技术领域：Technical field:
本发明涉及医疗器械技术领域，更具体的说涉及一种六自由度主操作手。The invention relates to the technical field of medical instruments, and more specifically relates to a six-degree-of-freedom master manipulator.
背景技术：Background technique:
外科手术中经常会有一些精细操作，这些操作的对象小，形状复杂，且有些手术往往需要很长的时间才能结束，医生很容易疲惫，由此容易造成人手的颤抖导致动作不准确，而机器操作手能够完全避免这些安全隐患，准确地完成一些需要长时间的复杂的手术，因而受到大家的关注。目前，较为成功的主操作手系统主要有美国Sensable公司的PHANTOM系列主操作手和瑞士ForceDimension公司的Omega系列主操作手。对PHANTOM和Omega系列的主操作手而言，其机构占用的体积较大、工作空间较小，且不能够由自身实现重力平衡，很大程度上限制了主操作手的应用范围。因此，为了避免现有技术中存在的问题予以改进。There are often some delicate operations in surgical operations. The objects of these operations are small and complex in shape, and some operations often take a long time to end. Doctors are prone to fatigue, which can easily cause trembling of hands and inaccurate movements, while machines Operators can completely avoid these safety hazards and accurately complete some complex operations that require a long time, so they have attracted everyone's attention. At present, the more successful master manipulator systems mainly include the PHANTOM series master manipulators of the American Sensable Company and the Omega series master manipulators of the Swiss ForceDimension Company. For the main operators of the PHANTOM and Omega series, the mechanism occupies a large volume and a small working space, and cannot achieve gravity balance by itself, which greatly limits the scope of application of the main operator. Therefore, it is improved in order to avoid the problems existing in the prior art.
发明内容：Invention content:
本发明的目的就是针对现有技术之不足，而提供一种全被动型六自由度主操作手，该主操作手在不依赖电机的情况下通过自身的结构实现重力平衡，结构紧凑，占用空间小，节能环保。The purpose of the present invention is to provide a fully passive six-degree-of-freedom main operator for the deficiencies of the prior art. The main operator can achieve gravity balance through its own structure without relying on the motor. The structure is compact and takes up a lot of space. Small, energy-saving and environmentally friendly.
本发明的技术解决措施如下：一种全被动型六自由度主操作手，包括支撑架，第一关节固定在所述支撑架上；第一连杆的一端与所述第一关节连接，所述第一连杆绕着第一关节的轴线R1转动；第二关节固定在与第一关节相对方向的第一连杆的另一端；第三关节设置在所述第二关节的上方并绕着第二关节的轴线R2转动；第二连杆与所述第三关节连接并绕着第三关节的轴线R3转动；第二连杆配重块固定在所述第二连杆的一端；第四关节固定在与第二连杆配重块相对方向的第二连杆的另一端；第三连杆与所述第四关节连接并绕着第四关节的轴线R4转动；第三连杆配重块固定在所述第三连杆的一端；第五关节固定在第三连杆的另一端；第四连杆的一端与所述第五关节连接，所述第四连杆绕着第五关节的轴线R5转动；第六关节固定在第四连杆的另一端；夹持盖板与第六关节相连接并绕着第六关节的轴线R6转动；夹持盖板配重块固定在所述夹持盖板的自由端处。The technical solutions of the present invention are as follows: a fully passive six-degree-of-freedom main manipulator includes a support frame on which the first joint is fixed; one end of the first connecting rod is connected to the first joint, and the The first connecting rod rotates around the axis R1 of the first joint; the second joint is fixed at the other end of the first connecting rod opposite to the first joint; the third joint is arranged above the second joint and around The axis R2 of the second joint rotates; the second connecting rod is connected with the third joint and rotates around the axis R3 of the third joint; the counterweight of the second connecting rod is fixed at one end of the second connecting rod; the fourth The joint is fixed on the other end of the second connecting rod opposite to the weight of the second connecting rod; the third connecting rod is connected with the fourth joint and rotates around the axis R4 of the fourth joint; the third connecting rod counterweight The block is fixed at one end of the third connecting rod; the fifth joint is fixed at the other end of the third connecting rod; one end of the fourth connecting rod is connected with the fifth joint, and the fourth connecting rod goes around the fifth joint The axis R5 of the sixth joint rotates; the sixth joint is fixed at the other end of the fourth connecting rod; the clamping cover is connected with the sixth joint and rotates around the axis R6 of the sixth joint; the counterweight of the clamping cover is fixed on the Clamp the cover at the free end.
作为上述技术方案的优选，所述的第一关节通过旋转轴和一对轴承连接到第一连杆上；所述第二关节通过旋转轴和一对轴承连接到第三关节上；所述第三关节通过旋转轴和一对轴承连接到第二连杆上；所述第四关节通过旋转轴和一对轴承连接到第三连杆上；所述第五关节通过旋转轴和一对轴承连接到第四连杆上；所述第六关节通过旋转轴和一对轴承连接到夹持盖板上；As a preference of the above technical solution, the first joint is connected to the first connecting rod through a rotating shaft and a pair of bearings; the second joint is connected to the third joint through a rotating shaft and a pair of bearings; The three joints are connected to the second connecting rod through a rotating shaft and a pair of bearings; the fourth joint is connected to the third connecting rod through a rotating shaft and a pair of bearings; the fifth joint is connected through a rotating shaft and a pair of bearings to the fourth connecting rod; the sixth joint is connected to the clamping cover through a rotating shaft and a pair of bearings;
其中，所述第一连杆、第二连杆、第一关节、第二关节、第三关节和第二连杆配重块组成主操作手的位置部分；第三连杆、第四连杆、第四关节、第五关节、第六关节、第三连杆配重块、夹持盖板和夹持盖板配重块组成主操作手的姿态部分。Wherein, the first connecting rod, the second connecting rod, the first joint, the second joint, the third joint and the second connecting rod counterweight form the position part of the main operator; the third connecting rod and the fourth connecting rod , the fourth joint, the fifth joint, the sixth joint, the third link counterweight, the clamping cover plate and the clamping cover plate counterweight form the attitude part of the main operator.
作为上述技术方案的优选，所述的第一连杆和第二连杆的形状为直条状；所述第三连杆和第四连杆的形状为弧线状。As a preference of the above technical solution, the shape of the first connecting rod and the second connecting rod is straight; the shape of the third connecting rod and the fourth connecting rod is arc-shaped.
作为上述技术方案的优选，所述的第三连杆和第四连杆的弧线形状接近半“U”型。As a preference of the above technical solution, the arc shapes of the third connecting rod and the fourth connecting rod are close to a half "U" shape.
作为上述技术方案的优选，所述的第一关节的轴线R1和第二关节的轴线R2相互平行，第三关节的轴线R3垂直于所述轴线R1、R2；所述第四关节、第五关节、第六关节相对应的轴线R4、R5、R6互相垂直，且所述三轴线相交于一点。As a preference of the above technical solution, the axis R1 of the first joint and the axis R2 of the second joint are parallel to each other, the axis R3 of the third joint is perpendicular to the axes R1 and R2; the fourth joint and the fifth joint 1. The axes R4, R5, and R6 corresponding to the sixth joint are perpendicular to each other, and the three axes intersect at one point.
作为上述技术方案的优选，所述的第一关节通过螺钉固定在支撑架上；所述第二关节通过螺钉固定在第一连杆一端的底端面上；所述第四关节通过螺钉固定在第二连杆的一端；第五关节通过螺钉固定在第三连杆的一端；第六关节通过螺钉固定在第四连杆的一端。As a preference of the above technical solution, the first joint is fixed on the support frame by screws; the second joint is fixed on the bottom surface of one end of the first connecting rod by screws; One end of the second connecting rod; the fifth joint is fixed on one end of the third connecting rod by a screw; the sixth joint is fixed on one end of the fourth connecting rod by a screw.
作为上述技术方案的优选，所述的第二连杆配重块通过螺钉固定在第二连杆的一端；第三连杆配重块通过螺钉固定在第三连杆的一端；夹持盖板配重块通过螺钉固定在夹持盖板的自由端处。As a preference of the above technical solution, the second connecting rod counterweight is fixed on one end of the second connecting rod by screws; the third connecting rod counterweight is fixed on one end of the third connecting rod by screws; the clamping cover plate The counterweight is fixed at the free end of the clamping cover plate by screws.
作为上述技术方案的优选，所述的第二连杆配重块、第三连杆配重块和夹持盖板配重块的材料均为黄铜。As a preference of the above technical solution, the materials of the second link counterweight, the third link counterweight and the clamping cover counterweight are all brass.
作为上述技术方案的优选，所述的夹持盖板配重块上设置有矩形的复位沟槽。As a preference of the above technical solution, a rectangular reset groove is provided on the clamping cover counterweight.
作为上述技术方案的优选，所述的位置部分与所述姿态部分解耦设置。As a preference of the above technical solution, the position part is decoupled from the attitude part.
本发明的有益效果在于：主操作手的第一连杆通过第一关节实现重力平衡，第一连杆的重力矩施加在第一关节上，通过第一关节上的螺钉受力使得第一连杆的重力得到平衡；第二连杆通过第二连杆配重块实现重力平衡，由于第二连杆配重块的平衡作用，使得第二连杆无论运动到任何位置都能够实现重力平衡；所述第一连杆、第二连杆、第一关节、第二关节、第三关节和第二连杆配重块组成主操作手的位置部分；第三连杆、第四连杆、第四关节、第五关节、第六关节、第三连杆配重块、夹持盖板和夹持盖板配重块组成主操作手的姿态部分，所述主操作手的姿态部分通过第三连杆配重块和夹持盖板配重块实现重力平衡，当主操作手运动到任何姿态时，由于第三连杆配重块和夹持盖板配重块的平衡作用，使姿态部分一直保持重力平衡，所述的主操作手的位置部分和姿态部分是解耦的，当主操作手的姿态发生变化时，不会影响主手的位置；主操作手的归零复位通过夹持盖板配重块上的复位沟槽以机械方式实现，归零方式简单可靠，本发明整体结构紧凑，占用空间小，节能环保。The beneficial effect of the present invention is that: the first connecting rod of the main operator realizes gravity balance through the first joint, the gravity moment of the first connecting rod is applied on the first joint, and the force on the screw on the first joint makes the first connecting rod The gravity of the rod is balanced; the second connecting rod achieves gravity balance through the second connecting rod counterweight, and due to the balancing effect of the second connecting rod counterweight, the second connecting rod can achieve gravity balance no matter where it moves; The first connecting rod, the second connecting rod, the first joint, the second joint, the third joint and the second connecting rod counterweight form the position part of the main operator; the third connecting rod, the fourth connecting rod, the second connecting rod The four joints, the fifth joint, the sixth joint, the third link counterweight, the clamping cover and the clamping cover counterweight form the main operator's attitude part, and the main operator's attitude part is passed through the third The counterweight of the connecting rod and the counterweight of the clamping cover achieve gravity balance. When the main operator moves to any posture, due to the balance effect of the counterweight of the third link and the counterweight of the clamping cover, the posture part is always To maintain the balance of gravity, the position part and the attitude part of the main operator are decoupled. When the attitude of the main operator changes, the position of the main hand will not be affected; the zero reset of the main operator is achieved by clamping the cover The reset groove on the counterweight is realized mechanically, and the zeroing method is simple and reliable. The present invention has a compact overall structure, takes up little space, and is energy-saving and environment-friendly.
附图说明：Description of drawings:
图1为本发明全被动型六自由度主操作手的正面结构示意图；Fig. 1 is a schematic diagram of the front structure of the fully passive six-degree-of-freedom main operator of the present invention;
图2为本发明全被动型六自由度主操作手的反面结构示意图；Fig. 2 is a schematic diagram of the back structure of the fully passive six-degree-of-freedom main operator of the present invention;
图中，10、第一连杆；20、第一关节；21、第二关节；22、第三关节；23、第四关节；24、第五关节；25、第六关节；30、第二连杆；31、第二连杆配重块；40、第三连杆；41、第三连杆配重块；50、第四连杆；60、夹持盖板；61、夹持盖板配重块；70、支撑架。In the figure, 10, the first connecting rod; 20, the first joint; 21, the second joint; 22, the third joint; 23, the fourth joint; 24, the fifth joint; 25, the sixth joint; 30, the second joint Connecting rod; 31, the counterweight of the second connecting rod; 40, the third connecting rod; 41, the counterweight of the third connecting rod; 50, the fourth connecting rod; 60, the clamping cover plate; 61, the clamping cover plate Counterweight block; 70, support frame.
具体实施方式：Detailed ways:
实施例：以下由特定的具体实施例说明本发明的实施方式，本领域技术人员可由本说明书所揭示的内容轻易地了解本发明的其他优点及功效，本实施例中提到的“第一”、“第二”、“第三”、“第四”等描述是为了区分各个关节与连杆；所述连杆的“一端”和“另一端”是指连杆的两头，即头部和尾部的区别，这些表示方位的词汇仅为便于叙述明了，而非用以限定本发明可实施的范围，其相对关系的改变或调整，在无实质变更技术内容下，也当视为本发明可实施的范畴。Embodiment: The following is a description of the implementation of the present invention by specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this description. The "first" mentioned in this embodiment , "second", "third", "fourth" and other descriptions are to distinguish each joint from the connecting rod; "one end" and "the other end" of the connecting rod refer to the two ends of the connecting rod, that is, the head and the connecting rod. The difference between the tail, these words indicating the orientation are only for the convenience of description and clarity, and are not used to limit the scope of the present invention. The change or adjustment of the relative relationship is also regarded as the present invention without substantial change in the technical content. scope of implementation.
见图1至图2所示，本发明的全被动型六自由度主操作手包括第一连杆10、第一关节20、第二关节21、第三关节22、第四关节23、第五关节24、第六关节25、第二连杆30、第二连杆配重块31、第三连杆40、第三连杆配重块41、第四连杆50、夹持盖板60、夹持盖板配重块61、支撑架70；所述第一连杆10、第二连杆30、第一关节20、第二关节21、第三关节22和第二连杆配重块31组成主操作手的位置部分；第三连杆40、第四连杆50、第四关节23、第五关节24、第六关节25、第三连杆配重块41、夹持盖板60和夹持盖板配重块61组成主操作手的姿态部分，所述位置部分与所述姿态部分解耦设置，解耦设置的优点是当主操作手姿态部分的位置发生变化时，不会影响主操作手的位置部分。1 to 2, the fully passive six-degree-of-freedom main manipulator of the present invention includes a first connecting rod 10, a first joint 20, a second joint 21, a third joint 22, a fourth joint 23, a fifth joint Joint 24, sixth joint 25, second link 30, second link counterweight 31, third link 40, third link counterweight 41, fourth link 50, clamping cover 60, Clamp the cover counterweight 61, the support frame 70; the first link 10, the second link 30, the first joint 20, the second joint 21, the third joint 22 and the second link counterweight 31 Composition of the position of the main operator; the third link 40, the fourth link 50, the fourth joint 23, the fifth joint 24, the sixth joint 25, the third link counterweight 41, the clamping cover 60 and The clamping cover counterweight 61 constitutes the attitude part of the main operator, and the position part is decoupled from the attitude part. The advantage of the decoupling setting is that when the position of the main operator's attitude part changes, it will not affect the position of the main operator. The position of the operator's hand.
第一关节20通过螺钉固定在所述支撑架70上，第一连杆10的一端与所述第一关节20连接，第一关节20通过旋转轴和一对轴承连接到第一连杆10上，所述第一连杆10绕着第一关节20的轴线R1转动，第一连杆10通过第一关节20实现重力平衡，第一连杆10的重力矩施加在第一关节20上，通过第一关节20上的螺钉受力使得第一连杆10的重力得到平衡。The first joint 20 is fixed on the support frame 70 by screws, one end of the first connecting rod 10 is connected with the first joint 20, and the first joint 20 is connected to the first connecting rod 10 through a rotating shaft and a pair of bearings , the first connecting rod 10 rotates around the axis R1 of the first joint 20, the first connecting rod 10 realizes gravity balance through the first joint 20, and the gravity moment of the first connecting rod 10 is applied to the first joint 20, through The screw on the first joint 20 is stressed so that the gravity of the first connecting rod 10 is balanced.
第二关节21通过螺钉固定在与第一关节20相对方向的第一连杆10的另一端的底端面上，所述第二关节21通过旋转轴和一对轴承连接到第三关节22上，第三关节22设置在所述第二关节21的上方并绕着第二关节21的轴线R2转动。The second joint 21 is fixed on the bottom surface of the other end of the first connecting rod 10 opposite to the first joint 20 by screws, and the second joint 21 is connected to the third joint 22 through a rotating shaft and a pair of bearings. The third joint 22 is disposed above the second joint 21 and rotates around the axis R2 of the second joint 21 .
第二连杆30与所述第三关节22连接并绕着第三关节22的轴线R3转动，所述第二连杆30和第三关节22之间通过旋转轴和一对轴承连接的，即第三关节22通过旋转轴和一对轴承连接到第二连杆30上，第二连杆配重块31通过螺钉固定在所述第二连杆30的一端，所述第二连杆配重块31材质优选为黄铜；第二连杆30通过第二连杆配重块31实现重力平衡，由于第二连杆配重块31的平衡作用，使得第二连杆30无论运动到任何位置都能够实现重力平衡。The second connecting rod 30 is connected to the third joint 22 and rotates around the axis R3 of the third joint 22. The second connecting rod 30 and the third joint 22 are connected by a rotating shaft and a pair of bearings, namely The third joint 22 is connected to the second connecting rod 30 through a rotating shaft and a pair of bearings, and the second connecting rod counterweight 31 is fixed on one end of the second connecting rod 30 by screws, and the second connecting rod counterweight The material of the block 31 is preferably brass; the second connecting rod 30 realizes gravity balance through the second connecting rod counterweight 31, and due to the balancing effect of the second connecting rod counterweight 31, no matter the second connecting rod 30 moves to any position can achieve gravity balance.
在主操作手的位置部分中所述的第一连杆10和第二连杆30的形状为直条状，所述第一关节20的轴线R1和第二关节21的轴线R2相互平行，第三关节22的轴线R3垂直于所述轴线R1和R2。下面叙述主操作手的姿态部分：The shape of the first connecting rod 10 and the second connecting rod 30 in the position of the master operator is straight, the axis R1 of the first joint 20 and the axis R2 of the second joint 21 are parallel to each other, and the first The axis R3 of the three joints 22 is perpendicular to said axes R1 and R2. The following describes the posture of the main operator:
第四关节23通过螺钉固定在与第二连杆配重块31相对方向的第二连杆30的另一端，所述第四关节23通过旋转轴和一对轴承连接到第三连杆40上，第三连杆40绕着第四关节23的轴线R4转动，第三连杆配重块41通过螺钉固定在所述第三连杆40的一端，第三连杆配重块41的材质优选为黄铜。The fourth joint 23 is fixed on the other end of the second connecting rod 30 opposite to the second connecting rod counterweight 31 by screws, and the fourth joint 23 is connected to the third connecting rod 40 through a rotating shaft and a pair of bearings , the third link 40 rotates around the axis R4 of the fourth joint 23, the third link counterweight 41 is fixed on one end of the third link 40 by screws, and the material of the third link counterweight 41 is preferably for brass.
第五关节24通过螺钉固定在第三连杆40的另一端，第四连杆50的一端与所述第五关节24连接，第四连杆50和第五关节24之间通过旋转轴和一对轴承连接，即所述第五关节24通过旋转轴和一对轴承连接到第四连杆50上，第四连杆50绕着第五关节24的轴线R5转动。The fifth joint 24 is fixed on the other end of the third connecting rod 40 by screws, one end of the fourth connecting rod 50 is connected with the fifth joint 24, and the fourth connecting rod 50 and the fifth joint 24 are connected by a rotating shaft and a For bearing connection, that is, the fifth joint 24 is connected to the fourth connecting rod 50 through a rotating shaft and a pair of bearings, and the fourth connecting rod 50 rotates around the axis R5 of the fifth joint 24 .
第六关节25通过螺钉固定在第四连杆50的另一端，第六关节25与夹持盖板60相连接，所述第六关节25通过旋转轴和一对轴承连接到夹持盖板60上，所述夹持盖板60绕着第六关节25的轴线R6转动；所述夹持盖板60的自由端处设置有夹持盖板配重块61，所述夹持盖板配重块61通过螺钉固定在所述夹持盖板60的自由端处，夹持盖板配重块61的材质优选为黄铜，所述夹持盖板配重块61上设置有矩形的复位沟槽，主操作手的归零复位通过夹持盖板配重块61上的沟槽以机械方式实现，归零方式简单可靠，可使主手的编码器在初始化时全部完成复位归零操作。The sixth joint 25 is fixed on the other end of the fourth connecting rod 50 by screws, the sixth joint 25 is connected to the clamping cover 60, and the sixth joint 25 is connected to the clamping cover 60 through a rotating shaft and a pair of bearings Above, the clamping cover 60 rotates around the axis R6 of the sixth joint 25; the free end of the clamping cover 60 is provided with a clamping cover counterweight 61, and the clamping cover counterweight The block 61 is fixed at the free end of the clamping cover plate 60 by screws, the material of the clamping cover plate counterweight 61 is preferably brass, and the clamping cover counterweight 61 is provided with a rectangular reset groove Groove, the zero reset of the main operator is realized mechanically by clamping the groove on the counterweight 61 of the cover plate. The zero return method is simple and reliable, and the encoder of the main operator can completely complete the reset and zero operation during initialization.
所述主操作手的姿态部分通过第三连杆配重块41和夹持盖板配重块61实现重力平衡，当主操作手运动到任何姿态时，由于第三连杆配重块41和夹持盖板配重块61的平衡作用，使姿态部分一直保持重力平衡的状态。其中，所述姿态部分的第三连杆40和第四连杆50的形状为弧线状，所述的弧线形状接近半“U”型，所述第四关节23、第五关节24、第六关节25相对应的轴线R4、R5、R6互相垂直，且所述三轴线相交于一点。The posture part of the main operator realizes gravity balance through the third link counterweight 41 and the clamp cover counterweight 61. When the main operator moves to any posture, due to the third link counterweight 41 and the clamp Hold the balance effect of cover plate counterweight 61, make posture part keep the state of gravitational balance all the time. Wherein, the shape of the third connecting rod 40 and the fourth connecting rod 50 of the posture part is arc-shaped, and the shape of the arc is close to a half "U" shape. The fourth joint 23, the fifth joint 24, The axes R4 , R5 , R6 corresponding to the sixth joint 25 are perpendicular to each other, and the three axes intersect at one point.
本发明的一种全被动型六自由度主操作手的六个自由度分别为：所述第一连杆10绕着第一关节20的转动和第二连杆30绕着第二关节21、第三关节22的转动组成了主操作手的3个位置自由度；第三连杆40绕着第四关节23的转动，第四连杆50绕着第五关节24的转动，夹持盖板60绕着第六关节25的转动构成了主操作手的3个姿态自由度。主操作手通过3个位置自由度和3个姿态自由度，可以对从端手术器械的位置和姿态进行控制。在手术过程中，通过第一关节20、第二关节21和第三关节22的转动可以使从端手术器械到达期望的位置，通过第四关节23、第五关节24、第六关节25的转动可以控制从端手术器械的姿态，满足实际手术过程中的不同操作要求。本发明的全被动是指在不依赖电机的情况下实现机构本身的自平衡，本发明结构紧凑，占用空间小。The six degrees of freedom of a fully passive six-degree-of-freedom master manipulator of the present invention are: the rotation of the first connecting rod 10 around the first joint 20 and the rotation of the second connecting rod 30 around the second joint 21, The rotation of the third joint 22 constitutes the three positional degrees of freedom of the main operator; the rotation of the third link 40 around the fourth joint 23 and the rotation of the fourth link 50 around the fifth joint 24 clamp the cover The rotation of 60 around the sixth joint 25 constitutes three attitude degrees of freedom of the main manipulator. The master operator can control the position and attitude of the slave surgical instruments through 3 position degrees of freedom and 3 attitude degrees of freedom. During the operation, through the rotation of the first joint 20, the second joint 21 and the third joint 22, the slave surgical instrument can reach the desired position, and through the rotation of the fourth joint 23, the fifth joint 24 and the sixth joint 25 It can control the posture of the slave surgical instrument to meet different operating requirements in the actual surgical process. The full passive of the present invention refers to realizing the self-balancing of the mechanism itself without relying on the motor, and the present invention has a compact structure and occupies little space.
所述实施例用以例示性说明本发明，而非用于限制本发明。任何本领域技术人员均可在不违背本发明的精神及范畴下，对所述实施例进行修改，因此本发明的权利保护范围，应如本发明的权利要求所列。The examples are used to illustrate the present invention, but not to limit the present invention. Any person skilled in the art can modify the embodiments without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be listed in the claims of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410284253.6ACN104027172B (en) | 2014-06-23 | 2014-06-23 | A kind of full passive-type six degree of freedom main manipulator |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410284253.6ACN104027172B (en) | 2014-06-23 | 2014-06-23 | A kind of full passive-type six degree of freedom main manipulator |
| Publication Number | Publication Date |
|---|---|
| CN104027172Atrue CN104027172A (en) | 2014-09-10 |
| CN104027172B CN104027172B (en) | 2016-08-24 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410284253.6AActiveCN104027172B (en) | 2014-06-23 | 2014-06-23 | A kind of full passive-type six degree of freedom main manipulator |
| Country | Link |
|---|---|
| CN (1) | CN104027172B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111035455A (en)* | 2019-12-31 | 2020-04-21 | 哈尔滨工业大学 | Venipuncture robot with decoupled position and posture |
| CN111067627A (en)* | 2019-12-31 | 2020-04-28 | 常州脉康仪医疗机器人有限公司 | A seven-degree-of-freedom master manipulator for a surgical robot |
| EP4162894A4 (en)* | 2020-06-08 | 2024-07-10 | Suzhou Kangduo Robot Co., Ltd. | POSITION ADJUSTMENT MECHANISM, MAIN MANIPULATOR DEVICE AND SURGICAL ROBOT |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4402646A (en)* | 1980-02-05 | 1983-09-06 | Regie Nationale Des Usines Renault | Stabilization system for a pantographic data entry device |
| JP2003053684A (en)* | 2001-08-10 | 2003-02-26 | Toshiba Corp | Medical manipulator system |
| CN1410232A (en)* | 2002-11-29 | 2003-04-16 | 东南大学 | Hand controller of six freedom universal isomeric robot |
| CN101376248A (en)* | 2008-10-07 | 2009-03-04 | 北京航空航天大学 | Long-distance motion central mechanism for gravitational equilibrium |
| CN102825596A (en)* | 2012-09-13 | 2012-12-19 | 天津大学 | Completely gravity balanced series type master hand robot with six degrees of freedom |
| CN203898446U (en)* | 2014-06-23 | 2014-10-29 | 苏州康多机器人有限公司 | Full-passive type six-DOF (Degree Of Freedom) main manipulator |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4402646A (en)* | 1980-02-05 | 1983-09-06 | Regie Nationale Des Usines Renault | Stabilization system for a pantographic data entry device |
| JP2003053684A (en)* | 2001-08-10 | 2003-02-26 | Toshiba Corp | Medical manipulator system |
| CN1410232A (en)* | 2002-11-29 | 2003-04-16 | 东南大学 | Hand controller of six freedom universal isomeric robot |
| CN101376248A (en)* | 2008-10-07 | 2009-03-04 | 北京航空航天大学 | Long-distance motion central mechanism for gravitational equilibrium |
| CN102825596A (en)* | 2012-09-13 | 2012-12-19 | 天津大学 | Completely gravity balanced series type master hand robot with six degrees of freedom |
| CN203898446U (en)* | 2014-06-23 | 2014-10-29 | 苏州康多机器人有限公司 | Full-passive type six-DOF (Degree Of Freedom) main manipulator |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111035455A (en)* | 2019-12-31 | 2020-04-21 | 哈尔滨工业大学 | Venipuncture robot with decoupled position and posture |
| CN111067627A (en)* | 2019-12-31 | 2020-04-28 | 常州脉康仪医疗机器人有限公司 | A seven-degree-of-freedom master manipulator for a surgical robot |
| CN111067627B (en)* | 2019-12-31 | 2025-03-25 | 杭州唯精医疗机器人有限公司 | A seven-degree-of-freedom main manipulator for a surgical robot |
| EP4162894A4 (en)* | 2020-06-08 | 2024-07-10 | Suzhou Kangduo Robot Co., Ltd. | POSITION ADJUSTMENT MECHANISM, MAIN MANIPULATOR DEVICE AND SURGICAL ROBOT |
| Publication number | Publication date |
|---|---|
| CN104027172B (en) | 2016-08-24 |
| Publication | Publication Date | Title |
|---|---|---|
| CN103552061B (en) | Parallel micro-motion platform with one translational degree of freedom and two rotational degrees of freedom | |
| CN104027172B (en) | A kind of full passive-type six degree of freedom main manipulator | |
| CN104000659B (en) | A quick-change mechanism for instrument clamping hands used in minimally invasive surgical robots | |
| JP2013501249A5 (en) | ||
| WO2018152678A1 (en) | Main control arm and robot | |
| CN106671062A (en) | Three-translation one-rotation four-degree-of-freedom parallel mechanism | |
| CN104949637A (en) | Joint-type coordinate measuring machine with counterweight balance devices | |
| CN104325456B (en) | A kind of novel two one-rotation parallel mechanisms | |
| CN104493811A (en) | Three-support space mechanism with two same supports | |
| CN105215992B (en) | Multi-DOF Force Feedback Device for Human-Computer Interaction | |
| CN105234923B (en) | A kind of three flat three turns of six-degree-of-freedom parallel connection mechanisms | |
| CN203898446U (en) | Full-passive type six-DOF (Degree Of Freedom) main manipulator | |
| CN104897361A (en) | Flutter model control plane operation system | |
| CN102642133A (en) | Three-rotation parallel mechanism for virtual axis machine tool and robot | |
| CN106493719B (en) | Mechanical arm and robot | |
| BR112017002495A2 (en) | work machine | |
| CN102189544A (en) | Elliptical six-degree-of-freedom parallel connection mechanism | |
| CN107239095B (en) | A kind of power feels the three-dimensional revolving gear of feedback and rotation attitude measurement | |
| CN204935634U (en) | A kind of new mechanical hand | |
| CN109394343B (en) | A fully passive master operator | |
| CN204868360U (en) | Quick tool setting device of omnipotent angle cutter head | |
| CN103752448A (en) | Multi-degree-of-freedom spraying robot | |
| CN202753153U (en) | Three-axis intersection type posture main manipulating mechanism | |
| CN207425214U (en) | Robot teaching aid that 3D printed | |
| CN206263944U (en) | Liang Zhou robots |
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |