CN207745191U - A kind of novel operation robot main manipulator - Google Patents
A kind of novel operation robot main manipulator Download PDFInfo
- Publication number
- CN207745191U CN207745191U CN201720407651.1U CN201720407651U CN207745191U CN 207745191 U CN207745191 U CN 207745191U CN 201720407651 U CN201720407651 U CN 201720407651U CN 207745191 U CN207745191 U CN 207745191U
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- rotary joint
- connecting rod
- linking arm
- joint
- rotary
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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；The first connecting portion includes the first linking arm and with the
Vertically disposed second linking arm of one linking arm, the second connecting portion include third linking arm and vertical with third linking arm set
The 4th linking arm set, one end of the first linking arm are connect with one end of the second linking arm, the middle part of the first linking arm and rotation
Joint four connects, and rotary joint five is set to the other end of the second linking arm, and middle part and the rotary joint five of third linking arm connect
It connects, one end of third linking arm is connect with one end of the 4th linking arm, and the rotation that the other end setting of the 4th linking arm is described is closed
Section six.
Further, the rotary joint one and the rotary shaft of rotary joint two are mutually perpendicular to；The rotary joint three and rotation
The rotary shaft for turning joint two is parallel.
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, and flexible movements, motion range is big, driving motor can postposition, mitigate
Front end load.
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；
Fig. 2 is the enlarged drawing at A in Fig. 1.
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 include the first linking arm 91 and with the first linking arm vertically disposed the
Two linking arms 92, the second connecting portion include third linking arm 111 and with vertically disposed 4th linking arm of third linking arm
112, one end of the first linking arm is connect with one end of the second linking arm, and the middle part of the first linking arm is connect with rotary joint four,
Rotary joint five is set to the other end of the second linking arm, and the middle part of third linking arm is connect with rotary joint five, third connection
One end of arm is connect with one end of the 4th linking arm, the rotary joint six described in the other end setting of the 4th linking arm.
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 (1)
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)；The first connecting portion include the first linking arm (91) and with
Vertically disposed second linking arm (92) of first linking arm, the second connecting portion include third linking arm (111) and and third
Vertically disposed 4th linking arm (112) of linking arm, one end of the first linking arm are connect with one end of the second linking arm, and first connects
The middle part for connecing arm is connect with rotary joint four, and rotary joint five is set to the other end of the second linking arm, in third linking arm
Portion is connect with rotary joint five, and one end of third linking arm is connect with one end of the 4th linking arm, the other end of the 4th linking arm
The rotary joint six is set；
The rotary joint one and the rotary shaft of rotary joint two are mutually perpendicular to；The rotation of the rotary joint three and rotary joint two
Shaft is parallel；
The parallelogram sturcutre includes head rod (15), the second connecting rod (16), third connecting rod (17) and the 4th
Connecting rod (14), one end of head rod are flexibly connected with one end of the second connecting rod, the other end of the second connecting rod and
One end of three connecting rods is flexibly connected, and the other end of third connecting rod is flexibly connected with one end of the 4th connecting rod, the 4th connection
The other end of bar is connect with rotary joint two, and the other end of head rod is connect with rotary joint two；The third connecting rod
It is the rotary joint three with the 4th connecting rod junction；The connecting rod is extended by the third connecting rod by the second linear top
It is formed；
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 rotation of the rotary shaft, rotary joint five of rotary joint four
Shaft, the rotary shaft of rotary joint six are mutually perpendicular to meeting at a bit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720407651.1U CN207745191U (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 |
|---|---|---|---|
| CN201720407651.1U CN207745191U (en) | 2017-04-18 | 2017-04-18 | A kind of novel operation robot main manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207745191U true CN207745191U (en) | 2018-08-21 |
Family
ID=63146195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720407651.1U Expired - Fee Related CN207745191U (en) | 2017-04-18 | 2017-04-18 | A kind of novel operation robot main manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207745191U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858247A (en) * | 2018-08-23 | 2018-11-23 | 中科新松有限公司 | Mechanical arm and ping-pong robot with it |
| CN112168359A (en) * | 2020-09-10 | 2021-01-05 | 武汉联影智融医疗科技有限公司 | Main hand clamping control device, main operating hand and minimally invasive surgery robot |
| CN113069212A (en) * | 2021-04-06 | 2021-07-06 | 天津大学医疗机器人与智能系统研究院 | Main operation arm for surgical robot |
| US20220185603A1 (en) * | 2020-12-14 | 2022-06-16 | Charles A. Statton | Systems and Methods Related to Transfer Sampling of Particle Mixtures |
-
2017
- 2017-04-18 CN CN201720407651.1U patent/CN207745191U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858247A (en) * | 2018-08-23 | 2018-11-23 | 中科新松有限公司 | Mechanical arm and ping-pong robot with it |
| CN112168359A (en) * | 2020-09-10 | 2021-01-05 | 武汉联影智融医疗科技有限公司 | Main hand clamping control device, main operating hand and minimally invasive surgery robot |
| US20220185603A1 (en) * | 2020-12-14 | 2022-06-16 | Charles A. Statton | Systems and Methods Related to Transfer Sampling of Particle Mixtures |
| CN113069212A (en) * | 2021-04-06 | 2021-07-06 | 天津大学医疗机器人与智能系统研究院 | Main operation arm for surgical robot |
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| 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 |