle fixed mechanisms are separately positioned in the two cocainine thick stick mechanisms, wherein, every group of puncture needle fixed mechanism all comprises fairlead U-shaped locating ring 19, fairlead cylindricality locating ring 20, location battle pin 21 and puncture needle fairlead 22, fairlead U-shaped locating ring 19 and above-mentioned feed screw nut 14 are connected by sliding bearing, and it is a symmetrical structure, its turning cylinder is perpendicular to the axle of ball-screw 13, fairlead cylindricality locating ring 20 is connected the opening of fairlead U-shaped locating ring 19 by the location battle pin 21 of its both sides, fairlead cylindricality locating ring 20 can be around the axis rotation of location battle pin, fairlead cylindricality locating ring 20 inside also are provided with puncture needle fairlead 22 with one heart, puncture needle fairlead 22 is concentric with fairlead cylindricality locating ring 20, and puncture needle fairlead 22 can take out in fairlead cylindricality locating ring 20 at any time, the axis of puncture needle fairlead 22, the axis of location battle pin 21 and the axis of fairlead U-shaped locating ring 19 meet at a bit, form ball pivot, puncture needle 18 then is located in two puncture needle fairleads 22, that is: puncture needle 18 passes via the interstitial hole of two puncture needle fairleads 22.
Above-mentioned two groups of unique differences of puncture needle fixed mechanism are, the structure of the puncture needle fairlead of the fixedly puncture needle 18 under being positioned on the screw mechanism is than the contraction in length of the structure that is positioned at the puncture needle fairlead on the screw mechanism along puncture needle 18 directions, but function is constant.
Operation principle of the present utility model is:
Parallel robot described in the utility model has 4 degree of freedom, and wherein 2 is one-movement-freedom-degree, and 2 for forwarding degree of freedom to.Last screw mechanism integral body is under the driving of the direct current generator corresponding with it, can be around the main axis rotation of hypoid bevel gear wheel, equally, following screw mechanism integral body is under the driving of the another one motor corresponding with it, can be around the main axis rotation of another one hyperboloid bevel gear wheel, these 2 rotary joints can move in ± 90 ° scope.Two feed screw nuts 14 under the driving of two leading screw direct current generators 17, are done translational motion along ball-screw 13 respectively, can drive two puncture needle fairleads 22 respectively and do translational motion together.Therefore, last screw mechanism can be done translation and rotatablely move, and following screw mechanism also can be done translation and rotatablely move, and forms two polar coordinate up and down.
Operation principle of the present utility model is: before the operation, patient's affected areas is carried out CT/MRI medical image tomoscan, extract the gauge point position by Flame Image Process, set up image coordinate system, during operation, binocular stereo vision system keeps track vision localization template, set up robot base's coordinate system through mathematical tool again, the binocular tri-dimensional vision system is followed the tracks of the gauge point of patient's body surface again, set up external gauge point coordinate system, like this through a series of spaces rigid body translation process, make the doctor be mapped to robot base's coordinate space in the operation puncturing path of image space planning, separate by the robot kinematics is counter, calculate each joint motions value, direct current generator and leading screw direct current generator drive each joint to specific bit, when finish the location, the puncture needle fairlead 22 of screw mechanism and following screw mechanism promptly forms space vector in the connection, thereby realizes the locus of puncture needle 18 and the location of attitude.
Above specific embodiment is set forth embodiment of the present utility model; this elaboration does not have limitation; shown in the accompanying drawing also is basic embodiment of the present utility model; practical structure is not limited thereto; so; if those skilled in the art or research worker are enlightened by it; under the situation that does not break away from this utility model creation aim; adopt other similar topological structure; other similar drive mechanism; perhaps just change the rod member size; design the version similar without creationary, all should belong to protection domain of the present utility model to this technical scheme.
Claims (5)
1. bipolar coordinate four-freedom parallel device people, it is characterized in that: comprise screw mechanism, puncture needle mechanism, the hypoid drive 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 the hypoid drive mechanism comprises two groups of drive mechanisms that are symmetricly set in main connecting plate both sides and are connected with main connecting plate, screw mechanism also is two groups, be symmetricly set in the both sides at main connecting plate center respectively, and be connected with two groups of drive mechanisms respectively, form two rotational freedoms, puncture needle mechanism then is arranged in the two cocainine thick stick mechanisms simultaneously, forms two one-movement-freedom-degrees.
2. bipolar coordinate four-freedom parallel device people according to claim 1, it is characterized in that described drive mechanism comprises the unidirectional current support, the bevel pinion seat, large conic gear seat, direct current generator, the bevel pinion shaft coupling, hypoid bevel pinion and hypoid bevel gear wheel, wherein, the unidirectional current support, bevel pinion seat and large conic gear seat are fixed on the main connecting plate by trip bolt respectively, direct current generator is fixed on the unidirectional current support, its output shaft is connected with shaft coupling one end, the other end of shaft coupling is connected with the turning cylinder of hypoid bevel pinion, and the spacing and support by the bevel pinion seat of the turning cylinder of hypoid bevel pinion, the vertical setting of turning cylinder of the turning cylinder of hypoid bevel gear wheel and hypoid bevel pinion, and the turning cylinder of hypoid bevel gear wheel is spacing and support by large conic gear seat, and hypoid bevel gear wheel and the engagement of hypoid bevel pinion.
3. bipolar coordinate four-freedom parallel device people according to claim 1, it is characterized in that described screw mechanism comprises the leading screw bearing cover, the lead screw shaft bearing, the leading screw guide housing, ball-screw, feed screw nut, the spindle motor seat, the leading screw shaft coupling, the leading screw direct current generator, wherein, the turning cylinder interference fit of spindle motor seat and above-mentioned hypoid bevel gear wheel, the leading screw direct current generator is connected the side of spindle motor seat by screw, its output shaft and the locking of leading screw shaft coupling one end, the other end of leading screw shaft coupling is connected with the end of ball-screw of bearing block on passing the spindle motor seat, ball-screw and the coaxial setting of the output shaft of spindle motor seat, and its other end is spacing and support by the lead screw shaft bearing, the leading screw bearing cover is arranged on the end of lead screw shaft bearing, the leading screw guide housing then is arranged between lead screw shaft bearing and the spindle motor seat, and be enclosed within the outside of ball-screw, and with ball-screw the axle concentric setting, the leading screw guide housing also has along the gathering sill of ball-screw axis direction at middle part, its side, and feed screw nut is enclosed within on the ball-screw and is spacing in gathering sill.
4. bipolar coordinate four-freedom parallel device people according to claim 1, it is characterized in that described puncture needle mechanism comprises puncture needle and two groups of puncture needle fixed mechanisms that structure is identical, two groups of puncture needle fixed mechanisms are separately positioned in the two cocainine thick stick mechanisms, wherein, every group of puncture needle fixed mechanism comprises fairlead U-shaped locating ring, fairlead cylindricality locating ring, location battle pin and puncture needle fairlead, fairlead U-shaped locating ring is connected by sliding bearing with above-mentioned feed screw nut, and it is a symmetrical structure, its turning cylinder is perpendicular to the axle of ball-screw, fairlead cylindricality locating ring is connected the opening of fairlead U-shaped locating ring by the location battle pin of its both sides, its inside also is provided with the puncture needle fairlead with one heart, and puncture needle then is located in two puncture needle fairleads.
5. bipolar coordinate four-freedom parallel device people according to claim 1 is characterized in that the axis of described puncture needle fairlead, the axis of location battle pin and the axis of fairlead U-shaped locating ring meet at a bit, form ball pivot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205128808U CN201743778U (en) | 2010-08-30 | 2010-08-30 | Bipolar-coordinate four-degree-of-freedom parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205128808U CN201743778U (en) | 2010-08-30 | 2010-08-30 | Bipolar-coordinate four-degree-of-freedom parallel robot |
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| Publication Number | Publication Date |
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| CN201743778U true CN201743778U (en) | 2011-02-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205128808U Expired - Lifetime CN201743778U (en) | 2010-08-30 | 2010-08-30 | Bipolar-coordinate four-degree-of-freedom parallel robot |
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| CN (1) | CN201743778U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101933841A (en) * | 2010-08-30 | 2011-01-05 | 昆山市工业技术研究院有限责任公司 | Four degree-of-freedom parallel robot with bipolar coordinate |
| CN103009386A (en) * | 2012-12-17 | 2013-04-03 | 东北农业大学 | Robot shoulder mechanism with multi-freedom degree coupling and movement self-locking functions |
-
2010
- 2010-08-30 CN CN2010205128808U patent/CN201743778U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101933841A (en) * | 2010-08-30 | 2011-01-05 | 昆山市工业技术研究院有限责任公司 | Four degree-of-freedom parallel robot with bipolar coordinate |
| CN103009386A (en) * | 2012-12-17 | 2013-04-03 | 东北农业大学 | Robot shoulder mechanism with multi-freedom degree coupling and movement self-locking functions |
| CN103009386B (en) * | 2012-12-17 | 2015-01-14 | 东北农业大学 | Robot shoulder mechanism with multi-freedom degree coupling and movement self-locking functions |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110216 Effective date of abandoning: 20120704 |