CN207745190U - A kind of novel operation robot main manipulator - Google Patents
A kind of novel operation robot main manipulator Download PDFInfo
- Publication number
- CN207745190U CN207745190U CN201720407626.3U CN201720407626U CN207745190U CN 207745190 U CN207745190 U CN 207745190U CN 201720407626 U CN201720407626 U CN 201720407626U CN 207745190 U CN207745190 U CN 207745190U
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- rotary joint
- connecting rod
- joint
- rotary
- cylinder
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Abstract
This realize it is novel disclose a kind of main manipulator for operating robot, for sensing surgical procedure Chinese medicine life hand position and direction, control the movement from robotic surgery instrument, and provide force feedback.The main manipulator includes：Pedestal, connecting rod, rotary joint one, rotary joint two, rotary joint three, rotary joint four, rotary joint five, rotary joint six, parallelogram sturcutre etc..The equipment belongs to 6 joint serial mechanisms, and serial mechanism has many advantages, such as that space is big, designs simple；Parallelogram mechanism is used simultaneously, and the driving motor of rotary joint two and encoder postposition are mitigated into main manipulator front end weight close to pedestal；The equipment provides translation force feedback, and rotary joint one, rotary joint two, rotary joint three are furnished with driving motor and encoder, provide active torque and detect joint angles.
Description
Technical field
This realizes the novel main hand of the operation for being related to robot, belongs to a kind of main manipulator for operating robot, is used for
Surgical procedure Chinese medicine life hand position and direction are sensed, controls the movement from robotic surgery instrument, and provide force feedback.
Background technology
Robot system especially surgical robot system needs human-computer interaction, user to need through input device controls machine
The real time execution of device people, therefore operate main hand and come into being.Operate main hand be mainly used for detecting in real time operating personnel hand it is dynamic
Make, such as translation, rotation, gripping, and certain force feedback is provided, to improve convenience, the safety of operation.It is most at present
Medical robot uses parallel-connection structure, kinematic accuracy high, but it is complicated, space is small, it is difficult to meet operating robot
Flexible movements, the big requirement of rotational angle.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of novel operation robot main manipulator, surgical engine is solved
Device people's parallel manipulator is complicated, space is small, it is difficult to meet operating robot flexible movements, rotational angle is big to ask
Topic.
The purpose of this utility model is that technical solution in this way is realized, a kind of main operation of novel operation robot
Hand, including pedestal, the first support column, the second support column, rotary joint one, turn joint two, rotary joint three, rotary joint four,
Rotary joint five, rotary joint six, parallelogram sturcutre and connecting rod, the first support column is vertical to be set on pedestal, and second
Support column is set to by rotary joint one on the top of first support column, and the top of the second support column is provided with rotary joint
Two, the first top of the parallelogram sturcutre is connected to the top of the second support column, the connecting rod by rotary joint two
One end and the second top of parallelogram sturcutre connect, the second top setting rotary joint three, the second top with
First top is disposed adjacent and is located at the both ends of parallelogram sturcutre long side；Rotary joint four is set to the another of connecting rod
One end, rotary joint five are connect by first connecting portion with rotary joint four, and rotary joint six passes through second connecting portion and rotation
Joint five connects, and the end set of rotary joint six has grasping structures.
Further, the first connecting portion includes the first cylinder, from the top of the first cylinder to the first cylinder
Bottom notch forms the first opening, and the second connecting portion includes the second cylinder, is justified from the top of the second cylinder to second
The bottom notch of cylinder forms the second opening, and first opening is connect with the second opening by rotary joint five, the first cylinder
The bottom of body is connect with rotary joint four, and the bottom of the second cylinder is connect with rotary joint six.
Further, the parallelogram sturcutre includes head rod, the second connecting rod, third connecting rod and the 4th company
Extension bar, one end of head rod are flexibly connected with one end of the second connecting rod, and the other end of the second connecting rod is connect with third
One end of bar is flexibly connected, and the other end of third connecting rod is flexibly connected with one end of the 4th connecting rod, the 4th connecting rod it is another
One end is connect with rotary joint two, and the other end of head rod is connect with rotary joint two；The third connecting rod and the 4th
Connecting rod junction is the rotary joint three；The connecting rod is extended to form by the third connecting rod by the second linear top.
Further, the rotary joint one, rotary joint two and rotary joint three are driven by motor, and are provided with coding
Device.
Further, the rotary shaft of the rotary joint four is parallel to the long axis of connecting rod；The rotary shaft of rotary joint four, rotation
The rotary shaft in joint five, the rotary shaft of rotary joint six are mutually perpendicular to meeting at a bit.
By adopting the above-described technical solution, the utility model has the following advantages：
The operating robot main manipulator is simple in structure, flexible movements, and movement coverage area is big；Driving motor can postposition,
Front end load and movement inertia can significantly be mitigated；Rotary joint self space is small, and range is big.
Description of the drawings
In order to keep the purpose of this utility model, technical solution and advantage clearer, below in conjunction with attached drawing to this practicality
It is novel to be described in further detail, wherein：
Fig. 1 is a kind of operating robot main manipulator overall schematic.
Specific implementation mode
Below with reference to attached drawing, the preferred embodiment of the utility model is described in detail；It should be appreciated that preferably real
Example is applied only for illustrating the utility model, rather than in order to limit the scope of protection of the utility model.
Fig. 1 show a kind of operating robot main manipulator schematic diagram, including pedestal 13, the first support column, the second support
Column, rotary joint 1 turn joint 24, rotary joint 37, rotary joint 49, rotary joint 5 11, rotary joint 6 10, put down
Row quadrilateral structure 6 and connecting rod 8, the first support column is vertical to be set on pedestal, and the second support column is set by rotary joint one
It is placed on the top of the first support column, the top of the second support column is provided with rotary joint 24, the parallelogram sturcutre
First top is connected to the top of the second support column by rotary joint two, one end of the connecting rod and parallelogram sturcutre
Second top connection, the second top setting rotary joint three, the second top is disposed adjacent with the first top and difference position
In the both ends of parallelogram sturcutre long side；Rotary joint four is set to the other end of connecting rod, and rotary joint five passes through first
Interconnecting piece is connect with rotary joint four, and rotary joint six is connect by second connecting portion with rotary joint five, rotary joint six
End set has grasping structures 12.The first connecting portion includes the first cylinder, is justified from the top of the first cylinder to first
The bottom notch of cylinder forms the first opening, and the second connecting portion includes the second cylinder, from the top of the second cylinder to
The bottom notch of second cylinder forms the second opening, and first opening is connect with the second opening by rotary joint five, the
The bottom of one cylinder is connect with rotary joint four, and the bottom of the second cylinder is connect with rotary joint six.
In the present embodiment, pedestal is for fixing and supporting this equipment.
The rotary joint one and the rotary shaft of rotary joint two are mutually perpendicular to；The rotary joint three and rotary joint two
Rotary shaft it is parallel.
The parallelogram sturcutre includes head rod 15, the second connecting rod 16, the company of third connecting rod 17 and the 4th
Extension bar 14, one end of head rod are flexibly connected with one end of the second connecting rod, and the other end and the third of the second connecting rod connect
One end of extension bar is flexibly connected, and the other end of third connecting rod is flexibly connected with one end of the 4th connecting rod, the 4th connecting rod
The other end is connect with rotary joint two, and the other end of head rod is connect with rotary joint two；The third connecting rod and the
Four connecting rod junctions are the rotary joint three；The connecting rod extends shape by the third connecting rod by the second linear top
At.
The rotary joint one, rotary joint two and rotary joint three are driven by motor 3,5, and are provided with encoder 2.
The rotary shaft of the rotary joint four is parallel to the long axis of connecting rod；The rotary shaft of rotary joint four, rotary joint five
Rotary shaft, the rotary shaft of rotary joint six is mutually perpendicular to meeting at a bit.
In the present embodiment, each joint of preceding 3 joints (rotary joint one, rotary joint two, rotary joint three) is matched
It is equipped with motor and encoder, realize the position detection of manipulator's distal point and force feedback is provided；In addition the rotation of 3 degree of freedom after
Joint (rotary joint four, rotary joint five, rotary joint six) is for realizing the angle detecting of manipulator's distal point.Gripping body
Closure for detecting user's finger
In the present invention, using parallelogram mechanism, therefore can be by motor and encoder postposition, the bottom of close to
Seat mitigates mechanical arm front end weight.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, it is clear that this field
Technical staff spirit and scope of the various modification and variations without departing from the utility model can be carried out to the utility model.This
Sample, if these modifications and variations of the present invention belong to the claims of the present invention and its equivalent technology range it
Interior, then the utility model is also intended to include these modifications and variations.
Claims (6)
1. a kind of novel operation robot main manipulator, it is characterised in that：Including pedestal (13), the first support column, the second support
Column, rotary joint one (1) turn joint two (4), rotary joint three (7), rotary joint four (9), rotary joint five (11), rotation
Joint six (10), parallelogram sturcutre (6) and connecting rod (8), the first support column is vertical to be set on pedestal, the second support column
It is set to by rotary joint one on the top of first support column, the top of the second support column is provided with rotary joint two (4), institute
The first top for stating parallelogram sturcutre is connected to the top of the second support column, one end of the connecting rod by rotary joint two
It is connect with the second top of parallelogram sturcutre, the second top setting rotary joint three, the second top and the first top
Portion is disposed adjacent and is located at the both ends of parallelogram sturcutre long side；Rotary joint four is set to the other end of connecting rod,
Rotary joint five is connect by first connecting portion with rotary joint four, and rotary joint six passes through second connecting portion and rotary joint five
Connection, the end set of rotary joint six have grasping structures (12).
2. a kind of novel operation robot main manipulator according to claim 1, it is characterised in that：The first connecting portion
Including the first cylinder, first is formed to the bottom notch of the first cylinder from the top of the first cylinder and be open, described second
Interconnecting piece includes the second cylinder, and the second opening, institute are formed from the top of the second cylinder to the bottom notch of the second cylinder
The first opening to be stated to connect by rotary joint five with the second opening, the bottom of the first cylinder is connect with rotary joint four, and second
The bottom of cylinder is connect with rotary joint six.
3. a kind of novel operation robot main manipulator according to claim 1, it is characterised in that：The rotary joint one
It is mutually perpendicular to the rotary shaft of rotary joint two；The rotary joint three is parallel with the rotary shaft of rotary joint two.
4. a kind of novel operation robot main manipulator according to claim 1, it is characterised in that：The parallelogram
Structure includes head rod (15), the second connecting rod (16), third connecting rod (17) and the 4th connecting rod (14), the first connection
One end of bar is flexibly connected with one end of the second connecting rod, and the other end of the second connecting rod connects with one end activity of third connecting rod
It connects, the other end of third connecting rod is flexibly connected with one end of the 4th connecting rod, the other end and rotary joint of the 4th connecting rod
Two connections, the other end of head rod are connect with rotary joint two；The third connecting rod is with the 4th connecting rod junction
The rotary joint three；The connecting rod is extended to form by the third connecting rod by the second linear top.
5. a kind of novel operation robot main manipulator according to claim 1, it is characterised in that：The rotary joint
One, rotary joint two and rotary joint three are driven by motor (3,5), and are provided with encoder (2).
6. a kind of novel operation robot main manipulator according to claim 1, it is characterised in that：The rotary joint four
Rotary shaft be parallel to the long axis of connecting rod；The rotation of the rotary shaft of rotary joint four, the rotary shaft of rotary joint five, rotary joint six
Shaft is mutually perpendicular to meeting at a bit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720407626.3U CN207745190U (en) | 2017-04-18 | 2017-04-18 | A kind of novel operation robot main manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720407626.3U CN207745190U (en) | 2017-04-18 | 2017-04-18 | A kind of novel operation robot main manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207745190U true CN207745190U (en) | 2018-08-21 |
Family
ID=63146194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720407626.3U Expired - Fee Related CN207745190U (en) | 2017-04-18 | 2017-04-18 | A kind of novel operation robot main manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207745190U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111831115A (en) * | 2020-06-28 | 2020-10-27 | 深圳市罗伯医疗科技有限公司 | Manipulator device control method, upper computer, electronic equipment and storage medium |
| CN112057172A (en) * | 2020-09-10 | 2020-12-11 | 苏州大学 | Minimally invasive surgery robot |
| WO2023071906A1 (en) * | 2021-10-29 | 2023-05-04 | 深圳市精锋医疗科技股份有限公司 | Mechanical arm, main operating platform, and surgical robot |
-
2017
- 2017-04-18 CN CN201720407626.3U patent/CN207745190U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111831115A (en) * | 2020-06-28 | 2020-10-27 | 深圳市罗伯医疗科技有限公司 | Manipulator device control method, upper computer, electronic equipment and storage medium |
| CN112057172A (en) * | 2020-09-10 | 2020-12-11 | 苏州大学 | Minimally invasive surgery robot |
| CN112057172B (en) * | 2020-09-10 | 2022-02-11 | 苏州大学 | Minimally invasive surgery robot |
| WO2023071906A1 (en) * | 2021-10-29 | 2023-05-04 | 深圳市精锋医疗科技股份有限公司 | Mechanical arm, main operating platform, and surgical robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180821 Termination date: 20210418 |