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 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.
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
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.