技术领域technical field
本发明涉及一种直线伸缩机构，特别涉及一种用于微创手术机器人的钢丝绳传动直线伸缩机构。The invention relates to a linear telescopic mechanism, in particular to a wire rope driven linear telescopic mechanism for a minimally invasive surgical robot.
背景技术Background technique
微创外科手术是指医生通过患者表皮微小切口，将细长的内窥镜和手术器械深入至病灶进行操作的手术技术。与传统的外科手术相比，具有创伤小、出血量少、术后恢复时间短等诸多优点。由于操作空间小、手术难度大，对医生的水平要求高，限制了微创手术技术在精密手术中的运用。随着机器人技术和信息化技术的发展，微创外科手术机器人应运而生，它稳定性强、灵敏度高、便于医生操作，将医疗技术提高到了一个新的层面。同时，根据微创外科手术特点和要求，通常需要微创手术机器人存在一个可做直线伸缩运动的移动自由度。Minimally invasive surgery refers to the surgical technique in which the doctor inserts the slender endoscope and surgical instruments deep into the lesion through a small incision in the patient's epidermis. Compared with traditional surgical operations, it has many advantages such as less trauma, less bleeding, and shorter postoperative recovery time. Due to the small operating space, difficult operation, and high requirements for doctors, the application of minimally invasive surgery technology in precision surgery is limited. With the development of robotics and information technology, minimally invasive surgical robots have emerged as the times require. They have strong stability, high sensitivity, and are easy for doctors to operate, raising medical technology to a new level. At the same time, according to the characteristics and requirements of minimally invasive surgery, it is usually required that the minimally invasive surgical robot has a degree of freedom of movement that can perform linear telescopic movement.
现存的直线往复运动机构有多种，大致分为如曲柄滑块结构、正弦结构等机构变换和利用锥齿轮、齿轮齿条、线性模组等改变传动方式两大类。前者不仅机构庞大而且运动行程较短，难以达到手术机器人的需要。后者对解决运动行程和机构体积方面虽有所改善，但是仍难以达到微创手术机器人的体积要求。此外由于齿轮配合存在间隙，不可避免的将回程误差引入到系统中。There are many kinds of existing linear reciprocating motion mechanisms, which can be roughly divided into two categories: the transformation of mechanisms such as crank slider structure and sinusoidal structure, and the use of bevel gears, rack and pinion, and linear modules to change the transmission mode. The former not only has a large mechanism but also has a short motion stroke, which is difficult to meet the needs of surgical robots. Although the latter has improved in terms of motion stroke and mechanism volume, it is still difficult to meet the volume requirements of minimally invasive surgical robots. In addition, due to the gap between the gears, it is inevitable to introduce backstroke errors into the system.
钢丝绳传动技术与传统机械传动技术相比，其优越性体现如下三方面：其一，适于长距离传递运动和动力，能够将动力源布局在远离关节位置处，简化结构设计；其二，在长距离传动过程中易于改变方向，传动结构简单、小巧紧凑，非常适用于有限空间内多自由度布局；其三，合适预紧力下无回差，可以吸收震动，使末端执行器运动更平稳。钢丝绳传动不仅广泛应用于工业中，如电梯的升降、航空中缆绳牵引人造卫星等，也广泛应用于灵巧手、医疗机器人或手术器械等的设计中，用于取代杆来进行运动和动力的传递。Compared with the traditional mechanical transmission technology, the wire rope transmission technology has the following three advantages: first, it is suitable for long-distance transmission of motion and power, and can place the power source far away from the joints to simplify the structural design; It is easy to change the direction during long-distance transmission. The transmission structure is simple, small and compact, and is very suitable for multi-degree-of-freedom layouts in limited spaces. Third, there is no hysteresis under proper pre-tightening force, which can absorb vibrations and make the movement of the end effector more stable. . Wire rope transmission is not only widely used in industry, such as the lifting of elevators, cable traction in aviation, artificial satellites, etc., but also widely used in the design of dexterous hands, medical robots or surgical instruments, etc., to replace rods for motion and power transmission .
目前一些微创手术机器人伸缩关节机构将钢丝绳传动的设计引入系统中，由安装在机械臂前端的伺服电机产生驱动力，精简了机构的体积，提高了行程和精度。但是，由于微创手术的特殊性，前置的电机可能会在机械臂运动过程中对手术操作产生影响或导致机械臂间发生运动干涉，导致手术操作过程不能顺利进行，因此机构和钢丝绳传动方式还存在很大的提升空间。At present, some telescopic joint mechanisms of minimally invasive surgical robots introduce the design of wire rope transmission into the system, and the driving force is generated by the servo motor installed at the front end of the mechanical arm, which reduces the size of the mechanism and improves the stroke and accuracy. However, due to the particularity of minimally invasive surgery, the front motor may affect the surgical operation during the movement of the robotic arm or cause motion interference between the robotic arms, resulting in the unsmooth operation of the surgical operation. Therefore, the mechanism and wire rope transmission mode There is still a lot of room for improvement.
发明内容Contents of the invention
本发明的目的在于克服现有技术的不足，提供一种可有效减小伸缩关节机构外形尺寸，使传动稳定、精确同时成本较低，符合手术现场条件的用于微创手术机器人的钢丝绳传动直线伸缩机构。The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a wire rope transmission linear for minimally invasive surgical robots that can effectively reduce the external dimensions of the telescopic joint mechanism, make the transmission stable, accurate and low in cost, and meet the conditions of the surgical site. Telescoping mechanism.
为了达到上述目的，本发明所采用的技术方案是：In order to achieve the above object, the technical scheme adopted in the present invention is:
一种用于微创手术机器人的钢丝绳传动直线伸缩机构包括驱动系统，钢丝绳传动系统和末端执行机构三部分。A wire rope transmission linear expansion mechanism for a minimally invasive surgical robot includes three parts: a drive system, a wire rope transmission system and an end effector.
所述驱动系统主要由一安装在伸缩支撑杆上端的伺服电机、减速器及联轴器组成。减速器输出轴通过联轴器与滚珠花键轴连接，将伺服电机驱动力传送至钢丝绳传动系统。电机轴及减速器轴与伸缩支撑杆伸缩方向保持平行，减速器轴线贯穿伸缩支撑杆截面几何中心。The drive system is mainly composed of a servo motor installed on the upper end of the telescopic support rod, a reducer and a shaft coupling. The output shaft of the reducer is connected with the ball spline shaft through a coupling, and transmits the driving force of the servo motor to the wire rope transmission system. The motor shaft and the reducer shaft are kept parallel to the telescopic direction of the telescopic support rod, and the axis of the reducer runs through the geometric center of the cross-section of the telescopic support rod.
所述钢丝绳传动系统包括一滚珠花键以及通过键连接的花键丝筒，滚珠花键的特点在于传递扭矩的同时，花键套可在花键轴上轴向移动。将钢丝绳左旋缠绕于花键丝筒上，钢丝绳一端从花键丝筒的一端伸出，经过垂直于花键轴的一个导向轴改变钢丝绳的传动方向，其后经过三个导向轮改变钢丝绳的传动方向和水平位置。钢丝绳另一端从花键丝筒另一端伸出，同样经垂直于花键轴的另一个导向轴，改变一次传动方向，经过导向轮，改变钢丝绳传动方向和水平位置。伸缩支撑杆的下端存在一个独立导向轮，用于改变钢丝绳的水平传动方向和位置。钢丝绳两端通过固丝装置与末端执行机构张紧固定，从而将钢丝绳的运动传送至末端执行机构，使钢丝绳构成一个闭合回路。The wire rope transmission system includes a ball spline and a spline wire cylinder connected by the key. The feature of the ball spline is that the spline sleeve can move axially on the spline shaft while the torque is being transmitted. Wrap the wire rope left-handedly on the spline wire drum, one end of the wire rope protrudes from one end of the spline wire drum, change the transmission direction of the wire rope through a guide shaft perpendicular to the spline shaft, and then change the transmission direction of the wire rope through three guide wheels orientation and horizontal position. The other end of the steel wire rope protrudes from the other end of the spline wire drum, and the transmission direction is changed once through another guide shaft perpendicular to the spline shaft, and the transmission direction and horizontal position of the steel wire rope are changed through the guide wheel. There is an independent guide wheel at the lower end of the telescopic support rod, which is used to change the horizontal transmission direction and position of the wire rope. The two ends of the wire rope are tensioned and fixed by the wire fixing device and the end actuator, so that the movement of the wire rope is transmitted to the end actuator, so that the wire rope forms a closed loop.
所述末端执行机构，通过螺纹连接与一直线导轨滑块相连，直线导轨固定于直线伸缩支撑杆上。末端执行机构含有一个固定钢丝绳用固丝装置，该装置具有一个贯穿的细长孔，将钢丝绳穿过该细长孔后，在孔的上方开一个微小的凹形槽，凹形槽底端与孔保持平齐，钢丝绳穿过孔后，用一个与凹形槽尺寸配合的凸形压块用螺纹连接压紧，这样压紧的钢丝绳的运动及动力就能传送至末端执行机构。The end effector is connected with a linear guide rail slider through a screw connection, and the linear guide rail is fixed on a linear telescopic support rod. The end effector includes a wire fixing device for fixing the wire rope. The device has a through elongated hole. After passing the wire rope through the elongated hole, a tiny concave groove is opened above the hole. The bottom of the concave groove is connected to the The hole is kept flush, and after the steel wire rope passes through the hole, it is compressed with a convex pressure block that matches the size of the concave groove with a threaded connection, so that the movement and power of the compressed steel wire rope can be transmitted to the end actuator.
本发明具有如下优点：The present invention has the following advantages:
1.本发明传动系统中所述钢丝绳具有柔性，通过导向轮与导向轴的组合，机构实现圆周运动与直线运动间互变及直线运动自身方向互变。1. The steel wire rope in the transmission system of the present invention is flexible, and through the combination of the guide wheel and the guide shaft, the mechanism realizes the mutual conversion between circular motion and linear motion and the mutual conversion of the linear motion itself.
2.本发明驱动电机后置对称安装，有效的解决了电机重力对机械臂产生的不平衡力矩，使机器人运动更加平稳流畅。后置的驱动电机亦可减小靠近手术器械末端体积，避免微创手术机器人机械臂间的干涉。2. The driving motor of the present invention is installed symmetrically at the rear, which effectively solves the unbalanced moment generated by the gravity of the motor on the mechanical arm, and makes the movement of the robot more stable and smooth. The rear-mounted drive motor can also reduce the volume near the end of the surgical instrument and avoid interference between the robotic arms of minimally invasive surgery robots.
3.本发明采用单个滚珠花键作为钢丝绳传动的核心部件，充分发挥了滚珠花键既可以传递扭矩又可以轴向线性移动的特性，大大精简了机构体积。3. The present invention adopts a single ball spline as the core component of the wire rope transmission, which fully utilizes the characteristics of the ball spline that both can transmit torque and can move axially linearly, and greatly simplifies the volume of the mechanism.
4.本发明所述末端执行机构具有固丝装置，从花键丝筒两端伸出的钢丝绳均穿过末端机构的小孔张紧后，由固丝装置将两段钢丝绳压紧，提高了传动精度。4. The terminal actuator of the present invention has a wire-fixing device. After the steel wire ropes protruding from both ends of the spline wire cylinder pass through the small holes of the terminal mechanism to be tensioned, the wire-fixing device compresses the two sections of steel wire ropes, which improves the Transmission accuracy.
附图说明Description of drawings
图1为本发明运用于微创手术机器人中示意图；Fig. 1 is the schematic diagram that the present invention is applied in the minimally invasive surgery robot;
图2为本发明平面结构及位置示意图；Fig. 2 is a schematic view of the plane structure and position of the present invention;
图3为本发明驱动系统及钢丝绳传动系统主要组成及安装示意图；Fig. 3 is the main composition and installation schematic diagram of drive system and wire rope transmission system of the present invention;
图4为本发明钢丝绳传动系统主要结构剖视图；Fig. 4 is a sectional view of the main structure of the wire rope transmission system of the present invention;
图5为本发明钢丝绳传动原理示意图；Fig. 5 is the schematic diagram of wire rope transmission principle of the present invention;
图6为本发明末端执行机构示意图；Fig. 6 is a schematic diagram of the end effector of the present invention;
图7为本发明末端执行机构固丝原理示意图。Fig. 7 is a schematic diagram of the wire fixing principle of the end effector of the present invention.
具体实施方式detailed description
下面结合具体实施例对本发明进行详细描述。The present invention will be described in detail below in conjunction with specific embodiments.
本发明的一种用于微创手术机器人的钢丝绳传动直线伸缩机构，用于解决狭小空间下，精密传动的微创手术机器人手术器械直线驱动问题。The invention relates to a wire rope transmission linear telescoping mechanism for a minimally invasive surgical robot, which is used to solve the problem of linear drive of surgical instruments for a minimally invasive surgical robot with precision transmission in a narrow space.
如图1所示为本发明运用于微创手术机器人中示意图，微创手术由其客观特殊性要求其具有细长的手术器械5。微创手术机器人本体已具有关节1-1及关节1-2可分别提供R1及R2两个自由度。将手术器械5安装于带有快换功能的末端执行机构4上，钢丝绳传动系统3中钢丝绳3-1在固丝装置的作用下与末端执行机构4连接，驱动系统2产生驱动力，经过钢丝绳传动改变运动状态，手术器械5可做直线伸缩运动T。As shown in FIG. 1 , it is a schematic diagram of the application of the present invention in a minimally invasive surgical robot. The objective particularity of minimally invasive surgery requires it to have a slender surgical instrument 5 . The body of the minimally invasive surgical robot already has the joint 1-1 and the joint 1-2 which can respectively provide two degrees of freedom R1 and R2. Install the surgical instrument 5 on the end effector 4 with quick change function, the wire rope 3-1 in the wire rope transmission system 3 is connected to the end effector 4 under the action of the wire fixing device, the drive system 2 generates driving force, and passes through the wire rope The transmission changes the motion state, and the surgical instrument 5 can perform linear telescopic motion T.
如图2所示为本发明平面结构及位置示意图，驱动系统2可为机构提供驱动力，钢丝绳通过导向轴单元3-2，可将电机的圆周运动改变为直线运动，同理导向轴单元3-2也可用于将钢丝绳的直线运动转化为圆周运动。导向轮单元3-3包括钢丝绳出入两端导向轮，它可以在水平方向改变钢丝绳的位置，从而可以与末端执行机构4上的穿丝孔4-1位置对应，使传动过程钢丝绳不受剪切力，增加钢丝绳的耐久度。导向轮3-4位于伸缩支撑杆的下端，它可以反转钢丝绳的传动方向。整个机构的钢丝绳是一条闭合的回路。As shown in Figure 2, it is a schematic diagram of the planar structure and position of the present invention. The drive system 2 can provide driving force for the mechanism. The steel wire rope can change the circular motion of the motor into a linear motion through the guide shaft unit 3-2. Similarly, the guide shaft unit 3 -2 can also be used to convert the linear motion of the wire rope into circular motion. The guide wheel unit 3-3 includes guide wheels at both ends of the wire rope, which can change the position of the wire rope in the horizontal direction, so that it can correspond to the position of the threading hole 4-1 on the end actuator 4, so that the wire rope will not be cut during the transmission process. Force, increase the durability of the wire rope. Guide wheel 3-4 is positioned at the lower end of telescopic support rod, and it can reverse the transmission direction of wire rope. The wire rope of the whole mechanism is a closed circuit.
如图3所示为本发明驱动系统及钢丝绳传动系统主要组成及安装示意图，驱动单元2-1由伺服电机及减速器组成的，减速器输出轴2-1-1通过联轴器2-2与钢丝绳传动系统中滚珠花键轴3-5连接。滚珠花键由花键轴3-5及花键套3-6组成，花键轴3-5上安装有与其配合的轴承3-9。其特点在于花键套3-6在传递花键轴3-5给其的扭矩同时，花键套3-6亦可在花键轴3-5上进行无阻尼的轴向移动。花键丝筒3-7通过键连接与花键套3-6形成一体。滚珠花键保证了钢丝绳传动过程中，花键丝筒3-7为钢丝绳传递旋转动力的同时，钢丝绳的出入位置不会因为钢丝绳的螺旋而改变，因此保证钢丝绳的位置相对于导向轴3-2-1、导向轴3-2-2静止。导向轴3-2-1和导向轴3-2-2安装于安装座3-8-1和安装座3-8-2中，安装座中两孔间中心位置距离即为钢丝绳在花键丝筒3-7上出入两端垂直距离。导向轮单元3-3保证了钢丝绳在出入导向轴3-2-1及导向轴3-2-2时与其两端钢丝绳槽相切。As shown in Figure 3, it is a schematic diagram of the main composition and installation of the drive system and the wire rope transmission system of the present invention. The drive unit 2-1 is composed of a servo motor and a reducer, and the output shaft 2-1-1 of the reducer passes through the shaft coupling 2-2. It is connected with the ball spline shaft 3-5 in the wire rope transmission system. Ball spline is made up of spline shaft 3-5 and spline sleeve 3-6, and the bearing 3-9 that cooperates with it is installed on the spline shaft 3-5. It is characterized in that the spline sleeve 3-6 can move axially without damping on the spline shaft 3-5 while the spline sleeve 3-6 transmits the torque given by the spline shaft 3-5. The spline wire tube 3-7 is integrated with the spline sleeve 3-6 through a key connection. The ball spline ensures that during the transmission process of the wire rope, while the spline wire drum 3-7 transmits the rotational power to the wire rope, the in and out position of the wire rope will not be changed due to the spiral of the wire rope, thus ensuring that the position of the wire rope is relative to the guide shaft 3-2 -1, guide shaft 3-2-2 is static. The guide shaft 3-2-1 and the guide shaft 3-2-2 are installed in the mounting base 3-8-1 and the mounting base 3-8-2, and the distance between the centers of the two holes in the mounting base is the distance between the wire rope and the spline The vertical distance between the upper and lower ends of the cylinder 3-7. The guide wheel unit 3-3 has guaranteed that the steel rope is tangent to the steel rope grooves at its two ends when entering and leaving the guide shaft 3-2-1 and the guide shaft 3-2-2.
如图4所示为本发明钢丝绳传动系统主要结构剖视图。花键轴3-5两端分别安装有与其配合的轴承3-9及轴承3-10，保证花键轴可以顺畅的旋转。花键丝筒3-7与花键套3-6通过键3-11连接，因此花键丝筒3-7可为钢丝绳传递动力的同时，沿着自身花键轴3-5轴向线性移动。Fig. 4 is a sectional view of the main structure of the wire rope transmission system of the present invention. The two ends of the spline shaft 3-5 are respectively equipped with a bearing 3-9 and a bearing 3-10 matched therewith to ensure that the spline shaft can rotate smoothly. The spline wire barrel 3-7 is connected with the spline sleeve 3-6 through the key 3-11, so the spline wire barrel 3-7 can transmit power for the wire rope and move linearly along its own spline shaft 3-5 at the same time .
如图5所示为本发明钢丝绳传动原理示意图，花键丝筒3-7上紧密的缠着左旋的钢丝绳，丝筒的左侧上方伸出一端钢丝绳C-1，钢丝绳通过导向轴3-2-1第一次将圆周运动转变为直线运动，沿着同侧的导向轴3-2-2钢丝绳C-1经由导向轮3-3-1内侧、导向轮3-3-2外侧和导向轮3-3-3内侧，其目的是通过导向轮的组合使用在水平位置上改变钢丝绳C-1的位置。C-1端钢丝绳经导向轮3-3-3后，通过末端执行机构4的侧面，在导向轮3-4的作用下，C-1端钢丝绳改变水平位置及传动方向，返回至末端执行机构4，穿过钢丝绳孔4-2。此外，从丝筒右下端伸出的钢丝绳C-2将经过导向轴3-3-2改变其传动方向，同时C-2端钢丝绳经由导向轮3-3-5内侧、导向轮3-3-4外侧，穿过末端执行机构4的钢丝绳孔4-2。两段钢丝绳在钢丝绳孔4-2内相交，张紧后由固丝装置4-3将两段钢丝绳同时固定于末端执行机构4上。整个钢丝绳的传动以一个闭合回路的形式存在，对于控制上具有极强的连续性和稳定性。当驱动单元以图示方向旋转时，花键丝筒3-7同步转动，C-1端钢丝绳放出，C-2端钢丝绳收回，花键丝筒3-7将向图中沿轴线左侧运动，然而钢丝绳的相对位置并不改变，此时末端执行机构4将向图中左侧运动，即伸缩支撑杆上端移动。As shown in Figure 5, it is a schematic diagram of the transmission principle of the steel wire rope of the present invention. The spline wire drum 3-7 is tightly wrapped with a left-handed wire rope, and an end of the wire rope C-1 protrudes from the upper left side of the wire drum, and the wire rope passes through the guide shaft 3-2. -1 Convert circular motion into linear motion for the first time, along the guide shaft 3-2-2 steel wire rope C-1 on the same side via the inner side of the guide wheel 3-3-1, the outer side of the guide wheel 3-3-2 and the guide wheel 3-3-3 inner side, its purpose is to change the position of the wire rope C-1 in the horizontal position through the combined use of guide wheels. After passing through the guide wheel 3-3-3, the wire rope at end C-1 passes through the side of the end actuator 4. Under the action of the guide wheel 3-4, the wire rope at end C-1 changes its horizontal position and transmission direction and returns to the end actuator. 4. Pass through the wire rope hole 4-2. In addition, the wire rope C-2 extending from the lower right end of the wire drum will change its transmission direction through the guide shaft 3-3-2, and the wire rope at the C-2 end will pass through the inner side of the guide wheel 3-3-5, the guide wheel 3-3- 4 outside, through the wire rope hole 4-2 of the end effector 4. The two sections of steel wire ropes intersect in the steel wire rope hole 4-2, and after tensioning, the two sections of steel wire ropes are simultaneously fixed on the end actuator 4 by the wire fixing device 4-3. The transmission of the entire wire rope exists in the form of a closed loop, which has strong continuity and stability for control. When the drive unit rotates in the direction shown in the figure, the spline wire cylinder 3-7 rotates synchronously, the wire rope at end C-1 is released, and the wire rope at end C-2 is retracted, and the spline wire cylinder 3-7 will move to the left along the axis in the figure , but the relative position of the wire rope does not change, at this time the end effector 4 will move to the left in the figure, that is, the upper end of the telescopic support rod will move.
如图6所示为本发明末端执行机构结构位置示意图，末端执行机构4通过螺纹连接于带有滑块4-6的直线导轨4-5上，保证末端执行机构4尽可能小阻尼的做直线伸缩运动。As shown in Figure 6, it is a schematic diagram of the structural position of the end effector of the present invention. The end effector 4 is connected to the linear guide rail 4-5 with the slider 4-6 through threads, so as to ensure that the end effector 4 can make a straight line with as little damping as possible. Telescopic movement.
如图7所示为本发明末端执行机构结构原理示意图，4-2为用于穿钢丝绳的穿丝孔，该孔贯穿于整个末端执行机构4，钢丝绳C-1及钢丝绳C-2分别从穿钢丝绳孔4-2的两侧进入末端执行机构4。在其水平上方开一凹形固钢丝绳用孔4-1，4-3为与其配合的凸形固钢丝绳压块。钢丝绳C-1与钢丝绳C-2张紧后由螺钉4-4使固钢丝绳压块4-3将其与末端执行机构4连接，从而使钢丝绳C-1及钢丝绳C-2均固定于末端执行机构4并使整个钢丝绳形成一条闭合回路，最终将电机的旋转运动变为直线运动，从而实现手术器械5的移动自由度T。As shown in Figure 7, it is a schematic diagram of the structural principle of the terminal actuator of the present invention. 4-2 is a threading hole for threading a steel wire rope. Both sides of the wire rope hole 4-2 enter the end effector 4. Open a concave solid steel wire rope hole 4-1 above its level, and 4-3 is the convex solid steel wire rope briquetting block that cooperates with it. After the steel wire rope C-1 and steel wire rope C-2 are tensioned, the screw 4-4 is used to fix the steel wire rope pressing block 4-3 to connect it with the end actuator 4, so that both the steel wire rope C-1 and the steel wire rope C-2 are fixed at the end for execution The mechanism 4 also makes the entire wire rope form a closed loop, and finally changes the rotational motion of the motor into a linear motion, thereby realizing the degree of freedom T of movement of the surgical instrument 5 .
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410535759.XACN104224325B (en) | 2014-10-11 | 2014-10-11 | A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410535759.XACN104224325B (en) | 2014-10-11 | 2014-10-11 | A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot |
| Publication Number | Publication Date |
|---|---|
| CN104224325A CN104224325A (en) | 2014-12-24 |
| CN104224325Btrue CN104224325B (en) | 2016-08-24 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410535759.XAExpired - Fee RelatedCN104224325B (en) | 2014-10-11 | 2014-10-11 | A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot |
| Country | Link |
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| CN (1) | CN104224325B (en) |
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