CN114027988B - A main manipulator of a three-degree-of-freedom continuum robot and its working method - Google Patents

Abstract

Translated fromChinese

本发明公开了一种三自由度连续体机器人主操作手，包括：基座，所述基座上设置有扁平伺服电机；水平转动机构，包括圆盘转动平台，通过螺栓与扁平伺服电机的外转子固定连接；前后进给机构，包括滑轨支撑盘，连接圆盘转动平台；偏摆机构，包括连杆结构，所述连杆结构为左右对称设置。所述扁平伺服电机的内转子通过螺栓固定在基座上。本发明通过对连续体操作臂自由度分析，提出了一种具有关节映射关系的主操作手，可实现直觉操作，有效提高操作者的沉浸感。本发明通过关节映射关系，简化主操作手结构，可以有效降低主操作手的加工制造成本。

The invention discloses a main operator of a three-degree-of-freedom continuum robot, which comprises: a base on which a flat servo motor is arranged; The rotor is fixedly connected; the front and rear feeding mechanism includes a slide rail support plate connected to the disc rotating platform; the yaw mechanism includes a connecting rod structure, and the connecting rod structure is symmetrically arranged left and right. The inner rotor of the flat servo motor is fixed on the base by bolts. The present invention proposes a main manipulator with joint mapping relationship by analyzing the degree of freedom of the continuum manipulator arm, which can realize intuitive operation and effectively improve the sense of immersion of the operator. The present invention simplifies the structure of the main operator through the joint mapping relationship, and can effectively reduce the processing and manufacturing cost of the main operator.

Description

Translated fromChinese

一种三自由度连续体机器人主操作手及其工作方法A main manipulator of a three-degree-of-freedom continuum robot and its working method

技术领域technical field

本发明涉及微创手术机器人技术领域，特别是涉及一种三自由度连续体机器人主操作手及其工作方法。The invention relates to the technical field of minimally invasive surgical robots, in particular to a main operator of a three-degree-of-freedom continuum robot and a working method thereof.

背景技术Background technique

本部分的陈述仅仅是提供了与本发明相关的背景技术信息，不必然构成在先技术。The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

在腹腔镜微创手术及自然腔道微创手术实施过程中，由于工作空间狭窄，刚性手术器械难以应用等问题，连续体结构已广泛应用于微创手术器械的开发。但连续体结构操作臂与刚性结构操作臂在控制方式方面具有明显的差异，这造成了现有主操作手在执行连续体操作臂控制时存在很多不足。In the implementation of laparoscopic minimally invasive surgery and natural orifice minimally invasive surgery, due to the narrow working space and the difficulty of using rigid surgical instruments, the continuum structure has been widely used in the development of minimally invasive surgical instruments. However, there are obvious differences in the control methods between the manipulator with continuum structure and the manipulator with rigid structure, which causes many deficiencies in the control of the continuum manipulator by the existing master manipulator.

当前商业应用的主手大体可分为两类，一类是以touch主操作手为代表的串联型主手，一类是以Omiga.7为代表的delta结构并联主操作手。虽然现有商用主手在自由度配置方面能够覆盖连续体操作臂的控制要求，但是现有主操作手在主从映射时，无法与连续体操作臂形成关节映射，影响操作人员的沉浸感。现有主操作手在进行连续体操作臂控制时，过多的自由度造成了冗余，使的主手设备价格高昂。The current commercial application of the main operator can be roughly divided into two categories, one is the serial main operator represented by the touch main operator, and the other is the delta structure parallel main operator represented by the Omiga.7. Although the existing commercial master hand can cover the control requirements of the continuum manipulator arm in terms of degree of freedom configuration, the existing master manipulator cannot form joint mapping with the continuum manipulator arm during master-slave mapping, which affects the immersion of the operator. When the existing master manipulator controls the continuum manipulator arm, too many degrees of freedom cause redundancy, which makes the master manipulator equipment expensive.

发明内容Contents of the invention

为了解决上述问题，本发明提出了一种三自由度连续体机器人主操作手及其工作方法，其能够在控制过程中形成直观的关节映射关系，提高控制的沉浸感，同时所有力反馈电机与传感器固定于基座，降低操作部的惯量。In order to solve the above problems, the present invention proposes a three-degree-of-freedom continuum robot main operator and its working method, which can form an intuitive joint mapping relationship during the control process, improve the immersion of control, and at the same time, all force feedback motors and The sensor is fixed to the base to reduce the inertia of the operation part.

为了实现上述目的，本发明采用如下技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:

第一方面，本发明提供一种三自由度连续体机器人主操作手，包括：In the first aspect, the present invention provides a main operator of a three-degree-of-freedom continuum robot, including:

基座，所述基座上设置有扁平伺服电机；A base on which a flat servo motor is arranged;

水平转动机构，包括圆盘转动平台，通过螺栓与扁平伺服电机的外转子固定连接；The horizontal rotation mechanism, including the disk rotation platform, is fixedly connected with the outer rotor of the flat servo motor through bolts;

前后进给机构，包括滑轨支撑盘，连接圆盘转动平台；The front and rear feed mechanism, including the slide rail support plate, is connected to the disc rotating platform;

偏摆机构，包括连杆结构，所述连杆结构为左右对称设置。The yaw mechanism includes a connecting rod structure, and the connecting rod structure is symmetrically arranged left and right.

进一步地，所述扁平伺服电机的内转子通过螺栓固定在基座上。Further, the inner rotor of the flat servo motor is fixed on the base by bolts.

进一步地，所述扁平伺服电机内置绝对值编码器，用于检测圆盘转动平台与基座之间转动角度。Further, the flat servo motor has a built-in absolute encoder for detecting the rotation angle between the disc rotation platform and the base.

进一步地，所述圆盘转动平台上的转盘轴销孔内设置有螺栓四根滑轨支撑臂，所述螺栓四根滑轨支撑臂与滑轨支撑盘固定连接。Further, four slide rail support arms with bolts are arranged in the pivot pin holes of the turntable on the disc rotation platform, and the four slide rail support arms with bolts are fixedly connected with the slide rail support plate.

进一步地，所述滑轨支撑盘上下分别设置有上滑轨和下滑轨。Further, upper and lower slide rails are respectively provided on the upper and lower sides of the slide rail support plate.

进一步地，所述上滑轨和下滑轨中间设置有手柄，所述手柄、上滑块与下滑块通过转轴连接。Further, a handle is arranged between the upper slide rail and the lower slide rail, and the handle, the upper slide block and the lower slide block are connected by a rotating shaft.

进一步地，所述手柄左右两端分别设置有手柄左连杆和手柄右连杆。Further, the left and right ends of the handle are respectively provided with a handle left link and a handle right link.

进一步地，所述连杆结构包括左连杆结构，所述左连杆结构包括左臂第一连杆、左臂第二连杆、左臂第三连杆和左臂第四连杆，共同组成平行四边形结构。Further, the connecting rod structure includes a left connecting rod structure, and the left connecting rod structure includes a first connecting rod of the left arm, a second connecting rod of the left arm, a third connecting rod of the left arm and a fourth connecting rod of the left arm, together form a parallelogram structure.

进一步地，所述连杆结构还包括右连杆结构，所述右连杆结构包括右臂第一连杆、右臂第二连杆、右臂第三连杆和右臂第四连杆，共同组成平行四边形结构。Further, the connecting rod structure also includes a right connecting rod structure, and the right connecting rod structure includes a first connecting rod of the right arm, a second connecting rod of the right arm, a third connecting rod of the right arm and a fourth connecting rod of the right arm, together form a parallelogram structure.

第二方面，本发明提供一种三自由度连续体机器人主操作手工作方法，包括：In a second aspect, the present invention provides a working method for the main operator of a three-degree-of-freedom continuum robot, including:

通过基座固定扁平伺服电机；Fix the flat servo motor by the base;

通过圆盘转动平台与扁平伺服电机连接，进行水平转动；The disc rotating platform is connected with the flat servo motor for horizontal rotation;

通过滑轨支撑盘上的上滑块与下滑块可同步分别在上滑轨和下滑轨内前后运动；The upper slider and the lower slider on the support plate of the slide rail can move back and forth in the upper slide rail and the lower slide synchronously;

通过扁平伺服电机内置的绝对值编码器，用于检测圆盘转动平台与基座之间转动角度。The built-in absolute encoder of the flat servo motor is used to detect the rotation angle between the disc rotation platform and the base.

与现有技术相比，本发明的有益效果为：Compared with prior art, the beneficial effect of the present invention is:

本发明通过对连续体操作臂自由度分析，提出了一种具有关节映射关系的主操作手，可实现直觉操作，有效提高操作者的沉浸感。The present invention proposes a main manipulator with joint mapping relationship by analyzing the degree of freedom of the continuum manipulator arm, which can realize intuitive operation and effectively improve the sense of immersion of the operator.

本发明通过关节映射关系，简化主操作手结构，可以有效降低主操作手的加工制造成本。The present invention simplifies the structure of the main operator through the joint mapping relationship, and can effectively reduce the processing and manufacturing cost of the main operator.

本发明将所有自由度力反馈电机安装于基座，有效降低了操作部的转动惯量，提高了操作的灵活性。The invention installs the force feedback motors with all degrees of freedom on the base, which effectively reduces the moment of inertia of the operating part and improves the flexibility of operation.

附加方面的优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。Advantages of additional aspects will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

附图说明Description of drawings

构成本发明的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations to the present invention.

图1为本实施例1提供的主操作手的结构示意图；Fig. 1 is the schematic structural diagram of the main operator provided by thepresent embodiment 1;

图2为本实施例1提供的主操作手的俯视图；Fig. 2 is the top view of the main operator provided by thepresent embodiment 1;

图3为本实施例1提供的连续体操作臂与主操作手自由度对应关系示意图；Fig. 3 is a schematic diagram of the corresponding relationship between the degrees of freedom of the continuum manipulator and the master manipulator provided inEmbodiment 1;

其中：1.基座、2.圆盘转动平台、2-1.转盘轴销孔、3.滑轨支撑臂、4.滑轨支撑盘、4-1.支撑盘轴销孔、5.上滑轨、6.下滑块、7.上滑块、8-1.左臂关节2电机、8-2.左臂关节1电机、9-1.右臂关节2电机、9-2.右臂关节1电机、10.手柄、10-1.手柄左连杆、10-2.手柄右连杆、11.左臂第一连杆、12.左臂第二连杆、13.左臂第三连杆、14.下滑轨、15.左臂第四连杆、16、右臂第一连杆、17.右臂第四连杆、18.右臂第二连杆、19.扁平伺服电机、20.连续体操作臂外套管、21.连续体操作臂。Among them: 1. Base, 2. Disc rotating platform, 2-1. Turntable shaft pin hole, 3. Slide rail support arm, 4. Slide rail support plate, 4-1. Support plate shaft pin hole, 5. Upper Slide rail, 6. Lower slider, 7. Upper slider, 8-1.Left arm joint 2 motor, 8-2.Left arm joint 1 motor, 9-1.Right arm joint 2 motor, 9-2.Right Arm joint 1 motor, 10. handle, 10-1. left link of handle, 10-2. right link of handle, 11. first link of left arm, 12. second link of left arm, 13. second link of left arm Three links, 14. Lower rail, 15. Fourth link of left arm, 16. First link of right arm, 17. Fourth link of right arm, 18. Second link of right arm, 19. Flat servo motor , 20. The casing of the continuum operating arm, 21. The continuum operating arm.

具体实施方式Detailed ways

下面结合附图与实施例对本发明做进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

应该指出，以下详细说明都是示例性的，旨在对本发明提供进一步的说明。除非另有指明，本文使用的所有技术和科学术语具有与本发明所属技术领域的普通技术人员通常理解的相同含义。It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本发明的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It should be noted that the terminology used here is only for describing specific embodiments, and is not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

在本发明中，术语如“上”、“下”、“左”、“右”、“前”、“后”、“竖直”、“水平”、“侧”、“底”等指示的方位或位置关系为基于附图所示的方位或位置关系，只是为了便于叙述本发明各部件或元件结构关系而确定的关系词，并非特指本发明中任一部件或元件，不能理解为对本发明的限制。In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom" etc. indicate The orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, and is only a relative term determined for the convenience of describing the structural relationship of the various components or elements of the present invention, and does not specifically refer to any component or element in the present invention, and cannot be understood as a reference to the present invention. Invention Limitations.

本发明中，术语如“固接”、“相连”、“连接”等应做广义理解，表示可以是固定连接，也可以是一体的连接或可拆卸连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的相关科研或技术人员，可以根据具体情况确定上述术语在本发明中的具体含义，不能理解为对本发明的限制。In the present invention, terms such as "fixed connection", "connection" and "connection" should be understood in a broad sense, which means that it can be fixed connection, integral connection or detachable connection; it can be directly connected or can be connected through the middle. The medium is indirectly connected. For relevant researchers or technical personnel in the field, the specific meanings of the above terms in the present invention can be determined according to specific situations, and should not be construed as limitations on the present invention.

实施例1Example 1

第一方面，本发明提供一种三自由度连续体机器人主操作手，包括：In the first aspect, the present invention provides a main operator of a three-degree-of-freedom continuum robot, including:

基座，所述基座上设置有扁平伺服电机；A base on which a flat servo motor is arranged;

水平转动机构，包括圆盘转动平台，通过螺栓与扁平伺服电机的外转子固定连接；The horizontal rotation mechanism, including the disk rotation platform, is fixedly connected with the outer rotor of the flat servo motor through bolts;

前后进给机构，包括滑轨支撑盘，连接圆盘转动平台；The front and rear feed mechanism, including the slide rail support plate, is connected to the disc rotating platform;

偏摆机构，包括连杆结构，所述连杆结构为左右对称设置。The yaw mechanism includes a connecting rod structure, and the connecting rod structure is symmetrically arranged left and right.

所述扁平伺服电机的内转子通过螺栓固定在基座上。The inner rotor of the flat servo motor is fixed on the base by bolts.

所述扁平伺服电机内置绝对值编码器，用于检测圆盘转动平台与基座之间转动角度。The flat servo motor has a built-in absolute encoder for detecting the rotation angle between the disc rotation platform and the base.

所述圆盘转动平台上的转盘轴销孔内设置有螺栓四根滑轨支撑臂，所述螺栓四根滑轨支撑臂与滑轨支撑盘固定连接。Four slide rail support arms of bolts are arranged in the pivot pin holes of the turntable on the disc rotation platform, and the four slide rail support arms of the bolts are fixedly connected with the slide rail support plate.

所述滑轨支撑盘上下分别设置有上滑轨和下滑轨。An upper slide rail and a lower slide rail are respectively arranged on the upper and lower sides of the slide rail support plate.

所述上滑轨和下滑轨中间设置有手柄，所述手柄、上滑块与下滑块通过转轴连接。A handle is arranged in the middle of the upper slide rail and the lower slide rail, and the handle, the upper slider and the lower slider are connected through a rotating shaft.

所述手柄左右两端分别设置有手柄左连杆和手柄右连杆。The left and right ends of the handle are respectively provided with a handle left connecting rod and a handle right connecting rod.

所述连杆结构包括左连杆结构，所述左连杆结构包括左臂第一连杆、左臂第二连杆、左臂第三连杆和左臂第四连杆，共同组成平行四边形结构。The connecting rod structure includes a left connecting rod structure, and the left connecting rod structure includes a first connecting rod of the left arm, a second connecting rod of the left arm, a third connecting rod of the left arm and a fourth connecting rod of the left arm, which together form a parallelogram structure.

所述连杆结构还包括右连杆结构，所述右连杆结构包括右臂第一连杆、右臂第二连杆、右臂第三连杆和右臂第四连杆，共同组成平行四边形结构。The connecting rod structure also includes a right connecting rod structure, and the right connecting rod structure includes a first connecting rod of the right arm, a second connecting rod of the right arm, a third connecting rod of the right arm and a fourth connecting rod of the right arm, which together form a parallel quadrilateral structure.

具体的，specific,

一种用于连续体手术机器人的主操作手，包括基座、水平转动机构、前后进给机构和偏摆机构，4个部分共有3个自由度，各个自由度均可以由主动电机提供力反馈。A main operator for a continuum surgical robot, including a base, a horizontal rotation mechanism, a front and rear feed mechanism, and a yaw mechanism. The 4 parts have 3 degrees of freedom in total, and each degree of freedom can be provided with force feedback by an active motor .

通过图1与图2说明主操作手的结构，为清楚说明主操作手结构原理，在图2俯视图中隐藏了滑轨支撑臂3。图2中扁平伺服电机19的内转子通过螺栓固定在基座1上，圆盘转动平台2通过螺栓与扁平伺服电机20的外转子固定连接，因此圆盘转动平台2可通过电机相对基座发生转动。因为扁平伺服电机19内置绝对值编码器，因此通过扁平伺服电机19不但可以向操作者提供力反馈，同时可以检测圆盘转动平台2与基座1之间转动角度。Figure 1 and Figure 2 illustrate the structure of the main operator. In order to clearly illustrate the structural principle of the main operator, the sliderail support arm 3 is hidden in the top view of Figure 2 . The inner rotor of theflat servo motor 19 in Fig. 2 is fixed on thebase 1 by bolts, and thedisc rotating platform 2 is fixedly connected with the outer rotor of theflat servo motor 20 by bolts, so thedisc rotating platform 2 can be generated by the motor relative to the base. turn. Because theflat servo motor 19 has a built-in absolute encoder, theflat servo motor 19 can not only provide force feedback to the operator, but also detect the rotation angle between thedisc rotating platform 2 and thebase 1 .

通过转盘轴销孔2-1内的螺栓四根滑轨支撑臂3与圆盘转动平台2固定连接。滑轨支撑盘4上设置有支撑盘轴销孔4-1，通过螺栓四根滑轨支撑臂3与滑轨支撑盘4固定连接。滑轨支撑盘4上下安装有上滑轨5和下滑轨14。上滑块7与下滑块6中间设置有手柄10，手柄10、上滑块7与下滑块6通过转轴连接，因此上滑块7与下滑块6可同步在上下滑轨内前后运动。Four sliderail support arms 3 are fixedly connected with thedisc rotating platform 2 through the bolts in the pivot pin hole 2-1 of the turntable. The sliderail support plate 4 is provided with a support plate shaft pin hole 4-1, and four sliderail support arms 3 are fixedly connected with the sliderail support plate 4 by bolts. Anupper slide rail 5 and alower slide rail 14 are installed up and down on the sliderail support plate 4 . There is ahandle 10 between theupper slider 7 and thelower slider 6, thehandle 10, theupper slider 7 and thelower slider 6 are connected by a rotating shaft, so theupper slider 7 and thelower slider 6 can move back and forth in the upper and lower rails synchronously .

如图2俯视图所示，手柄10左右两端设置有手柄左连杆10-1和手柄右连杆10-2，由于主操作手连杆结构为左右对称设置，现就图2所示的下半部分做详细说明。左臂第一连杆11共分为两端，一端设置单孔，一端设置双孔。手柄左连杆10-1通过轴销与左臂第一连杆11单孔端链接，手柄左连杆10-1与左臂第一连杆11间可自由转动。左臂第一连杆11双孔端的次末端孔与左臂第四连杆15一端通过转轴连接，左臂第四连杆15的另一端与左臂关节1电机8-2固定连接。左臂第一连杆11双孔端的末端孔与左臂第二连杆12的一端通过转轴连接，左臂第二连杆12的另外一端与左臂第三连杆13的一端通过转轴连接，左臂第三连杆13的另一端与左臂关节2电机8-1固定连接。左臂第四连杆15两孔间距离与左臂第二连杆12两孔间距离长度相同，左臂第三连杆13两孔间距离与左臂第一连杆11双孔端两孔间距离相同，因此左臂第四连杆15与左臂第二连杆12平行，左臂第三连杆13与左臂第四连杆15平行，左臂第一连杆11、左臂第二连杆12、左臂第三连杆13、左臂第四连杆15构成了平行四边形结构。主操作手右侧具有相同的连杆间传动结构，在此不做赘述。As shown in the top view of Figure 2, the left and right ends of thehandle 10 are provided with a handle left connecting rod 10-1 and a handle right connecting rod 10-2. The half part is explained in detail. The first connectingrod 11 of the left arm is divided into two ends, one end is provided with a single hole, and the other end is provided with double holes. The left handle link 10-1 is linked with the single hole end of thefirst link rod 11 of the left arm through a pivot pin, and the left link rod 10-1 of the handle and thefirst link rod 11 of the left arm can freely rotate. The secondary end hole of the first connectingrod 11 double hole ends of the left arm is connected with the fourth connectingrod 15 of the left arm by a rotating shaft, and the other end of the fourth connectingrod 15 of the left arm is fixedly connected with the left arm joint 1 motor 8-2. The terminal hole of the first connectingrod 11 of the left arm is connected with an end of the second connectingrod 12 of the left arm by a rotating shaft, and the other end of the second connectingrod 12 of the left arm is connected with an end of the third connectingrod 13 of the left arm by a rotating shaft. The other end of the third connectingrod 13 of the left arm is fixedly connected with the motor 8-1 of theleft arm joint 2. The distance between the two holes of the fourth connectingrod 15 of the left arm is the same as the distance between the two holes of the second connectingrod 12 of the left arm. The distance between them is the same, so thefourth link 15 of the left arm is parallel to thesecond link 12 of the left arm, thethird link 13 of the left arm is parallel to thefourth link 15 of the left arm, thefirst link 11 of the left arm, thesecond link 11 of the left arm Two connectingrods 12, the third connectingrod 13 of the left arm, and the fourth connectingrod 15 of the left arm constitute a parallelogram structure. The right side of the main operator has the same transmission structure between the connecting rods, which will not be repeated here.

左臂关节2电机8-1、左臂关节1电机8-2、9-1.右臂关节2电机、9-2.右臂关节1电机均为内置绝对值编码器的伺服电机。左臂第四连杆15与左臂关节1电机8-2为固定连接，则左臂第四连杆15与圆盘转动平台2之间的夹角可通过左臂关节1电机8-2内置编码器检测。左臂第一连杆11、左臂第二连杆12、左臂第三连杆13、左臂第四连杆15构成了平行四边形结构，又左臂第三连杆13与左臂关节2电机8-1固定连接，则左臂第四连杆15与左臂第一连杆11间的夹角可通过左臂关节2电机8-1检测。右侧连杆间角度检测原理相同，在此不做赘述。在各个连杆长度已知情况下，可通过电机检测获取的关节角度，计算手柄10左右偏航角度和前后平移距离。Left arm joint 2 motor 8-1, left arm joint 1 motor 8-2, 9-1, right arm joint 2 motor, 9-2. right arm joint 1 motor are all servo motors with built-in absolute value encoders. The fourth connectingrod 15 of the left arm is fixedly connected with the motor 8-2 of the left arm joint 1, and the angle between the fourth connectingrod 15 of the left arm and thedisc rotating platform 2 can be built in by the motor 8-2 of theleft arm joint 1. Encoder detection. The first connectingrod 11 of the left arm, the second connectingrod 12 of the left arm, the third connectingrod 13 of the left arm, and the fourth connectingrod 15 of the left arm constitute a parallelogram structure, and the third connectingrod 13 of the left arm and the left arm joint 2 The motor 8-1 is fixedly connected, and the angle between the fourth connectingrod 15 of the left arm and the first connectingrod 11 of the left arm can be detected by the motor 8-1 of theleft arm joint 2. The principle of detecting the angle between the right connecting rods is the same and will not be repeated here. When the lengths of each connecting rod are known, the left and right yaw angles and the front and rear translation distances of thehandle 10 can be calculated through the joint angles obtained through motor detection.

通过图3说明主操作手与连续体操作臂间关节映射关系。连续体操作臂21可相对于固定安装的连续体操作臂外套管20前后平移(如a所示)，对应于主操作手手柄10的前后平移(如A所示)。连续体操作臂21具备所示上下弯曲自由度(如c所示)，对应于主操作手手柄10的左右偏航角度(如B所示)。连续体操作臂21可绕连续体操作臂外套管20中心轴线旋转(如b所示)，对应于主操作手手柄10绕圆盘转动平台2中心轴线旋转。Figure 3 illustrates the joint mapping relationship between the main manipulator and the continuum manipulator arm. Thecontinuum operating arm 21 can translate forward and backward relative to the fixedly installed continuum operating arm outer sleeve 20 (as shown in a), corresponding to the front and rear translation of the main operator handle 10 (as shown in A). Thecontinuum operating arm 21 has the degrees of freedom to bend up and down (shown as c), corresponding to the left and right yaw angles of the main operating handle 10 (shown as B). Thecontinuum operating arm 21 can rotate around the central axis of the continuum operating arm outer sleeve 20 (as shown in b), corresponding to the rotation of the main operator handle 10 around the central axis of thedisc rotating platform 2 .

实施例2.Example 2.

第二方面，本发明提供一种三自由度连续体机器人主操作手工作方法，包括：In a second aspect, the present invention provides a working method for the main operator of a three-degree-of-freedom continuum robot, including:

通过基座固定扁平伺服电机；Fix the flat servo motor by the base;

通过圆盘转动平台与扁平伺服电机连接，进行水平转动；The disc rotating platform is connected with the flat servo motor for horizontal rotation;

通过滑轨支撑盘上的上滑块与下滑块可同步分别在上滑轨和下滑轨内前后运动；The upper slider and the lower slider on the support plate of the slide rail can move back and forth in the upper slide rail and the lower slide synchronously;

通过扁平伺服电机内置的绝对值编码器，用于检测圆盘转动平台与基座之间转动角度。The built-in absolute encoder of the flat servo motor is used to detect the rotation angle between the disc rotation platform and the base.

上述虽然结合附图对本发明的具体实施方式进行了描述，但并非对本发明保护范围的限制，所属领域技术人员应该明白，在本发明的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (6)

1. A three degree of freedom continuum robot primary manipulator comprising:

the base is provided with a flat servo motor;

the horizontal rotating mechanism comprises a disc rotating platform and is fixedly connected with an outer rotor of the flat servo motor through bolts;

the front and rear feeding mechanism comprises a sliding rail supporting plate and a connecting disc rotating platform;

the deflection mechanism comprises a connecting rod structure, and the connecting rod structure is symmetrically arranged left and right;

the flat servo motor is internally provided with an absolute value encoder and is used for detecting the rotation angle between the disc rotating platform and the base;

four slide rail supporting arms of bolts are arranged in the pin holes of the turntable shaft on the turntable rotating platform and are fixedly connected with the slide rail supporting plate;

an upper sliding rail and a lower sliding rail are respectively arranged on the upper part and the lower part of the sliding rail supporting plate;

a handle is arranged between the upper sliding rail and the lower sliding rail, and the handle, the upper sliding block and the lower sliding block are connected through a rotating shaft; the upper sliding block and the lower sliding block can synchronously move back and forth in the upper sliding rail and the lower sliding rail.

2. The three degree of freedom continuum robot manipulator of claim 1, wherein the inner rotor of the flat servo motor is bolted to the base.

3. The three degree of freedom continuum robot manipulator of claim 1, wherein the left and right handle ends are provided with a left handle link and a right handle link, respectively.

4. A three degree of freedom continuum robot manipulator as claimed in claim 3, wherein the linkage comprises a left linkage comprising a left arm first linkage, a left arm second linkage, a left arm third linkage and a left arm fourth linkage, together forming a parallelogram.

5. The three degree of freedom continuum robot manipulator of claim 4, wherein the linkage structure further comprises a right linkage structure comprising a right arm first linkage, a right arm second linkage, a right arm third linkage, and a right arm fourth linkage, together forming a parallelogram structure.

6. A three degree of freedom continuum robot primary manipulator working method based on claim 1, comprising:

the flat servo motor is fixed through the base;

the flat servo motor is connected with the disc rotating platform to horizontally rotate;

the upper sliding block and the lower sliding block on the sliding rail supporting disc can synchronously move back and forth in the upper sliding rail and the lower sliding rail respectively;

and the absolute value encoder is arranged in the flat servo motor and used for detecting the rotation angle between the disc rotating platform and the base.

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