CN207480595U - Remote controllers - Google Patents

Remote controllers Download PDF

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Publication number
CN207480595U
CN207480595U CN201721119589.2U CN201721119589U CN207480595U CN 207480595 U CN207480595 U CN 207480595U CN 201721119589 U CN201721119589 U CN 201721119589U CN 207480595 U CN207480595 U CN 207480595U
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CN
China
Prior art keywords
remote
remote controllers
control handle
bearing
platform
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Active
Application number
CN201721119589.2U
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Chinese (zh)
Inventor
滕庆
熊麟霏
侯西龙
魏诗又
江涛
杨嘉林
张剑韬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kunshan huadazhi Yunying Medical Technology Co., Ltd
Original Assignee
Shenzhen Robo Medical Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority to CN201721119589.2U priority Critical patent/CN207480595U/en
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Abstract

The utility model provides a kind of remote controllers, including the motion platform with three translation freedoms and the remote-control handle with three-rotational-freedom, the motion platform is equipped with the incremental encoder for monitoring the motion platform Three Degree Of Freedom translation distance, the remote-control handle is mounted on the motion platform, and the remote-control handle is equipped with the angular position sensor for monitoring the remote-control handle rotational angle position.Translation of the moving platform of motion platform in space is corresponding with the translation for the medical robot that needs control, remote-control handle is corresponding with the rotation for the medical robot that needs control around the rotation of rotating shaft mechanism, when doctor drags or rotates remote-control handle, medical robot movement corresponding with remote-control handle, realizes and medical robot is accurately efficiently operated.

Description

Remote controllers
Technical field
The utility model belongs to medical instruments field, is to be related to a kind of remote controllers more specifically.
Background technology
Robot technology has been applied to medical instruments field, and medical robot, which can assist a physician, completes minimally invasive intervention hand Art or remote operation or remote diagnosis, for example the mechanical arm equipped with ultrasonic probe is used to carry out long-range ultrasonic medical to patient. Because serious forgiveness is relatively low in operation or diagnosis and treatment process, medical robot must have higher operability.
In the prior art, it inputs and instructs to control system usually using input equipments such as keyboards, to control medical robot Corresponding sports are carried out, such control mode is more accurate but less efficient, also has part input equipment for control handle, but manipulate Handle can only control robot to be moved to specific direction, it is impossible to adjust the parameters such as mobile speed, the angle of rotation.
Utility model content
The purpose of this utility model is to provide a kind of remote controllers, with solve it is in the prior art can not be accurate Efficiently the problem of control medical robot.
To achieve the above object, the technical solution adopted in the utility model has been to provide a kind of remote controllers, including tool There are the motion platform of three translation freedoms and the remote-control handle with three-rotational-freedom, the motion platform is equipped with monitoring should The incremental encoder of motion platform Three Degree Of Freedom translation distance, the remote-control handle is mounted on the motion platform, described Remote-control handle is equipped with the angular position sensor for monitoring the remote-control handle rotational angle position.
Further, the rotating shaft mechanism that the remote-control handle includes control stick, the support control stick Three Degree Of Freedom rotates With the support plate for supporting the rotating shaft mechanism, the support plate is connected with the motion platform.
Further, the rotating shaft mechanism includes the universal joint being connect with the control stick lower end and mounted on the support Spring bearing on plate, the universal joint are fixedly connected with the inner ring of the spring bearing.
Further, the universal joint include being fixed on the first bearing shell of the control stick lower end, be fixedly connected on it is described Second bearing shell of the inner ring of spring bearing, the center rotor being set between first bearing shell and second bearing shell, connection The first rotating shaft of the center rotor and first bearing shell and it connect second turn of the center rotor and second bearing shell Axis;The axial direction of the axial and described spring bearing of axial, described second shaft of the first rotating shaft is mutually perpendicular to.
Further, the motion platform includes:
Circular pedestal;
Circular fixed platform perpendicular to the pedestal, is fixed by supporting block;
Transmission component is installed on the fixed platform, has three one-movement-freedom-degrees;
Set square is connect with the transmission component, and extends the support plate.
Further, the transmission component includes:
Three stents, on the fixed platform;
Three cranks, three cranks are hinged respectively with three stents, and each crank is allocated far from described Platform axis one end is equipped with clutch shaft bearing;
Three parallelogram connection-rods, two stocks and two quarter butts including surrounding parallelogram;
Three parallelogram connection-rods are corresponding with the set square respectively, three cranks respectively with described in three Parallelogram connection-rod is corresponding, and each angle of the set square is respectively equipped with second bearing, each parallelogram connection-rod Two quarter butts slide respectively to be plugged in the corresponding clutch shaft bearing and the second bearing.
Further, stent described in three groups is distributed along the fixed platform even circumferential.
Further, the crank is semi-circular member, and the crank center of circle is hinged with the stent.Further, institute It states in parallelogram connection-rod, the corresponding end of the both ends of each stock respectively with two quarter butts is hinged.
Further, each stent is respectively fixed with motor, the output shaft of the motor close to described fixed platform one end On be cased with gear, the excircle configuration of each crank is equipped with the external tooth engaged with the corresponding gear.
The advantageous effect of remote controllers provided by the utility model is:Compared with prior art, the utility model carries The remote controllers of confession can be divided into motion platform and remote-control handle two parts, and the incremental encoder that motion platform carries can be with Output displacement signal, the position sensor that remote-control handle carries can export the position signal of remote-control handle, pass through the letter of output Number, remote controllers can control relevant device;The medical treatment that translation of the moving platform of motion platform in space is controlled with needs The translation of robot corresponds to, and remote-control handle is corresponding with the rotation for the medical robot that needs control around the rotation of rotating shaft mechanism, When doctor drags or rotates remote-control handle, medical robot movement corresponding with remote-control handle is realized accurately high to medical robot The operation of effect.
Description of the drawings
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model Attached drawing is briefly described needed in description, it should be apparent that, the accompanying drawings in the following description is only that this practicality is new Some embodiments of type, for those of ordinary skill in the art, without having to pay creative labor, can be with Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the remote controllers schematic diagram that the utility model embodiment provides;
Fig. 2 is the remote controllers front view that the utility model embodiment provides;
Fig. 3 is the remote controllers left view that the utility model embodiment provides;
Fig. 4 is the remote-control handle schematic diagram of remote controllers that the utility model embodiment provides.
Wherein, each attached drawing main mark in figure:
4- remote controllers;40- transmission components;41- motion platforms;401- support plates;402- set squares;The second axis of 403- It holds;404- parallelogram connection-rods;405- clutch shaft bearings;406- cranks;407- fixed platforms;408- gears;409- motors; 410- stents;411- pedestals;412- supporting blocks;42- remote-control handles;421- control sticks;422- rotating shaft mechanisms;4220- is universal Section;4224- spring bearings;The first bearing shells of 4221-;42210- first rotating shafts;The second bearing shells of 4223-;The second shafts of 42230-; 4222- center rotors.
Specific embodiment
In order to which technical problem to be solved in the utility model, technical solution and advantageous effect is more clearly understood, with Lower combination accompanying drawings and embodiments, the present invention is further described in detail.It should be appreciated that specific reality described herein It applies example to be only used to explain the utility model, is not used to limit the utility model.
It should be noted that when element is referred to as " being fixed on " or " being set to " another element, it can be directly another On one element or it is connected on another element.When an element is known as " being connected to " another element, it can To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", " on ", " under ", "front", "rear", "left", "right", " vertical ", The orientation or position relationship of the instructions such as " level ", " top ", " bottom " " interior ", " outer " are to be closed based on orientation shown in the drawings or position System is for only for ease of description the utility model and simplifies description rather than instruction or imply that signified device or element are necessary With specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or Implicitly include one or more this feature." multiple " are meant that two or two in the description of the present invention, More than, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally Connection;Can be mechanical connection or electrical connection;It can be directly connected, can also be indirectly connected by intermediary, It can be the interaction relationship of connection inside two elements or two elements.For those of ordinary skill in the art Speech, can understand concrete meaning of the above-mentioned term in the utility model as the case may be.
It should be noted that three translation freedoms, refer to that rigid body can be in three dimensions along arbitrary rectangular axes Three axis carry out translational motions, three-rotational-freedom, and it is straight to refer to that rigid body can determine in three dimensions around an origin Three axis rotation of angular coordinate axis when rigid body has three-rotational-freedom and three translation freedoms simultaneously, is referred to as having six Degree of freedom arbitrarily can be rotated and be moved in space.
Also referring to Fig. 1 to Fig. 3, remote controllers provided by the utility model are illustrated now.Remote control Device includes, the motion platform 41 with three translation freedoms and the remote-control handle with three-rotational-freedom 42;Motion platform 41 It is equipped with the incremental encoder (not shown) for monitoring the 41 Three Degree Of Freedom translation distance of motion platform;Remote-control handle 42 is pacified Dress on the moving platform 41, remote-control handle 42 is equipped with to be passed for monitoring the angle position of the 42 rotational angle position of remote-control handle Sensor (not shown).
Remote controllers 4 provided by the utility model, compared with prior art, remote controllers provided by the utility model 4 can be divided into 42 two parts of motion platform 41 and remote-control handle, and the incremental encoder that motion platform 41 carries can be with carry-out bit Shifting signal, the angular position sensor that remote-control handle 42 carries can export the position signal of remote-control handle 42, pass through output Signal, remote controllers 4 can control relevant device.
Further, referring to Fig. 1, remote-control handle 42 includes control stick 421, support 421 Three Degree Of Freedom of control stick The rotating shaft mechanism 422 of rotation and the support plate 401 for supporting the rotating shaft mechanism 422, the support plate 401 and 41 phase of motion platform Even.By rotating shaft mechanism 422, the control stick 421 of remote-control handle 42 can in space Three Degree Of Freedom rotation.
Further, it please refers to Fig.1 to Fig.4, rotating shaft mechanism 422 includes the universal joint being connect with 421 lower end of control stick 4220 and the spring bearing 4224 on motion platform 41, the inner ring of universal joint 4220 and spring bearing 4224, which is fixed, to be connected It connects.Universal joint 4220 can be such that control stick 421 is moved in two rotational freedoms, and spring bearing 4224 can make control stick 421 move in third rotational freedom.
Further, referring to Fig. 4, universal joint 4220 includes being fixed on the first bearing shell 4221 of 421 lower end of control stick, consolidate Surely be connected to the second bearing shell 4223 of the inner ring of spring bearing 4224, be set to the first bearing shell 4221 and the second bearing shell 4223 it Between center rotor 4222, connection center rotor 4222 and the first bearing shell 4221 first rotating shaft 42210 and connect center rotor 4222 with the second shaft 42230 of second bearing shell 4223;The axis of the axial direction of first rotating shaft 42210, the second shaft 42230 To and the axial direction of spring bearing 4224 be mutually perpendicular to.First bearing shell 4221 and the second bearing shell 4223 make control stick 421 two respectively It is moved in a rotational freedom.
Further, first rotating shaft 42210 is the pin being interference fitted with center rotor 4222, and the second shaft 42230 is The pin being interference fitted with center rotor 4222.The pin of interference fit can generate certain frictional force, keep control stick 421 In specific position.
Further, referring to Fig. 4, spring bearing 4224 is crossed roller bearing.Crossed roller bearing roller is intersects Arrangement, decussation roller collar can bear the load of all directions, and rigidity improves.
Further, angular position sensor is gyroscope.Gyroscope can in real time inductive control bar 421 in rotation process In angular speed and and angular acceleration.
Further, accelerometer (not shown in the figure) is installed in control stick 421.Accelerometer can measure control stick 421 speed and acceleration in translation motion.
Further, it please refers to Fig.1 to Fig.3, motion platform 41 includes, circular pedestal 411, perpendicular to pedestal 411 Round fixed platform 407, pedestal 411 and fixed platform 407 fixed by supporting block 412, and transmission component is equipped on fixed platform 407 40, transmission component 40 is connected with set square 402, and set square 402 extends support plate 401.Pass through transmission component 40, set square 402 and its extend support plate 401 translation of Three Degree Of Freedom can be realized in space.
Further, it please refers to Fig.1 to Fig.3, the transmission component 40 includes three stents being mounted on fixed platform 407 410, three stents 410 are respectively articulated with there are three crank 406, and each crank 406 is equipped with first far from 407 axis one end of fixed platform Bearing 405;There are three surround parallel four side with two quarter butts by two stocks for setting between set square 402 and three cranks 406 Shape connecting rod 404, three parallelogram connection-rods 404 are corresponding with set square 402 respectively, and three cranks 406 are parallel with three respectively Quadrilateral connecting rod 404 is corresponding, and two quarter butts of parallelogram connection-rod 404 slide respectively is plugged in corresponding clutch shaft bearing 405 with second bearing 403 in.By three groups of cranks 406 and parallelogram connection-rod 404 in parallel, set square 402 and its extension The translation of Three Degree Of Freedom can be realized in space by going out support plate 401.
Further, it please refers to Fig.1 to Fig.3, the crank is semi-circular member, and the crank center of circle is cut with scissors with the stent It connects.
Further, it please refers to Fig.1 to Fig.3, three stents 410 are distributed along 407 even circumferential of fixed platform.Stent 410 is equal During even distribution, the moveable amplitude in each degree of freedom of set square 402 is consistent.
Further, it please refers to Fig.1 to Fig.3, crank 406 is semi-circular member, and the crank center of circle is hinged with stent 410.Half Circular crank 406 can install counterweight with that can be adapted to other mechanisms such as inside semi-circular member.
Further, referring to Fig. 1, in parallelogram connection-rod 404, the both ends of each stock pair with two quarter butts respectively It should hold hinged.Stock quarter butt can hingedly facilitate parallelogram connection-rod 404 to change shape, and motion platform 41 is made to have higher fortune Dynamic degree of freedom.
Further, it please referring to Fig.1 to Fig.3, each stent 410 is respectively fixed with motor 409 close to 407 one end of fixed platform, Gear 408 is cased on the output shaft of motor, the excircle configuration of each semicircular crank 406 is equipped with what is engaged with respective gears 408 External tooth.By control system, the torque that motor 409 generates can keep support plate 401 with 41 its own gravity of compensation campaign platform The power that torque in specific position, while the generation of motor 409 can be received with feedback controling equipment.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model Protection domain within.

Claims (10)

1. a kind of remote controllers, it is characterised in that:Including the motion platform with three translation freedoms and with three rotations certainly By the remote-control handle spent, the motion platform is equipped with the increment type coding for monitoring the motion platform Three Degree Of Freedom translation distance Device, the remote-control handle are mounted on the motion platform, and the remote-control handle is equipped with to monitor remote-control handle rotation The angular position sensor of angle position.
2. remote controllers as described in claim 1, it is characterised in that:The remote-control handle is including described in control stick, support The rotating shaft mechanism of control stick Three Degree Of Freedom rotation and the support plate for supporting the rotating shaft mechanism, the support plate and the movement are flat Platform is connected.
3. remote controllers as claimed in claim 2, it is characterised in that:The rotating shaft mechanism includes and the control stick lower end The universal joint of connection and the spring bearing in the support plate, the inner ring of the universal joint and the spring bearing are fixed Connection.
4. remote controllers as claimed in claim 3, it is characterised in that:The universal joint includes being fixed under the control stick End the first bearing shell, be fixedly connected on the spring bearing inner ring the second bearing shell, be set to first bearing shell with it is described Center rotor between second bearing shell.
5. such as claim 2-4 any one of them remote controllers, which is characterized in that the motion platform includes:
Circular pedestal;
Circular fixed platform perpendicular to the pedestal, is fixed by supporting block;
Transmission component is installed on the fixed platform, has three one-movement-freedom-degrees;
Set square is connect with the transmission component, and extends the support plate.
6. remote controllers as claimed in claim 5, which is characterized in that the transmission component includes:
Three stents, on the fixed platform;
Three cranks, three cranks are hinged respectively with three stents, and each crank is far from the fixed platform Axis one end is equipped with clutch shaft bearing;
Three parallelogram connection-rods, two stocks and two quarter butts including surrounding parallelogram;
Three parallelogram connection-rods are corresponding with the set square respectively, and three cranks are described parallel with three respectively Quadrilateral connecting rod is corresponding, and each angle of the set square is respectively equipped with second bearing, two of each parallelogram connection-rod The quarter butt slides respectively to be plugged in the corresponding clutch shaft bearing and the second bearing.
7. remote controllers as claimed in claim 6, it is characterised in that:Stent described in three groups is along the fixed platform even circumferential Distribution.
8. such as claim 6-7 any one of them remote controllers, it is characterised in that:The crank be semi-circular member, institute The crank center of circle is stated to be hinged with the stent.
9. remote controllers as claimed in claim 8, it is characterised in that:In the parallelogram connection-rod, each stock Corresponding end of the both ends respectively with two quarter butts be hinged.
10. remote controllers as claimed in claim 8, it is characterised in that:Each stent is close to described fixed platform one end point It is not fixed with motor, gear is cased on the output shaft of the motor, the excircle configuration of each crank is equipped with and the corresponding tooth Take turns the external tooth of engagement.
CN201721119589.2U 2017-08-31 2017-08-31 Remote controllers Active CN207480595U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721119589.2U CN207480595U (en) 2017-08-31 2017-08-31 Remote controllers

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721119589.2U CN207480595U (en) 2017-08-31 2017-08-31 Remote controllers

Publications (1)

Publication Number Publication Date
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Country Status (1)

Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109746900A (en) * 2019-02-01 2019-05-14 北京众绘虚拟现实技术研究院有限公司 A kind of three translation parallel device for force feedback of medical simulation

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109746900A (en) * 2019-02-01 2019-05-14 北京众绘虚拟现实技术研究院有限公司 A kind of three translation parallel device for force feedback of medical simulation
CN109746900B (en) * 2019-02-01 2021-03-30 北京众绘虚拟现实技术研究院有限公司 Three-translation parallel force feedback device for medical simulation

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Legal Events

Date Code Title Description
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20181211

Address after: 518000 Complex Building and 11 2nd Floors of Beishan Industrial Zone, Yantian District, Shenzhen City, Guangdong Province

Patentee after: Shenzhen Hua made Dazhi Technology Co. Ltd.

Address before: 518000 Dongfang Science and Technology Building, Keyuan Road, Nanshan Street, Shenzhen City, Guangdong Province 1013-15

Patentee before: SHENZHEN ROBO MEDICAL TECHNOLOGY CO., LTD.

Effective date of registration: 20181211

Address after: 518000 Complex Building and 11 2nd Floors of Beishan Industrial Zone, Yantian District, Shenzhen City, Guangdong Province

Patentee after: Shenzhen Hua made Dazhi Technology Co. Ltd.

Address before: 518000 Dongfang Science and Technology Building, Keyuan Road, Nanshan Street, Shenzhen City, Guangdong Province 1013-15

Patentee before: SHENZHEN ROBO MEDICAL TECHNOLOGY CO., LTD.

TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20191223

Address after: 215300 south side of the second floor of room 3, No. 2001, Yingbin West Road, Bacheng Town, Kunshan City, Suzhou City, Jiangsu Province

Patentee after: Kunshan huadazhi Yunying Medical Technology Co., Ltd

Address before: 518000 comprehensive building of Beishan industrial zone and 11 Building 2, Yantian District, Guangdong, Shenzhen

Patentee before: Shenzhen Hua made Dazhi Technology Co. Ltd.