WO2018152678A1 - 主控制臂及机器人 - Google Patents

主控制臂及机器人 Download PDF

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Publication number
WO2018152678A1
WO2018152678A1 PCT/CN2017/074293 CN2017074293W WO2018152678A1 WO 2018152678 A1 WO2018152678 A1 WO 2018152678A1 CN 2017074293 W CN2017074293 W CN 2017074293W WO 2018152678 A1 WO2018152678 A1 WO 2018152678A1
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WO
WIPO (PCT)
Prior art keywords
boom
component
control arm
elbow
joint
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Application number
PCT/CN2017/074293
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English (en)
French (fr)
Inventor
何超
袁帅
Original Assignee
微创（上海）医疗机器人有限公司
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.)
Filing date
Publication date
Application filed by 微创（上海）医疗机器人有限公司 filed Critical 微创（上海）医疗机器人有限公司
Priority to PCT/CN2017/074293 priority Critical patent/WO2018152678A1/zh
Priority to EP17898284.9A priority patent/EP3587040A4/en
Priority to JP2019544862A priority patent/JP6914344B2/ja
Priority to BR112019017296-3A priority patent/BR112019017296A2/pt
Publication of WO2018152678A1 publication Critical patent/WO2018152678A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights

Definitions

  • the present invention relates to the field of medical device technology, and in particular to a mechanical arm and a robot.
  • the main control arm is the main operation input device in the master-slave operation mode, and the device can directly interact with the operator for motion information and force information, and can realize relatively intuitive operation control.
  • Each component is a prototype of a parallel structure, usually connected to the base. It has the advantages of high rigidity, high precision, good symmetry, compact structure and good dynamic performance. It also has the disadvantages of large occupied space, small working space and difficult calculation of algorithms.
  • the present invention provides a main control arm including: a support member, a shoulder member rotatably coupled to the support member, an elbow member, and the shoulder member, a boom member to which the elbow member is rotatably coupled, and a forearm member rotatably coupled to the elbow member;
  • the boom member includes a main arm skeleton and a boom sub-frame, and the connection between the main arm skeleton, the boom sub-frame and the connection portion of the shoulder member and the elbow member is sequentially connected.
  • Parallelogram ;
  • the support member and the shoulder member form a first rotational joint
  • the boom main skeleton and the shoulder member form a second rotational joint
  • the elbow member and the forearm member form a third rotational joint
  • the axis of the first rotational joint is parallel to the axis of the third rotational joint
  • the axis of the second rotational joint being perpendicular to a plane defined by the axis of the first rotational joint and the axis of the third rotational joint.
  • the boom main skeleton and the boom sub-frame are both links.
  • the boom main skeleton and the boom sub-frame are straight rods, and the boom main skeleton and the boom sub-frame are parallel to each other.
  • the forearm component is horizontally disposed.
  • the boom main skeleton is a connecting rod
  • the boom sub-frame is a flexible transmission structure
  • the flexible transmission structure includes a first flexible transmission joint component and a second flexible a sexual transmission joint component, and a flexible transmission transmission component that is sleeved and respectively fixed to the first flexible transmission joint component, the second flexible transmission joint component, the first flexible transmission joint component and the shoulder component A fixed connection, the second flexible transmission joint component being fixedly coupled to the elbow component.
  • the main control arm further includes a rotating shaft component, a rotating shaft mounting component, and a set of rotating shaft components and a rotating shaft mounting component that are connected and connected, and the front arm component and the elbow component are rotationally connected to form a The third rotating joint is described.
  • the main control arm further comprising a rotating shaft component, a rotating shaft mounting component, a pair of rotating shaft components and a rotating shaft mounting component that are connected by matching, the supporting component and the shoulder component are rotationally connected to form a The first rotating joint is described.
  • the main control arm further includes a rotating shaft component, a rotating shaft mounting component, and one or more sets of rotating shaft components and a rotating shaft mounting component that are connected by rotation, and the shoulder component is rotatably connected with the boom component;
  • the boom member is rotatably coupled to the elbow member by mating another one or more sets of hinge members and shaft mounting members that are coupled.
  • the posture control component disposed on the front arm component is further included.
  • a gravity balancing component connected to the boom component is further included.
  • the gravity balance component is a weight
  • the weight is connected to an extension of the main frame of the boom.
  • the invention also discloses a robot comprising the above-mentioned main control arm.
  • the main control arm includes a support member, a shoulder member rotatably coupled to the support member, an elbow member, and the shoulder member and the elbow member Rotating the connected boom member and the forearm member connected to the elbow member;
  • the boom member includes a boom main skeleton and a boom sub-frame, and the connecting line of the boom main skeleton, the boom sub-frame and the shoulder member and the elbow member are sequentially connected in parallel.
  • the support member and the shoulder member form a first rotational joint
  • the elbow member and the forearm member form a third rotational joint
  • the boom main skeleton and the shoulder member form a second rotational joint
  • the first rotational joint axis is parallel to the third rotational joint axis
  • the second rotational joint axis is perpendicular to a plane defined by the first rotational joint axis and the third rotational joint axis.
  • the main control arm based on the parallelogram structure and the joint arrangement described above has a small footprint, a stable structure, a high rigidity, and can fully balance the gravity of the device itself, thereby improving the accuracy of the operation of the main control arm. , flexibility and comfort.
  • Figure 1 is a front elevational view of the main control arm in the first embodiment of the present invention
  • Figure 2a is a side view of the main control arm when the boom member is in a horizontal state in the first embodiment of the present invention
  • Figure 2b is a side elevational view of the main control arm when the boom member is in an upward swing state in the first embodiment of the present invention
  • Figure 2c is a side elevational view of the main control arm when the boom member is in a downward swing state in the first embodiment of the present invention
  • Figure 3 is a front elevational view of the main control arm of the second embodiment of the present invention.
  • FIG. 1 is a front view of a main control arm according to a first embodiment of the present invention.
  • the main control arm includes a support member 1 and a shoulder member rotatably coupled to the support member 1 . 2, an elbow member 4, a boom member 3 rotatably coupled to the shoulder member 2, the elbow member 4, and a forearm member 5 coupled to the elbow member 4; wherein the boom member 3 includes a main frame 30 of the boom and a sub-frame 31 of the boom, and a connection between the main frame 30 of the boom, the sub-frame 31 of the boom, and the connection points of the shoulder member 2 and the elbow member 4 are sequentially connected.
  • the support member 1 and the shoulder member 2 form a first rotational joint
  • the elbow member 4 and the forearm member 5 form a third rotational joint
  • the boom main skeleton 30 and the shoulder member 2 forming a second rotational joint
  • the first rotational joint axis is parallel to the third rotational joint axis
  • the second rotational joint axis is perpendicular to a plane defined by the first rotational joint axis and the third rotational joint axis.
  • the forearm member 5 is horizontally disposed.
  • the boom main skeleton 30 and the boom sub-frame 31 are both links and are straight rods
  • the boom main skeleton 30 and the boom sub-frame 31 are parallel to each other.
  • the elbow part 4 is hanging Straight level setting.
  • the structure of the shoulder member 2 and the elbow member 4 may be of various structural types such as a U shape depending on the use.
  • the entire main control arm has three joint degrees of freedom, and the three joint degrees of freedom are the horizontally rotating shoulder rotation joint R1 and the vertically rotating boom rotation.
  • the joint R2 and the horizontally rotating elbow are rotated to rotate the joint R3.
  • the main control arm can form a three-dimensional operating space by the movement of the three joints relative to each other.
  • the support member 1 and the shoulder member 2 are rotatably coupled to each other to form a shoulder rotation joint R1 by matching a connected set of the shaft member and the shaft mounting member.
  • a shoulder rotation joint R1 by matching a connected set of the shaft member and the shaft mounting member.
  • one end of the shoulder member 2 near the support member 1 is provided with a rotating shaft member that is mated with a rotating shaft mounting member (for example, a bearing) provided on the supporting member 1 to form a shoulder rotating joint.
  • R1 The forearm member 5 and the elbow member 4 are rotatably coupled by a pair of connected shaft members and a shaft mounting member to form an elbow rotation joint R3.
  • the elbow member 4 is provided near one end of the forearm member 5 with a shaft member that is mated with a shaft mounting member (for example, a bearing) provided on the forearm member 5 to form an elbow joint R3.
  • a shaft mounting member for example, a bearing
  • the shoulder member 2 is rotatably coupled with the boom member 3 to form a boom rotating joint R2; another one or more sets of shaft members connected by matching, A shaft mounting member that is rotatably coupled to the elbow member 4 to form a boom rotating joint R2'.
  • the shoulder member 2 and the elbow member 4 are each provided with a rotating shaft mounting member (for example, a bearing) for fixedly connecting the rotating shaft member of the boom member 3 with the shoulder member 2 and the elbow member 4.
  • the shaft mounting member is connected, and the boom member 3 is rotatably coupled to the shaft shoulder member 2 and the elbow member 4 to form a boom rotating joint R2, R2';
  • the shoulder member 2 is provided with Two sets of hinge mounting parts (the specific position of the shaft mounting part is not visible in the figure, only the shaft parts 2-1, 2-2 used with the shaft mounting part can be seen), and the elbow part 4 is provided with two Group rotating shaft mounting parts (the specific position of the rotating shaft mounting parts is not visible in the figure, only the rotating shaft mounting parts can be seen a rotating shaft member 4-1,4-2), one end of the boom main skeleton 30 is passed through the rotating shaft member 2-2 and a set of rotating shaft mounting members provided on the shoulder member 2 (not visible in the figure) The specific position of the shaft mounting member can only be seen by the shaft member 2-2
  • the shaft mounting member is provided at the end of the boom member 3, and the shaft member provided on the shoulder member 2 or the elbow member 4 is connected to the shaft mounting member provided at the end of the boom member 3.
  • the boom member 3 is rotatably coupled to the shoulder member 2 and the elbow member 4 to form a boom rotation joint.
  • the boom main skeleton 30 and the boom sub-frame 31 are rotatably coupled to the shoulder member 2 to form a first boom rotation joint, a second boom rotation joint, the boom main skeleton 30 and the
  • the boom sub-frame 31 is rotatably coupled to the elbow member 4 to form a third boom rotation joint and a fourth boom rotation joint. Since the shoulder member 2, the boom main skeleton 30, the boom sub-frame 31 and the elbow joint 4 together form a parallelogram structure, according to the characteristics of the parallelogram link structure, the four large The arm rotation joints are linked to rotate, and the joint effect can only provide one degree of freedom, so the four boom rotation joints together form a degree of freedom.
  • Fig. 2a is a side view of the main control arm when the boom member 3 is in a horizontal state in the first embodiment of the present invention; at this time, the forearm member 5 is in a posture parallel to the horizontal plane.
  • FIG. 2b is a view showing the main control arm of the boom member 3 in an upward swing state in the first embodiment of the present invention.
  • Side view since the shoulder member and the elbow member 4 are kept parallel and perpendicular to the horizontal plane, when the boom member 3 is in the upward swing state, the change in the state of the boom member 3 does not affect the posture of the forearm member 5, The forearm member 5 is also maintained in a posture parallel to the horizontal plane.
  • Figure 2c is a side elevational view of the main control arm of the boom member 3 in a downward swinging state in the first embodiment of the present invention; since the shoulder member and the elbow member 4 are parallel and perpendicular to the horizontal plane, the boom member is 3 When in the downward swing state, the change in the state of the boom member 3 does not affect the posture of the forearm member 5, and the forearm member 5 maintains a posture parallel to the horizontal plane.
  • the main control arm further includes a posture member 6 disposed on the forearm member 5 to control the posture of the surgical instrument at the patient end.
  • the purpose of adjusting the three joint degrees of freedom of the main control arm is to finally achieve precise adjustment of the position of the position adjustment component. Since the forearm member 5 is always in a horizontal posture, the posture member 6 is also in a horizontal posture so that the operator can flexibly adjust the posture of the posture member.
  • the main control arm further includes a gravity balancing member 7 coupled to the boom member 3 to effect gravity balancing of the main control arm.
  • the boom main frame 30 has an extension near one end of the shoulder member 2, and the gravity balance member 7 is preferably a weight, and the weight is connected to the extension due to The presence of the gravity balancing member 7 enables the main control arm to better achieve self-weight balance.
  • FIG. 3 is a front view of the main control arm in the second embodiment of the present invention.
  • the second embodiment differs from the first embodiment in the specific structure of the boom sub-frame 31 in the boom member 3.
  • the boom main frame 30 is a connecting rod, and the boom sub-frame 31 is provided.
  • the flexible transmission structure includes a first flexible transmission joint component 311, a second flexible transmission joint component 312, and a sleeve and are respectively fixed to the first flexible transmission joint component 311, the second flexible transmission joint
  • the flexible transmission on component 312 transmits component 310.
  • "fixed” can be understood as a flexible transmission transmission part.
  • the friction between the member 310 and the first flexible transmission joint member 311 and the second flexible transmission joint member 312 is sufficiently large that the flexible transmission transmission member 310 and the first flexible transmission joint member 311 and the second flexible transmission joint member 312 are The relative contact portion does not produce a relative displacement.
  • "Fixed" herein also means that the flexible transmission transmitting member 310 includes two sub-flexible transmission transmitting members, wherein each sub-flexible transmission transmitting member is fixed to the same side of the first flexible transmission joint member 311 and the second flexible transmission joint member 312. . Wherein the length of the sub-flexible transmission transmitting member between the fixed points depends on the amplitude of the swing of the main control arm.
  • the shoulder member 2 is provided with a set of rotating shaft mounting members (the specific position of the rotating shaft mounting member is not visible in the figure, only the rotating shaft member 2-2 used with the rotating shaft mounting member can be seen),
  • the elbow member 4 is provided with a set of rotating shaft mounting members (the specific position of the rotating shaft mounting member is not visible in the figure, only the rotating shaft member 4-2 used with the rotating shaft mounting member can be seen),
  • the first flexible transmission joint member 311 and one end of the main boom main frame 30 are coupled to a set of rotating shaft mounting members provided on the shoulder member 2 via a rotating shaft member 2-2, and the first flexible transmission joint member 311 is fixed to the shoulder
  • the second flexible transmission joint member 312 and the other end of the boom main frame 30 are coupled to the set of rotating shaft mounting members provided on the elbow member 4 via the rotating shaft member 4-2, and
  • the second flexible transmission joint component 312 is fixed to the elbow component 4.
  • the shaft mounting member described herein is preferably a bearing, and the selection of the bearing in the present invention is not particularly limited, and those skilled in the art can select a specific bearing type according to the prior art. Meanwhile, it should be recognized that the shaft mounting member may be disposed on the first flexible transmission joint member 311, the second flexible transmission joint member 312, and the boom main skeleton 30 by passing the shaft member with the shoulder member 2 or the elbow portion The rotational connection of the component 4 and the first flexible transmission joint component 311, the second flexible transmission joint component 312, and the spindle mounting component on the boom main frame 30 can also effect a rotational connection of the respective component.
  • the first flexible transmission joint member 311 and the second flexible transmission joint member 312 are engaged with the flexible transmission transmission member 310.
  • the first flexible transmission joint component 311 and the second flexible transmission joint component 312 are synchronous wheels.
  • the flexible transmission transmitting member 310 is not limited to the wire and the timing belt, and the boom member 3 is satisfied as long as the flexible transmission transmitting member 310 can be sleeved and fixed to the first flexible transmission joint member 311 and the second flexible transmission joint member 312.
  • the flexible transmission transmitting member 310 and the first flexible transmission joint member 311 and the second flexible transmission joint member 312 may constitute a parallelogram structure under the support of the main arm skeleton 30.
  • the gravity balancing mechanism 7 in the first embodiment is also applicable to the present embodiment and will not be specifically described.
  • the boom main skeleton 30 is rotatably connected with the shoulder member 2 and the elbow member 4 to form two boom rotating joints. According to the characteristics of the parallelogram link structure, the two boom rotating joints For the linkage rotation, the effect of the interaction can only provide one degree of freedom, so the two boom rotation joints together form a degree of freedom.
  • the present invention also discloses a robot including the above-described main control arm.
  • the main control arm includes a support member, a shoulder member rotatably coupled to the support member, an elbow member, and a shoulder member, the elbow portion a boom member to which the member is rotatably coupled, and a forearm member coupled to the elbow member;
  • the boom member includes a boom main skeleton and a boom sub-frame, the boom main skeleton and the boom pair a line connecting the skeleton to the connection point of the shoulder member and the elbow member in sequence to form a parallelogram;
  • the support member and the shoulder member form a first rotating joint, and the elbow member forms a front arm member a third rotation joint, the boom main skeleton and the shoulder member forming a second rotation joint, wherein the first rotation joint axis is parallel to the third rotation joint axis, and the second rotation joint axis is perpendicular to the first rotation
  • the axis of the joint is defined by a plane defined by the axis of the third rotating joint.
  • the main control arm of the quadrilateral structure and the arrangement of the rotating joints has a small footprint, a stable structure, a high rigidity, and can completely balance the gravity of the device itself, thereby improving the accuracy of the operation of the main control arm, Flexibility and comfort.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

一种主控制臂及机器人，主控制臂包括支撑部件（1），与支撑部件（1）转动连接的肩部部件（2），肘部部件（4），与肩部部件（2）、肘部部件（4）转动连接的大臂部件（3）及与肘部部件（4）连接的前臂部件（5）；其中，大臂部件（3）包括大臂主骨架（30）及大臂副骨架（31），大臂主骨架（30）、大臂副骨架（31）与肩部部件（2）、肘部部件（4）的连接点依次连接的连线构成平行四边形，支撑部件（1）与肩部部件（2）形成第一转动关节，大臂主骨架（30）与肩部部件（2）形成第二转动关节，肘部部件（4）与前臂部件（5）形成第三转动关节，其中，第一转动关节的轴线与第三转动关节的轴线平行，第二转动关节的轴线垂直于第一转动关节轴线与第三转动关节的轴线所限定的平面。基于平行四边形结构及关节排布方式的主控制臂占据空间小，结构稳固，具有较高的刚度，并能够实现装置自身重力的完全配平，从而提高了主控制臂操作的精确性、灵活性及舒适性。

Description

主控制臂及机器人 技术领域
本发明涉及医疗器械技术领域，特别涉及一种机械臂及机器人。
背景技术
随着在医疗机器人及工业机器人等领域虚拟现实技术及主从式操作方式的广泛应用，机械臂作为机器人的输入输出结构，其研究与开发越来越受到重视。其中的主控制臂作为主从式操作方式中的主操作输入设备，该类型设备能够直接与操作者进行运动信息和力信息的交互，并且能够实现较为直观的操作控制。
就现在世界上较为常用的主控制臂主要有两种构型类型：
(1)串联结构：各个构件通过关节串联在一起，具有工作空间大、操控灵活等优点，同时也有不易实现自重力平衡、惯性力大、刚度及调整精度较差等缺点。
(2)并联结构：各个构件以并联结构为机构原型，通常与基座连在一起。具有刚度大、精度高、对称性好、结构紧凑及动力学性能好等优点，同时也有占用空间大、工作空间小、算法计算困难等缺点。
现如今，世界上应用较为广泛并且较为成功的主要有美国Gemaqic(原Sensable)公司的Phantom系列和瑞士Force Dimension公司的sigma、omega及delta系列。这两个公司的产品分别为串联结构和并联结构，也就分别存在上述两种主控制臂构型结构存在的问题。当然，世界上还存在一些其他的主控制臂结构，但多数为针对特定系统进行的研发设计，通用性不是很强。
我国在主控制臂的研究还处于初始阶段，国内相关技术研究人员也一直在进行该方面的研究，但还没有特别具有竞争力和影响力的产品出现，因此 若能够设计出一种具有良好使用性能的主控制臂对我国而言具有重大意义。
发明内容
本发明的目的在于提供一种主控制臂及机器人，以克服使用现有技术中主控制臂占据空间大、刚度及调整精度较差的缺陷。
为解决上述技术问题，本发明提供一种主控制臂，所述主控制臂包括：支撑部件，与所述支撑部件转动连接的肩部部件，肘部部件，与所述肩部部件、所述肘部部件转动连接的大臂部件，及与所述肘部部件转动连接的前臂部件；其中，
所述大臂部件包括大臂主骨架及大臂副骨架，所述大臂主骨架、所述大臂副骨架与所述肩部部件、所述肘部部件的连接点依次连接的连线构成平行四边形；
所述支撑部件与肩部部件形成第一转动关节，所述大臂主骨架与所述肩部部件形成第二转动关节，所述肘部部件与所述前臂部件形成第三转动关节，其中，第一转动关节的轴线与第三转动关节的轴线平行，所述第二转动关节的轴线垂直于所述第一转动关节轴线与所述第三转动关节的轴线所限定的平面。
可选的，在所述的主控制臂中，所述大臂主骨架及所述大臂副骨架均为连杆。
可选的，在所述的主控制臂中，所述大臂主骨架及所述大臂副骨架均为直杆，且所述大臂主骨架与所述大臂副骨架相互平行。
可选的，在所述的主控制臂中，所述前臂部件水平设置。
可选的，在所述的主控制臂中，所述大臂主骨架为连杆，所述大臂副骨架为柔性传动结构，所述柔性传动结构包括第一柔性传动关节部件、第二柔 性传动关节部件，及套接并分别固定于所述第一柔性传动关节部件、所述第二柔性传动关节部件上的柔性传动传递部件，所述第一柔性传动关节部件与所述肩部部件固定连接，所述第二柔性传动关节部件与所述肘部部件固定连接。
可选的，在所述的主控制臂中，还包括转轴部件，转轴安装部件，通过匹配连接的一组转轴部件、转轴安装部件，所述前臂部件、所述肘部部件转动连接，形成所述第三转动关节。
可选的，在所述的主控制臂中，还包括转轴部件，转轴安装部件，通过匹配连接的一组转轴部件、转轴安装部件，所述支撑部件、所述肩部部件转动连接，形成所述第一转动关节。
可选的，在所述的主控制臂中，还包括转轴部件，转轴安装部件，通过匹配连接的一组或多组转轴部件、转轴安装部件，所述肩部部件与大臂部件转动连接；通过匹配连接的另一组或多组转轴部件、转轴安装部件，所述大臂部件与肘部部件转动连接。
可选的，在所述的主控制臂中，还包括设置于所述前臂部件上的调姿部件。
可选的，在所述的主控制臂中，还包括与所述大臂部件连接的重力平衡部件。
可选的，在所述的主控制臂中，所述重力平衡部件为配重块，所述的配重块与所述大臂主骨架的延伸段连接。
本发明还公开了一种机器人，包括上述主控制臂。
在本发明所提供的主控制臂及机器人中，所述主控制臂包括支撑部件，与所述支撑部件转动连接的肩部部件，肘部部件，与所述肩部部件、所述肘部部件转动连接的大臂部件，及与所述肘部部件连接的前臂部件；其中，所 述大臂部件包括大臂主骨架及大臂副骨架，所述大臂主骨架、所述大臂副骨架与所述肩部部件、所述肘部部件的连接点依次连接的连线构成平行四边形；所述支撑部件与肩部部件形成第一转动关节，所述肘部部件与所述前臂部件形成第三转动关节，所述大臂主骨架与所述肩部部件形成第二转动关节，其中，第一转动关节轴线与第三转动关节轴线平行，第二转动关节轴线垂直于所述第一转动关节轴线与第三转动关节轴线所限定的平面。基于上述平行四边形结构和关节排布方式的主控制臂具有构型占据空间小，结构稳固，具有较高的刚度，并能够实现装置自身重力的完全配平，从而提高了主控制臂操作的精确性、灵活性及舒适性。
附图说明
图1是本发明实施例一中主控制臂的主视图；
图2a是本发明实施例一中大臂部件处于水平状态时，主控制臂的侧视图；
图2b是本发明实施例一中大臂部件处于向上摆动状态时，主控制臂的侧视图；
图2c是本发明实施例一中大臂部件处于向下摆动状态时，主控制臂的侧视图；
图3是本发明实施例二中主控制臂的主视图。
图中，支撑部件-1；肩部部件-2；大臂部件-3；肘部部件-4；大臂主骨架-30；大臂副骨架-31；第一柔性传动关节部件-311；第二柔性传动关节部件-312；柔性传动传递部件-310；前臂部件-5；调姿部件-6；重力平衡部件-7；转轴部件2-1,2-2，4-1,4-2；肩部转动关节-R1；大臂转动关节-R2，R2’；肘部转动关节-R3。
具体实施方式
以下结合附图和具体实施例对本发明提出的主控制臂及机器人作进一步详细说明。根据下面说明和权利要求书，本发明的优点和特征将更清楚。需说明的是，附图均采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本发明实施例的目的。
在具体说明本发明之前，在此先说明本发明之主要原理与思想，具体为：通过大臂主骨架、大臂副骨架、肩部部件及肘部部件之间连接点依次连接的连线构成平行四边形的结构，以及三个转动关节的排列，使得与所述肘部部件连接的前臂部件在主控制臂运动过程中姿态稳定，避免了大臂部件在动态摆动时对前臂部件上调姿部件的影响，从而增加了主控制臂操作的灵活性及舒适性。
实施例一
请参考图1，其为本发明实施例一中主控制臂的主视图，如图1所示，所述的主控制臂包括：支撑部件1，与所述支撑部件1转动连接的肩部部件2，肘部部件4，与肩部部件2、所述肘部部件4转动连接的大臂部件3，及与所述肘部部件4连接的前臂部件5；其中，所述大臂部件3包括大臂主骨架30及大臂副骨架31，所述大臂主骨架30、所述大臂副骨架31与所述肩部部件2、所述肘部部件4的连接点依次连接的连线构成平行四边形；所述支撑部件1与肩部部件2形成第一转动关节，所述肘部部件4与所述前臂部件5形成第三转动关节，所述大臂主骨架30与所述肩部部件2形成第二转动关节，其中，第一转动关节轴线与第三转动关节轴线平行，第二转动关节轴线垂直于所述第一转动关节轴线与第三转动关节轴线所限定的平面。优选所述前臂部件5水平设置。在本实施例中，所述大臂主骨架30及大臂副骨架31均为连杆，且为直杆，大臂主骨架30及大臂副骨架31相互平行。此外，肘部部件4垂 直水平面设置。在本发明中，肩部部件2及肘部部件4的结构可以根据使用情况的不同，采用多种结构类型，例如U型。
本申请为了使主控制臂具有较好的操作灵活性，整个主控制臂具有三个关节自由度，这三个关节自由度依次为水平转动的肩部转动关节R1、竖直转动的大臂转动关节R2、水平转动的肘部转动关节R3来体现。通过三个关节相互之间的运动，所述主控制臂可以形成一个三维立体操作空间。
具体而言，通过匹配连接的一组转轴部件、转轴安装部件，所述支撑部件1、所述肩部部件2转动连接，形成肩部转动关节R1。例如，所述肩部部件2靠近所述支撑部件1的一端设置有转轴部件，所述转轴部件与所述支撑部件1上设置的转轴安装部件(例如轴承)匹配连接，以形成肩部转动关节R1。通过匹配连接的一组转轴部件、转轴安装部件，所述前臂部件5、所述肘部部件4转动连接，形成肘部转动关节R3。例如，所述肘部部件4靠近所述前臂部件5的一端设置有转轴部件，所述转轴部件与所述前臂部件5上设置的转轴安装部件(例如轴承)匹配连接，以形成肘部转动关节R3。通过匹配连接的一组或多组转轴部件、转轴安装部件，所述肩部部件2与大臂部件3转动连接，形成大臂转动关节R2；通过匹配连接的另一组或多组转轴部件、转轴安装部件，所述大臂部件3与肘部部件4转动连接，形成大臂转动关节R2’。例如，所述肩部部件2与所述肘部部件4上均设置有转轴安装部件(例如轴承)，固定连接大臂部件3的转轴部件与所述肩部部件2、肘部部件4上的转轴安装部件连接，实现所述大臂部件3与所述转轴肩部部件2、肘部部件4转动连接，以形成大臂转动关节R2，R2’；又例如所述肩部部件2上设置有两组转轴安装部件(图中看不到转轴安装部件的具体位置，仅能看到与转轴安装部件配合使用的转轴部件2-1,2-2)，所述肘部部件4上设置有两组转轴安装部件(图中看不到转轴安装部件的具体位置，仅能看到与转轴安装部件配 合使用的转轴部件4-1,4-2)，所述大臂主骨架30的一端通过转轴部件2-2与所述肩部部件2上设置的一组转轴安装部件(图中看不到转轴安装部件的具体位置，仅能看到与转轴安装部件配合使用的转轴部件2-2)配合连接，所述大臂主骨架30的另一端通过转轴部件4-2与所述肘部部件4上设置的一组转轴安装部件配合连接，所述大臂副骨架31的一端通过转轴部件2-1与所述肩部部件2上设置的另一组转轴安装部件配合连接，所述大臂副骨架31的另一端通过转轴部件4-1与所述肘部部件4上设置的另一组转轴安装部件配合连接。很明显，在大臂部件3端部设置转轴安装部件，将设置在所述肩部部件2或所述肘部部件4上的转轴部件与大臂部件3端部设置的转轴安装部件连接也可以实现大臂部件3与所述肩部部件2、所述肘部部件4转动连接，形成大臂转动关节。
所述大臂主骨架30和所述大臂副骨架31与所述肩部部件2转动连接，形成第一大臂转动关节、第二大臂转动关节，所述大臂主骨架30和所述大臂副骨架31与所述肘部部件4转动连接，形成第三大臂转动关节、第四大臂转动关节。由于所述肩部部件2、所述大臂主骨架30、所述大臂副骨架31及所述肘部关节4共同构成平行四边形结构，根据平行四边形连杆结构的特点，所述四个大臂转动关节为联动转动，共同作用的效果仅能提供一个自由度，因此四个大臂转动关节共同组成一个自由度。
本实施例的主控制臂在应用时，由于各个关节的排布，以及平行四边形结构的存在，在大臂部件3运动过程中，能够维持前臂部件5始终处于水平的姿态，使得操作者操作主控制臂更加舒适、精确。具体请结合图2a～图2c，其中，图2a是本发明实施例一中大臂部件3处于水平状态时，主控制臂的侧视图；此时，前臂部件5处于与水平面平行的姿态。
图2b是本发明实施例一中大臂部件3处于向上摆动状态时，主控制臂的 侧视图；由于肩部部件与肘部部件4是保持平行且垂直于水平面的，因此在大臂部件3处于向上摆动状态时，大臂部件3状态的变化不会影响到前臂部件5的姿态，前臂部件5还是维持与水平面平行的姿态。
图2c是本发明实施例一中大臂部件3处于向下摆动状态时，主控制臂的侧视图；由于肩部部件与肘部部件4是保持平行且垂直于水平面的，因此在大臂部件3处于向下摆动状态时，大臂部件3状态的变化不会影响到前臂部件5的姿态，前臂部件5还是维持与水平面平行的姿态。
进一步地，主控制臂还包括设置于所述前臂部件5上的调姿部件6，以控制病人端手术器械的姿态。在调节主控制臂的三个关节自由度的目的就是为了最终实现调姿部件的位置精准调整。因为前臂部件5始终处于水平姿态，所以调姿部件6也处于水平姿态，以便操作者可以灵活的调整调姿部件的姿态。
进一步地，主控制臂还包括与所述大臂部件3连接的重力平衡部件7，以实现主控制臂的重力配平。本实施例中，所述大臂主骨架30靠近所述肩部部件2的一端有延伸段，所述重力平衡部件7优选为配重块，所述配重块与所述延伸段连接，由于重力平衡部件7的存在使得主控制臂能够较好的实现自重平衡。
实施例二
请参考图3，其为本发明实施例二中主控制臂的主视图。实施例二相比实施例一不同的地方在于大臂部件3中大臂副骨架31的具体结构，如图3所示，所述大臂主骨架30为连接杆，所述大臂副骨架31为柔性传动结构，所述柔性传动结构包括第一柔性传动关节部件311、第二柔性传动关节部件312及套接并分别固定于所述第一柔性传动关节部件311、所述第二柔性传动关节部件312上的柔性传动传递部件310。这里的“固定”可以理解为柔性传动传递部 件310与第一柔性传动关节部件311、第二柔性传动关节部件312之间的摩擦力足够大，以至于柔性传动传递部件310与第一柔性传动关节部件311、第二柔性传动关节部件312之间接触部分没有产生相对位移。这里的“固定”还可以理解为所述柔性传动传递部件310包括两个子柔性传动传递部件，其中每个子柔性传动传递部件固定于第一柔性传动关节部件311、第二柔性传动关节部件312同一侧。其中，固定点之间的子柔性传动传递部件的长度取决于所述主控制臂摆动的幅度。这些方案都在本发明保护范围内。
具体而言，所述肩部部件2上设置有一组转轴安装部件(图中看不到转轴安装部件的具体位置，仅能看到与转轴安装部件配合使用的转轴部件2-2)，所述肘部部件4上设置有一组转轴安装部件(图中看不到转轴安装部件的具体位置，仅能看到与转轴安装部件配合使用的转轴部件4-2)，所述第一柔性传动关节部件311及所述大臂主骨架30的一端通过转轴部件2-2与所述肩部部件2上设置的一组转轴安装部件配合连接，且所述第一柔性传动关节部件311固定于所述肩部部件2上；所述第二柔性传动关节部件312及所述大臂主骨架30的另一端通过转轴部件4-2与所述肘部部件4上设置的一组转轴安装部件配合连接，且所述第二柔性传动关节部件312固定于所述肘部部件4上。通过转轴安装部件可以实现部件之间的转动更加稳定，低损耗。这里所述的转轴安装部件优选为轴承，本发明对轴承的选择没有特别的限制，本领域技术人员可以根据现有技术选择具体的轴承类型。同时，应认识到转轴安装部件可以设置在第一柔性传动关节部件311、第二柔性传动关节部件312、大臂主骨架30上，通过将转轴部件与所述肩部部件2或所述肘部部件4以及第一柔性传动关节部件311、第二柔性传动关节部件312、大臂主骨架30上的转轴安装部件连接也可以实现相应部件的转动连接。这里所述第一柔性传动关节部件311和第二柔性传动关节部件312为配合所述柔性传动传递部件310 使用的结构，例如当所述柔性传动传递部件310为丝时，所述第一柔性传动关节部件311和第二柔性传动关节部件312为丝轮；当所述柔性传动传递部件310为同步带时，所述第一柔性传动关节部件311和第二柔性传动关节部件312为同步轮。当然对于柔性传动传递部件310不局限于丝和同步带，只要柔性传动传递部件310能够套接并固定于第一柔性传动关节部件311和第二柔性传动关节部件312上使用，满足大臂部件3运动时的刚性的同时，柔性传动传递部件310和第一柔性传递关节部件311及第二柔性传动关节部件312在大臂主骨架30支撑下可以构成平行四边形结构即可。实施例一中的重力平衡机构7也适用于本实施例，不再具体介绍。这里所述大臂主骨架30与所述肩部部件2、所述肘部部件4转动连接，形成两个大臂转动关节，根据平行四边形连杆结构的特点，所述两个大臂转动关节为联动转动，共同作用的效果仅能提供一个自由度，因此两个大臂转动关节共同组成一个自由度。
相应的，本发明还公开了一种机器人，所述机器人包括上述主控制臂。
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。
综上，在本发明所提供的主控制臂及机器人中，所述主控制臂包括支撑部件，与所述支撑部件转动连接的肩部部件，肘部部件，与肩部部件、所述肘部部件转动连接的大臂部件，及与所述肘部部件连接的前臂部件；其中，所述大臂部件包括大臂主骨架及大臂副骨架，所述大臂主骨架、所述大臂副骨架与所述肩部部件、所述肘部部件的连接点依次连接的连线构成平行四边形；所述支撑部件与肩部部件形成第一转动关节，所述肘部部件与所述前臂部件形成第三转动关节，所述大臂主骨架与所述肩部部件形成第二转动关节，其中，第一转动关节轴线与第三转动关节轴线平行，第二转动关节轴线垂直于所述第一转动关节轴线与第三转动关节轴线所限定的平面。基于上述平行 四边形结构以及转动关节的排布方式的主控制臂具有构型占据空间小，结构稳固，具有较高的刚度，并能够实现装置自身重力的完全配平，从而提高了主控制臂操作的精确性、灵活性及舒适性。
上述描述仅是对本发明较佳实施例的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于权利要求书的保护范围。

Claims (12)

  1. 一种主控制臂，其特征在于，包括：支撑部件，与所述支撑部件转动连接的肩部部件，肘部部件，与所述肩部部件、所述肘部部件转动连接的大臂部件，及与所述肘部部件转动连接的前臂部件；其中，
    所述大臂部件包括大臂主骨架及大臂副骨架，所述大臂主骨架、所述大臂副骨架与所述肩部部件、所述肘部部件的连接点依次连接的连线构成平行四边形；
    所述支撑部件与肩部部件形成第一转动关节，所述大臂主骨架与所述肩部部件形成第二转动关节，所述肘部部件与所述前臂部件形成第三转动关节，其中，第一转动关节的轴线与第三转动关节的轴线平行，所述第二转动关节的轴线垂直于所述第一转动关节轴线与所述第三转动关节的轴线所限定的平面。
  2. 如权利要求1所述的主控制臂，其特征在于，所述大臂主骨架及所述大臂副骨架均为连杆。
  3. 如权利要求2所述的主控制臂，其特征在于，所述大臂主骨架及所述大臂副骨架均为直杆，且所述大臂主骨架与所述大臂副骨架相互平行。
  4. 如权利要求1所述的主控制臂，其特征在于，所述前臂部件水平设置。
  5. 如权利要求1所述的主控制臂，其特征在于，所述大臂主骨架为连杆，所述大臂副骨架为柔性传动结构，所述柔性传动结构包括第一柔性传动关节部件、第二柔性传动关节部件，及套接并分别固定于所述第一柔性传动关节部件、所述第二柔性传动关节部件上的柔性传动传递部件，所述第一柔性传动关节部件与所述肩部部件固定连接，所述第二柔性传动关节部件与所述肘部部件固定连接。
  6. 如权利要求1～5中任一项所述的主控制臂，其特征在于，还包括转轴部件，转轴安装部件，通过匹配连接的一组转轴部件、转轴安装部件，所述前臂部件、所述肘部部件转动连接，形成所述第三转动关节。
  7. 如权利要求1～5中任一项所述的主控制臂，其特征在于，还包括转轴部件，转轴安装部件，通过匹配连接的一组转轴部件、转轴安装部件，所述支撑部件、所述肩部部件转动连接，形成所述第一转动关节。
  8. 如权利要求1～5中任一项所述的主控制臂，其特征在于，还包括转轴部件，转轴安装部件，通过匹配连接的一组或多组转轴部件、转轴安装部件，所述肩部部件与大臂部件转动连接；通过匹配连接的另一组或多组转轴部件、转轴安装部件，所述大臂部件与肘部部件转动连接。
  9. 如权利要求1所述的主控制臂，其特征在于，还包括设置于所述前臂部件上的调姿部件。
  10. 如权利要求1所述的主控制臂，其特征在于，还包括与所述大臂部件连接的重力平衡部件。
  11. 如权利要求10所述的主控制臂，其特征在于，所述重力平衡部件为配重块，所述的配重块与所述大臂主骨架的延伸段连接。
  12. 一种机器人，其特征在于，包括如权利要求1～11中任一项所述的主控制臂。
PCT/CN2017/074293 2017-02-21 2017-02-21 主控制臂及机器人 WO2018152678A1 (zh)

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