A kind of full passive-type main manipulatorTechnical field
The present invention relates to medical instruments fields, and in particular to a kind of full passive-type main manipulator.
Background technique
Some accurate operations are often had in surgical operation, these operation object it is small, it is complex-shaped, and some perform the operation it is pastToward needing long time that could terminate, doctor is easy to tired out, and trembling for manpower is thus be easy to cause to lead to movement inaccuracy,And machine manipulator can avoid these security risks completely, be accurately finished some operations for needing prolonged complexity, becauseAnd by everybody concern, main manipulator is the important composition unit in master-slave system；
Currently, more successful main manipulator system mainly has the PHANTOM series main operation of Sensable company, the U.S.The Omega series main manipulator of hand and ForceDimension company, Switzerland.To the main manipulator of PHANTOM and Omega seriesFor, the volume that mechanism occupies is larger, working space is smaller, and can not realize gravitational equilibrium by itself, in the prior artGravitational equilibrium is realized by the way that clump weight is respectively set in the posture part of main manipulator and position part, but main manipulatorPart-structure design in position is unreasonable, and occupancy volume is larger, limits the application environment of main manipulator.
In view of the above drawbacks, creator of the present invention obtains the present invention by prolonged research and practice finally.
Summary of the invention
To solve above-mentioned technological deficiency, the technical solution adopted by the present invention is, provides a kind of full passive-type main manipulator,The main manipulator is designed by the completely new structure to position part, and integral structure layout is along same axis, and position partThree axis are met at a bit, and structure is concentrated, small in size, and working space is big and using sufficiently.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of full passive-type main manipulator, position part and posture part, the position part and the posture part are solidFixed connection, the position part includes pedestal；The axis R6 on the pedestal and around the pedestal is arranged in slide bearingsRotation；Sliding seat connect with the slide bearings and rotates around the axis R5 of the slide bearings；Splined shaft runs through instituteIt states sliding seat and is rotated around the axis R4 of the sliding seat；Described three axis R4, R5, R6 intersect at a point.
Preferably, further including sliding bar, sliding bar is fixed on one end of the splined shaft；Towing plate is fixed on and the cunningThe other end of the splined shaft of lever relative direction；One end of pulley connecting plate is fixed on the sliding seat；First pulleyIt is arranged on the inside of one end of the pulley connecting plate；The pulley with the first pulley relative direction is arranged in second pulleyOn the inside of the other end of connecting plate；Sliding clump weight is socketed on the splined shaft and slides along the axial direction of the splined shaft；Wirerope bypasses the first pulley and the second pulley, and one end of the wirerope is fixedly connected with the towing plate, instituteThe other end for stating wirerope is fixedly connected with the sliding clump weight, the direction of motion of the towing plate and the sliding clump weightOn the contrary.
Preferably, further including constant force spring, one end of constant force spring is fixed on the sliding seat, the constant force springThe other end is fixedly connected on the towing plate；
Wherein, the slide bearings, sliding seat, the splined shaft, the sliding bar, the towing plate, describedPulley connecting plate, the first pulley, the second pulley, the sliding clump weight, the wirerope and the constant force springForm the position part of main manipulator.
Preferably, further including main hand folder, the main hand folder is along axis R0 open and close movement；One end of the main folder hand is fixed to be connectedConnect the axis R1 rotation on the first joint and around the first joint；One end of first connecting rod and first arthrodesis connectIt connects；First connecting rod clump weight is fixed on the other end of the first connecting rod；Second joint is fixed on the first connecting rod；One end of second connecting rod is fixedly connected on the rotation of the axial R2 on the second joint and around second joint；Second connecting rod counterweightBlock is fixed on the other end of the second connecting rod；One end of flange is arranged on the second connecting rod, and the second connecting rod is around methodBlue shaft R3 rotation, the other end of flange are fixedly connected with the sliding bar；
Wherein, the main hand folder, first joint, the first connecting rod, the first connecting rod clump weight, described secondJoint, the second connecting rod clump weight and the flange form the posture part of main manipulator.
Preferably, the sliding seat, the slide bearings corresponding axis R4, R5 are orthogonal, the sliding branchIt is orthogonal to support seat, the pedestal corresponding axis R5, R6, first joint, the corresponding axis R1 of the sliding seat,R4 intersects at a point, and the second joint, the sliding seat corresponding axis R2, R4 are coplanar.
Preferably, the slide bearings are connected on pedestal by rotary shaft and a pair of bearings；The sliding seat passes throughRotary shaft and a pair of bearings are connected in slide bearings；The first pulley is connected to pulley by rotary shaft and a pair of bearingsOne end of connecting plate；The second pulley is connected to the other end of pulley connecting plate by rotary shaft and a pair of bearings；The masterHand folder is connected on the first joint by rotary shaft and a pair of bearings；The second joint is connected by rotary shaft with a pair of bearingsOnto the first connecting rod.
Preferably, the first connecting rod is sequentially connected integrated molding setting by the first pole, the second pole and third poleIt forms, first pole, second pole and third pole are mutually perpendicular to, first pole and the second pole shapeAt the plane that is formed of plane and second pole and the third pole be mutually perpendicular to, the shape of the second connecting rod is LType.
Preferably, the splined shaft is socketed with rotation spline through the part of the sliding seat, and the rotation spline is solidThe end of the sliding seat is set calmly, is socketed with outer cylinder, the end of the outer cylinder and the rotation on the outside of the sliding barSpline is fixedly connected.
Preferably, first joint is fixed by screws in one end of the first connecting rod；The second joint passes throughScrew is fixed on one end of second connecting rod；One end of the flange is fixed by screws in one end of the sliding bar；The methodThe blue other end is fixed by screws on the second connecting rod；The first connecting rod clump weight is fixed by screws in describedOne end of one connecting rod, the second connecting rod counterweight are fixed by screws in one end of the second connecting rod.
Preferably, the upper end of the sliding seat is provided with draw wire encoder, the bracing wire of the draw wire encoder is fixedly connectedOn the towing plate, the lower end of the pedestal is provided with rotary encoder.
Compared with the prior art the beneficial effects of the present invention are:
1, which is designed by the completely new structure to position part, integral structure layout along same axis, andThree axis of position part are met at a bit, and structure is concentrated, small in size, and working space is big and using sufficiently.
2, the main manipulator on splined shaft by being arranged sliding clump weight, and the movement side of towing plate and sliding clump weightTo on the contrary, sliding clump weight can accomplish reversely stretching for same ratio when splined shaft is when along the stretching motion of axis R4 straight lineContracting movement reduces the setting of clump weight to realize dynamic gravity balance of the position part along axis R4 linear motion when, fromAnd mitigate the overall weight of main manipulator.
3, the main manipulator on sliding seat by being arranged constant force spring, and one end of constant force spring and towing plate are fixed,To offset position part component downward on axis R4, so that position part dynamic balance on axis R4, avoids drawingStrip moves spline glides downward, keeps the position of the main manipulator partially stabilized reliable.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical solution in various embodiments of the present inventionThe attached drawing used is briefly described.
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is another viewing angle constructions schematic diagram of Fig. 1；
Fig. 3 is the sectional view of position part of the present invention；
Fig. 4 is the structural schematic diagram of posture part of the invention.
Description of symbols:
1, pedestal, 2, slide bearings, 3, sliding seat, 4, splined shaft, 5, sliding bar, 6, towing plate, 7, pulley connecting plate,8, first pulley, 9, second pulley, 10, sliding clump weight, 11, wirerope, 12, constant force spring, 13, main hand folder, 14, first closesSection, 15, first connecting rod, the 151, first pole, the 152, second pole, 153, third pole, 16, first connecting rod clump weight, 17, theTwo joints, 18, second connecting rod, 19, second connecting rod clump weight, 20, flange, 21, rotation spline, 22, outer cylinder, 23, bracing wire codingDevice, 24, rotary encoder.
Specific embodiment
Below in conjunction with attached drawing, the forgoing and additional technical features and advantages are described in more detail.
Embodiment 1
As shown in Figs. 1-2, a kind of full passive-type main manipulator, including pedestal 1, slide bearings 2, sliding seat 3, splined shaft4, sliding bar 5, towing plate 6, pulley connecting plate 7, first pulley 8, second pulley 9, sliding clump weight 10, wirerope 11, constant forceSpring 12, wherein the slide bearings 2, the sliding seat 3, the splined shaft 4, the sliding bar 5, the towing plate 6,The pulley connecting plate 7, the first pulley 8, the second pulley 9, the sliding clump weight 10, the wirerope 11 and instituteState the position part that constant force spring 12 forms main manipulator.
In the present embodiment, the slide bearings 2 are connected on the pedestal 1 by rotary shaft and a pair of bearings, slidingSupport base 2 is rotated around the axis R6 of the pedestal 1, to realize the rotary motion of main manipulator entirety；The pedestal 1The rotary encoder 24 of lower end setting can measure the rotation angle of main manipulator entirety, and the sliding seat 3 passes through rotary shaftIt is connected in the slide bearings 2 with a pair of bearings, to realize the pitching motion of main manipulator entirety.
In the present embodiment, as shown in figure 3, slide bearings 2 be U-shaped part, slide bearings 2 can integrally casting shaping, justIn production and processing, and it is sturdy and durable, and sliding seat 2 is arranged on U-shaped part, has biggish rotation space, is conveniently adjusted main behaviourMake the pitch attitude of hand, meet operation needs, sliding seat 3 is mounted on the opening of U-shaped part by shaft, and sliding seat 3 is around instituteThe axis R5 rotation of slide bearings 2 is stated, sliding seat 3 realizes the pitching motion of main manipulator by the rotation in U-shaped part, slidingThe dynamic generally rectangular parallelepiped structure of seat 3, the inside of sliding seat 3 are cavity structure, further mitigate the overall weight of main manipulator, andConvenient for configuring part, one end of sliding seat 3 is equipped with rotation spline 21, and rotation spline 21 is spline and is socketed on the outside of splineBearing is composed, and the bearing portions of rotation spline 21 is fixedly connected with sliding seat 3, rotates the splined section and spline of spline 21Axis is mutually chimeric, and since splined shaft and rotation spline are keyway cooperation, the running accuracy for rotating spline is high, is conducive to posture partPosition precisely adjust, and end of the end face also with outer cylinder 22 for rotating the bearing portions of spline 21 welds together, outer cylinder 22It is socketed in the outside of sliding bar, avoids the connecting portion of sliding bar 5 and splined shaft 4 exposed outside, avoids its internal-internal partIt is damaged.
In the present embodiment, as shown in figure 3, the other end of sliding seat 3 is opening, constant force spring 12 is installed herein by shaftOpening, one end of the constant force spring 12 are fixedly connected on the towing plate 6, the elastic force of constant force spring 12 be it is constant,It is not related with the collapsing length of its elastic slice, and the elastic force of constant force spring 12 is downward along axis R4 equal to the gravity of the main manipulatorComponent, so that power of the main manipulator on axis R4 be made to be balance, after 5 telescopic adjustment of sliding bar, position is stablized constant.
In the present embodiment, splined shaft 4 is rotated through the sliding seat 3 and around the axis R4 of the sliding seat 3；To adjustThe rotation angle of the posture part entirety of whole main manipulator, to adapt to the surgical procedure of different location, sliding bar 5 is fixed on describedOne end of splined shaft 4；Towing plate 6 is fixed on the other end with the splined shaft 4 of 5 relative direction of sliding bar；Splined shaft 4It is connected on towing plate 6 by bearing, splined shaft 4 and towing plate 6 can relatively rotate, when 4 autorotation of splined shaft notIt will affect the location status of towing plate 6, and splined shaft 4 and towing plate 6 cannot relatively move in the axial direction of splined shaft 4, in flower4 axial stretching of key axis will drive towing plate 6 while movement when moving, and then drive sliding clump weight 10 to move by wirerope 11It is dynamic, realize dynamic gravity balance when main manipulator moves along a straight line along axis R4, pulley connecting plate 7 is fixed on the sliding seat 3On；The first pulley 8 is connected on the inside of one end of pulley connecting plate 7 by rotary shaft and a pair of bearings, the second pulley 9It is connected to by rotary shaft and a pair of bearings on the inside of the other end of the pulley connecting plate 7；Sliding clump weight 10 is socketed in describedIt is slided on splined shaft 4 and along the axial direction of the splined shaft 4；Sliding clump weight 10 is connected by bearing with splined shaft 4, flowerIt can be relatively rotated between key axis 4 and sliding clump weight 10, wirerope 11 bypasses the first pulley 8 and the second pulley 9,One end of the wirerope 11 is fixedly connected with the towing plate 6, and the other end of the wirerope 11 penetrates through under towing plateEnd is fixedly connected with the sliding clump weight 10, and wirerope 11 forms the wire loop of closure, and the towing plate 6 and the sliding are matchedThe direction of motion of pouring weight 10 is opposite.
Manpower is held sliding bar 5 and is rotated around axis R4, so as to adjust the rotation angle of posture part, is needed with adapting to operationIt wants, the rotation of sliding bar 5 drives splined shaft 4 to be rotated, the fortune for rotating not other components of impact position part of splined shaft 4Dynamic, since sliding bar 5 is fixedly connected by flange 20 with posture part, the rotation of sliding bar 5 drives posture part integrally to carry outRotation；When manpower assurance sliding bar 5 is flexible along axis R4, sliding bar 5 drives splined shaft 4 to stretch, and the drive of splined shaft 4 is ledCorbel back slab 6 stretches, and the position of towing plate 6 is mobile to pull wirerope 11, and the sliding clump weight 10 of 11 other end of wirerope is in flowerIt is moved on key axis 4, since towing plate 6 is fixedly connected with the upper end of wire loop, slides the lower end of clump weight 10 and wire loopIt is fixedly connected, the moving direction of towing plate 6 and sliding clump weight 10 on the contrary, when sliding bar 5 is retracted, stretch by 4 rear end of splined shaftLong, splined shaft 4 drives towing plate 6 to move backward, while sliding the contrary forward movement of clump weight 10 Yu towing plate 6, fromAnd the tendency that center of gravity caused by splined shaft 4 moves backward moves back is offset, gravitational equilibrium of the main manipulator on axial R4 is kept,Otherwise similarly, to realize dynamic gravity balance of the main manipulator along axis R4 linear motion when.
Embodiment 2
As shown in figure 4, it is unlike the embodiments above, it further include main hand folder 13 in the present embodiment, the first joint 14, first connectsBar 15, first connecting rod clump weight 16, second joint 17, second connecting rod 18, second connecting rod clump weight 19, flange 20, wherein describedMain hand presss from both sides 13, first joint 14, the first connecting rod 15, the first connecting rod clump weight 16, the second joint 17, instituteIt states second connecting rod clump weight 19 and the flange 20 forms the posture part of main manipulator.
The position part and the posture partly decoupled are arranged, when the position of main manipulator posture part changesWhen, it will not influence the position part of main manipulator.
In the present embodiment, the main hand folder 13 is along axis R0 open and close movement；To clamp object, the main hand folder 13 passes throughRotary shaft and a pair of bearings are connected on the first joint 14, and axis R1 of the main folder hand 13 around the first joint 14 is rotated；InstituteOne end that the first joint 14 is fixed by screws in the first connecting rod 15 is stated, the first connecting rod clump weight 16 is solid by screwIt is scheduled on one end of the first connecting rod 15；The second joint 17 is connected to the first connecting rod by rotary shaft and a pair of bearingsOn 15, first connecting rod 15 realizes gravitational equilibrium by second joint, and the gravitational moment of the first joint 14 and main hand folder 13 is applied to the17 on two joints, gravitational equilibrium is realized by the first connecting rod clump weight 16 of 15 other end of first connecting rod, so that first connecting rod 15Gravitational equilibrium can be realized by no matter moving to any position, and the second joint 17 is fixed by screws in second connecting rod 18One end, second connecting rod 18 are rotated around the axial R2 of second joint 17；The second connecting rod clump weight 19 is fixed by screws inOne end of the second connecting rod 18, the flange 20 are fixed by screws in one end of the sliding bar 5, the flange 20 it is anotherOne end is fixed by screws on the second connecting rod 18, and the rotation of sliding bar 5 drives second connecting rod 18 to rotate, to drive appearanceThe gravitational moment of polymorphic segment unitary rotation, second connecting rod 18 and its additional component is applied on flange 20, another by second connecting rod 18The second connecting rod clump weight 19 of one end realizes gravitational equilibrium, so that no matter second connecting rod 18 moves to any position and can realize weightDynamic balance.
Embodiment 3
As shown in Figure 1 and Figure 4, unlike the embodiments above, sliding seat 3 described in the present embodiment, the slide bearings 2Corresponding axis R4, R5 are orthogonal, and the slide bearings 2, the pedestal 1 corresponding axis R5, R6 are orthogonal,Described three axis R4, R5, R6 intersect at a point, and along same axis R4, structure is concentrated for integral structure layout, and small in size, work is emptyBetween it is big and using sufficiently, first joint 14, the sliding seat 3 corresponding axis R1, R4 intersect at a point, described secondJoint 17, the sliding seat 3 corresponding axis R2, R4 are coplanar, compact-sized, occupy little space.
Embodiment 4
As shown in figure 4, unlike the embodiments above, first connecting rod 15 described in the present embodiment is by the first pole 151, secondPole 152 and third pole 153 are sequentially connected integrated molding and are arranged, first pole 151, second pole 152It is mutually perpendicular to the third pole 153, plane that first pole 151 and second pole 152 are formed and described theThe plane that two poles 152 and the third pole 153 are formed is mutually perpendicular to, and the shape of the second connecting rod 152 is L-type, and firstThe special designing of 18 structure of connecting rod 15 and second connecting rod can be such that the gravity centre distribution of posture part more concentrates, and reduce posture partCounterweight number of blocks, and the weight of single clump weight is also mitigated, to mitigate the weight of main manipulator entirety.
Embodiment 5
As shown in Figure 1-3, unlike the embodiments above, the upper end of sliding seat 3 described in the present embodiment is provided with bracing wire volumeCode device 23, the bracing wire of the draw wire encoder 23 are fixedly connected on the towing plate 6, and the mobile drive bracing wire of towing plate 6 is compiledThe bracing wire of code device, to measure the displacement data of towing plate 6, and then measures the mobile data of sliding bar 5.
The main manipulator suitable for the robot system of any master-slave operation, as Medical Devices field in: abdominal cavityMain operation end in the master-slave operations systems such as videoendoscopic surgery robot, orthopaedics art robot, dentistry art robot.
The foregoing is merely presently preferred embodiments of the present invention, is merely illustrative for the purpose of the present invention, and not restrictive's.Those skilled in the art understand that in the spirit and scope defined by the claims in the present invention many changes can be carried out to it,It modifies or even equivalent, but falls in protection scope of the present invention.