CN208319317U - Seven freedom main operation manipulator - Google Patents
Seven freedom main operation manipulator Download PDFInfo
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- CN208319317U CN208319317U CN201720978322.2U CN201720978322U CN208319317U CN 208319317 U CN208319317 U CN 208319317U CN 201720978322 U CN201720978322 U CN 201720978322U CN 208319317 U CN208319317 U CN 208319317U
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Abstract
The utility model provides a kind of seven freedom main operation manipulator, belongs to the field of medical instrument technology.It solves the problems, such as that existing main operation manipulator can only realize trailing action and cannot achieve positive action.It includes the arm joint with support arm one and the wrist joint with support arm two, support arm one and support arm two are hinged, arm joint includes pedestal, the motor one in pedestal and the force transmission shaft driven by motor one, support base is fixed on force transmission shaft, support base is equipped with motor two, one end of support arm one is vertically fixed on the output shaft of motor two, and reset assembly after support arm two is around its hinged spot wobble with support arm one for resetting support arm two is additionally provided on support base.The utility model can automatically reset and positive action, reduces the labor intensity of doctor, it can be achieved that seven freedom, can make its more flexible in mechanical structure, so that operator be facilitated to use, avoids generating singular point in the resolving of principal and subordinate's algorithm, optimizes algorithm more.
Description
Technical field
The utility model belongs to the field of medical instrument technology, is related to a kind of seven freedom main operation manipulator, and especially one
The seven freedom main operation manipulator of kind medical robot.
Background technique
In order to reduce doctor's manual labor heavy in medical procedure of holding a sword in one's hand, while reaching the mesh precisely performed the operation
, and realize the purpose that the Micro trauma of patient, blood loss are few, postoperative infection is few, post-operative recovery is fast, the medical machine for operation
People's system is usually using master-slave mode mechanical arm.Operator is when operating main hand mechanical arm (main operation manipulator), hand
Movement will drive main operation manipulator and move therewith, and each joint of main operation manipulator is mainly passive movement, so as to measure
The movement of main manipulator is mapped to from manipulator to the motion information of joint, then by master & slave control algorithm, thus
Driving realizes corresponding sports from manipulator.
Existing main operation manipulator is passive joint mostly, can not achieve the power of main operation manipulator at an arbitrary position itself
Balance, doctor drive that main operation manipulator load is big, fatiguability.Master-slave operation machinery hand pose may all occur during power down
Variation, before booting, the posture adaptation for needing to adjust main operation manipulator is attached after the posture of manipulator again,
This is more demanding to the qualification of doctor, may cause the uncoordinated of master-slave operation machinery hand.Continuous rotation in theoretical calculation
There are singular points in joint, and near its singularity, flexibility can be reduced, and are only difficult to keep consistent flexibility by manipulator itself.Although
Power when can measure end and tissue contact from manipulator, but the transition forms such as image, sound can only be passed through
The doctor of operation is passed to, not intuitively.Therefore, research is a has independent intellectual property right and can satisfy the minimally invasive hand of robot
The main operation manipulator that art needs is necessary.
Summary of the invention
The purpose of this utility model is the presence of the above problem in view of the prior art, proposes a kind of achievable positive action
Seven freedom main operation manipulator.
The purpose of this utility model can be realized by the following technical scheme:
This seven freedom main operation manipulator, including the arm joint with support arm one and the wrist with support arm two
Joint, the support arm one and support arm two are hinged, which is characterized in that the arm joint includes pedestal, is set to pedestal
Interior motor one and the rotation force transmission shaft driven by motor one are fixed with support base, the support base on the force transmission shaft
It is equipped with motor two, one end of the support arm one is vertically fixed on the output shaft of motor two, also sets on the support base
There is reset assembly after support arm two is around its hinged spot wobble with support arm one for resetting support arm two.
In above-mentioned seven freedom main operation manipulator, the reset assembly includes on support base and motor
Two motors three being coaxially oppositely arranged and one end are connected to the connecting rod on three output shaft of motor, and the other end of the connecting rod is hinged on
On support arm two.
In above-mentioned seven freedom main operation manipulator, it is coaxially fixed with rotating disk on the output shaft of the motor three,
One end of above-mentioned connecting rod is hinged on the edge of rotating disk, and the connecting rod is arranged in parallel with support arm one.
In above-mentioned seven freedom main operation manipulator, the motor one is equipped with for measuring its shaft rotation angle
The encoder one of degree, the motor two are equipped with the encoder two for measuring its shaft rotation angle, the motor three
It is equipped with the encoder three for measuring its shaft rotation angle.
In above-mentioned seven freedom main operation manipulator, the wrist joint includes L bar one, is located at one inside of L bar
L bar two and L bar three positioned at the inside of L bar two, the cross bar of the L bar one is fixed with far from one end of its vertical bar is arranged in support
Shaft one in arm two, the vertical bar of the L bar two are fixed with the shaft being arranged in the vertical bar of L bar one far from one end of its cross bar
Two, the cross bar of the L bar three is fixed with the shaft three being arranged in the cross bar of L bar two far from one end of its vertical bar, and described turns
Axis two is threaded through the one end of vertical bar far from its cross bar of L bar one, and the shaft three is threaded through the cross bar of L bar two far from its vertical bar
One end, shaft four is equipped in the vertical bar of the L bar three, the shaft four is equipped with clamp hand.
In above-mentioned seven freedom main operation manipulator, the distance of inside of cross bar face to the shaft two of the L bar one is big
In L bar two cross bar lateral surface to shaft two distance.It can make the 2 360 ° of rotations around the shaft of L bar two, the cross bar of L bar one will not be right
It causes to interfere.
In above-mentioned seven freedom main operation manipulator, it is fixed on the support arm two and is revolved for drive shaft one
The motor four turned, the L bar one are equipped with the motor five rotated for drive shaft two, and the L bar two is equipped with and is used for
The motor six that drive shaft three rotates, the L bar two are equipped with the motor seven rotated for drive shaft four.
In above-mentioned seven freedom main operation manipulator, the motor five is set in the cross bar of L bar one and and shaft
Two transmission connections, the motor six are set in the vertical bar of L bar two and are sequentially connected with shaft three, and the motor seven is set to L
It is sequentially connected in the vertical bar of bar three and with shaft four.
In above-mentioned seven freedom main operation manipulator, the motor four is equipped with for measuring its shaft rotation angle
The encoder four of degree, the motor five are equipped with the encoder five for measuring its shaft rotation angle, the motor six
It is equipped with the encoder six for measuring its shaft rotation angle, the motor seven is equipped with for measuring its shaft rotation angle
The encoder seven of degree.
When operation, operator holds the free end of shaft four, and the movement of hand can cause rotation, the L bar three of shaft four
Three rotations, L bar two two rotations, L bar one rotation around the shaft around the shaft around the shaft, support arm two are rotated around support arm one, are supported
Output shaft rotation and the rotation of force transmission shaft, the rotation information at each position of the arm one around motor two are remembered respectively by each encoder
Record, the action state of operator's hand is reflected so as to the rotation angle by all parts, and then can be to operator's hand
The movement in portion is digitized, then movement is mapped to from manipulator end by master & slave control algorithm, to drive from behaviour
Make manipulator and realizes corresponding sports.When needing to be reset, each motor is turned round according to the angle that its shaft is rotated, and is each component
Reset provide active force.
In addition, each motor can drive the component being sequentially connected therewith to realize positive action according to the set procedure, to subtract
The fatigue strength of light doctor, to improve the degree of automation.
Compared with prior art, this seven freedom main operation manipulator has the advantage that
Positive action is resetted and realized to the component of seven freedom by seven motors, and is arranged on each motor
There is encoder, not only can recorde rotational angle information of each position under passive state, moreover it is possible to be needed in all parts multiple
Active force is provided when position, the operation for avoiding doctor from needing manually to reset it before activation, the labour for reducing doctor is strong
Degree；Seven freedom can be achieved, its can be made more flexible in mechanical structure, to facilitate operator to use, in principal and subordinate's algorithm solution
It avoids generating singular point in calculation, optimizes algorithm more.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of preferred embodiment provided by the utility model.
Fig. 2 is a kind of side view of preferred embodiment provided by the utility model.
Fig. 3 is a kind of cross-sectional view of preferred embodiment provided by the utility model.
In figure, 1, support arm one；2, support arm two；3, pedestal；4, motor one；5, force transmission shaft；6, support base；7, motor
Two；8, motor three；9, connecting rod；10, rotating disk；11, L bar one；12, L bar two；13, L bar three；14, shaft one；15, shaft two；
16, shaft three；17, shaft four；18, clamp hand；19, motor four；20, motor five；21, motor six；22, motor seven.
Specific embodiment
It is specific embodiment of the utility model and in conjunction with attached drawing below, the technical solution of the utility model is made further
Description, but the utility model is not limited to these examples.
Seven freedom main operation manipulator as shown in Figure 1 including the arm joint with support arm 1 and has support
The wrist joint of arm 22, support arm 1 and support arm 22 are hinged, as shown in figure 3, arm joint includes pedestal 3, is set to pedestal
Motor 1 in 3 and the rotation force transmission shaft 5 driven by motor 1 are fixed with support base 6 on force transmission shaft 5, and support base 6 is equipped with
Motor 27, one end of support arm 1 are vertically fixed on the output shaft of motor 27, are additionally provided on support base 6 when support arm 22
Reset assembly after its hinged spot wobble with support arm 1 for resetting support arm 22.
As depicted in figs. 1 and 2, reset assembly includes the motor being coaxially oppositely arranged with motor 27 on support base 6
38 and one end be connected to the connecting rod 9 on 38 output shaft of motor, the other end of connecting rod 9 is hinged on support arm 22.
As shown in Figure 1, being coaxially fixed with rotating disk 10 on the output shaft of motor 38, one end of connecting rod 9 is hinged on rotating disk
10 edge, connecting rod 9 are arranged in parallel with support arm 1.
In the present embodiment, motor 1 is equipped with the encoder one for measuring its shaft rotation angle, sets on motor 27
There is the encoder two for measuring its shaft rotation angle, motor 38 is equipped with the coding for measuring its shaft rotation angle
Device three.
As shown in Fig. 2, wrist joint includes L bar 1, positioned at the L bar 2 12 of one 11 inside of L bar and in L bar 2 12
The L bar 3 13 of side, the cross bar of L bar 1 are fixed with the shaft 1 being arranged in support arm 22, L far from one end of its vertical bar
The vertical bar of bar 2 12 is fixed with the shaft 2 15 being arranged in the vertical bar of L bar 1, the cross of L bar 3 13 far from one end of its cross bar
Bar is fixed with the shaft 3 16 being arranged in the cross bar of L bar 2 12 far from one end of its vertical bar, and shaft 2 15 is threaded through L bar 1
The one end of vertical bar far from its cross bar, shaft 3 16 is threaded through the one end of cross bar far from its vertical bar of L bar 2 12, L bar 3 13
Shaft 4 17 is equipped in vertical bar, shaft 4 17 is equipped with clamp hand 18.
In the present embodiment, the inside of cross bar face of L bar 1 is greater than the cross bar lateral surface of L bar 2 12 to the distance of shaft 2 15
To the distance of shaft 2 15, can making L bar 2 12,2 15360 ° of rotations, the cross bar of L bar 1 will not cause to interfere to it around the shaft.
As shown in figure 3, being fixed with the motor 4 19 rotated for drive shaft 1 on support arm 22, set on L bar 1
There is the motor 5 20 rotated for drive shaft 2 15, L bar 2 12 is equipped with the motor 6 21 rotated for drive shaft 3 16,
L bar 2 12 is equipped with the motor 7 22 rotated for drive shaft 4 17.Specifically, motor 5 20 is set to the cross bar of L bar 1
It is interior and with shaft 2 15 be sequentially connected, motor 6 21 be set to L bar 2 12 vertical bar in and with shaft 3 16 be sequentially connected, motor seven
22 are set in the vertical bar of L bar 3 13 and are sequentially connected with shaft 4 17.
In the present embodiment, motor 4 19 is equipped with the encoder four for measuring its shaft rotation angle, on motor 5 20
Equipped with the encoder five for measuring its shaft rotation angle, motor 6 21 is equipped with the volume for measuring its shaft rotation angle
Code device six, motor 7 22 are equipped with the encoder seven for measuring its shaft rotation angle.
When operation, operator holds the free end of shaft 4 17, and the movement of hand can cause rotation, the L of shaft 4 17
Bar 3 13 around the shaft 3 16 rotation, L bar 2 12 around the shaft 2 15 rotation, L bar 1 around the shaft 1 rotation, support arm 22 around
The output shaft rotation and the rotation of force transmission shaft 5 of the rotation of support arm 1, support arm 1 around motor 27, the rotation letter at each position
Breath is recorded respectively by each encoder, and the movement shape of operator's hand is reflected so as to the rotation angle by all parts
State, and then the movement of operator's hand can be digitized, then movement is mapped to from operation machine by master & slave control algorithm
Tool hand end, so that driving realizes corresponding sports from manipulator.When needing to be reset, angle that each motor is rotated according to its shaft
Degree is turned round, and the reset for each component provides active force.
The specific embodiments described herein are merely examples of the spirit of the present invention.The utility model institute
Belonging to those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitute, but without departing from the spirit of the present application or beyond the scope of the appended claims.
Claims (9)
1. a kind of seven freedom main operation manipulator including the arm joint with support arm one (1) and has support arm two (2)
Wrist joint, the support arm one (1) and support arm two (2) are hinged, which is characterized in that the arm joint includes base
Seat (3), the motor one (4) being set in pedestal (3) and the rotation force transmission shaft (5) driven by motor one (4), the force transmission shaft
(5) it is fixed on support base (6), the support base (6) is equipped with motor two (7), and one end of the support arm one (1) is vertical
It is fixed on the output shaft of motor two (7), is additionally provided on the support base (6) when support arm two (2) is around itself and support arm one
(1) reset assembly after hinged spot wobble for resetting support arm two (2).
2. seven freedom main operation manipulator according to claim 1, which is characterized in that the reset assembly includes setting
In on support base (6) the motor three (8) being coaxially oppositely arranged with motor two (7) and one end be connected to motor three (8) output shaft
On connecting rod (9), the other end of the connecting rod (9) is hinged on support arm two (2).
3. seven freedom main operation manipulator according to claim 2, which is characterized in that the output of the motor three (8)
It is coaxially fixed on axis rotating disk (10), one end of above-mentioned connecting rod (9) is hinged on the edge of rotating disk (10), the connecting rod
(9) it is arranged in parallel with support arm one (1).
4. seven freedom main operation manipulator according to claim 1 or 2 or 3, which is characterized in that the motor one
(4) it is equipped with the encoder one for measuring its shaft rotation angle, the motor two (7) is equipped with for measuring its shaft
The encoder two of angle is rotated, the motor three (8) is equipped with the encoder three for measuring its shaft rotation angle.
5. seven freedom main operation manipulator according to claim 1, which is characterized in that the wrist joint includes L
Bar one (11), the L bar two (12) being located on the inside of L bar one (11) and the L bar three (13) being located on the inside of L bar two (12), the L bar one
(11) cross bar is fixed with the shaft one (14) being arranged in support arm two (2), the L bar two (12) far from one end of its vertical bar
Vertical bar the shaft two (15) being arranged in the vertical bar of L bar one (11), the L bar three (13) are fixed with far from one end of its cross bar
Cross bar the shaft three (16) being arranged in the cross bar of L bar two (12), the shaft two are fixed with far from one end of its vertical bar
(15) it is threaded through the one end of vertical bar far from its cross bar of L bar one (11), the shaft three (16) is threaded through the cross of L bar two (12)
The one end of bar far from its vertical bar is equipped with shaft four (17) in the vertical bar of the L bar three (13), sets in the shaft four (17)
There are clamp hand (18).
6. seven freedom main operation manipulator according to claim 5, which is characterized in that the cross bar of the L bar one (11)
The distance of medial surface to shaft two (15) is greater than the cross bar lateral surface of L bar two (12) to the distance of shaft two (15).
7. seven freedom main operation manipulator according to claim 6, which is characterized in that on the support arm two (2)
It is fixed with the motor four (19) for drive shaft one (14) rotation, the L bar one (11), which is equipped with, is used for drive shaft two
(15) motor five (20) rotated, the L bar two (12) are equipped with the motor six (21) for drive shaft three (16) rotation,
The L bar two (12) is equipped with the motor seven (22) for drive shaft four (17) rotation.
8. seven freedom main operation manipulator according to claim 7, which is characterized in that the motor five (20) is set to
It is sequentially connected in the cross bar of L bar one (11) and with shaft two (15), the motor six (21) is set in the vertical bar of L bar two (12)
And be sequentially connected with shaft three (16), the motor seven (22) is set in the vertical bar of L bar three (13) and passes with shaft four (17)
Dynamic connection.
9. seven freedom main operation manipulator according to claim 7 or 8, which is characterized in that the motor four (19)
It is equipped with the encoder four for measuring its shaft rotation angle, the motor five (20) is equipped with for measuring the rotation of its shaft
The encoder five of gyration, the motor six (21) is equipped with the encoder six for measuring its shaft rotation angle, described
Motor seven (22) be equipped with for measure its shaft rotation angle encoder seven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720978322.2U CN208319317U (en) | 2017-08-07 | 2017-08-07 | Seven freedom main operation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720978322.2U CN208319317U (en) | 2017-08-07 | 2017-08-07 | Seven freedom main operation manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN208319317U true CN208319317U (en) | 2019-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720978322.2U Active CN208319317U (en) | 2017-08-07 | 2017-08-07 | Seven freedom main operation manipulator |
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| CN (1) | CN208319317U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107440800A (en) * | 2017-08-07 | 2017-12-08 | 重庆金山医疗器械有限公司 | Seven freedom main operation manipulator |
-
2017
- 2017-08-07 CN CN201720978322.2U patent/CN208319317U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107440800A (en) * | 2017-08-07 | 2017-12-08 | 重庆金山医疗器械有限公司 | Seven freedom main operation manipulator |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210126 Address after: 401120 No.18, Cuiping Lane 2, Huixing street, Yubei District, Chongqing Patentee after: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Address before: 401120 1 office buildings, Jinshan International Industrial City, 18 of Nei sang Road, Hui Xing street, Yubei District, Chongqing. Patentee before: CHONGQING JINSHAN MEDICAL APPLIANCE Co.,Ltd. |