CN1634685A - Main operation hand with clamping force sensation - Google Patents
Main operation hand with clamping force sensation Download PDFInfo
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- CN1634685A CN1634685A CNA2005100130044A CN200510013004A CN1634685A CN 1634685 A CN1634685 A CN 1634685A CN A2005100130044 A CNA2005100130044 A CN A2005100130044A CN 200510013004 A CN200510013004 A CN 200510013004A CN 1634685 A CN1634685 A CN 1634685A
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- 230000035807 sensation Effects 0.000 title claims description 24
- 210000000707 wrist Anatomy 0.000 claims abstract description 70
- 230000003287 optical effect Effects 0.000 claims description 104
- 230000007246 mechanism Effects 0.000 claims description 87
- 210000000245 forearm Anatomy 0.000 claims description 30
- 238000005096 rolling process Methods 0.000 claims description 29
- 230000007704 transition Effects 0.000 claims description 27
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 125000003003 spiro group Chemical group 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 238000012856 packing Methods 0.000 claims description 5
- 210000002310 elbow joint Anatomy 0.000 abstract description 4
- 210000000323 shoulder joint Anatomy 0.000 abstract description 4
- 230000003319 supportive effect Effects 0.000 abstract 1
- 210000003811 finger Anatomy 0.000 description 12
- 238000000034 method Methods 0.000 description 6
- 210000005224 forefinger Anatomy 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 5
- 210000003813 thumb Anatomy 0.000 description 5
- 238000002406 microsurgery Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000003756 stirring Methods 0.000 description 4
- 206010044565 Tremor Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000037152 sensory function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 206010016256 fatigue Diseases 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
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Abstract
This invention discloses a main operation hand with clamping feeling, wherein the central supportive structure top end is orderly set with body structure, shoulder joint structure, large arm structure, elbow joint structure, small arm structure, wrist structure, wrist rotation structure and finger open structure and balance device. The main operation hand adopts joint structure with seven freedom degrees and is easy for operation and can accomplish multiple operations with clamping feeling.
Description
Technical field
The present invention relates to a kind of Medical Devices, relate in particular to the parts of used Medical Devices in a kind of microsurgery.
Background technology
Accurate operation is an operation technique common in the operation.Because operand less (as diameter less than the stitching of 1mm blood vessel, otorhinolaryngologic surgery etc.), and the working time is very long, so the doctor is tired out easily, and causes moving inaccurate thus.Robot can finish some complicated microoperations exactly and don't damage tissue, and can adjust operating process according to the contact force information in the operating process, thereby receives everybody concern.Phase early 1990s, the development of medical surgery robot has obtained tremendous development, and a collection of achievement in research is in the news in succession, and the main operation device of master-slave mode microsurgery robot is an important branch in the medical surgery robot research.The main operation device of medical robot can be divided into Cartesian coordinate type on structure, polar coordinates type, four kinds of cylindrical coordinates formula and spherical coordinates formulas; Divide according to the force feedback situation, can be divided into the band force feedback and not be with two kinds of force feedbacks.
At present, do to such an extent that the successful main operation device of comparison is abroad, the PHANToM operator of Sensable company, it belongs to joint coordinates formula master hand, six-freedom degree is arranged, and can experience the power and the moment of 3 to 6 directions, main feature is effectively to suppress trembling of staff in the operating process, but the defective of this system is not have the chucking power sensory function.Up to now, the domestic main operation device that also is not used in the microsurgery.
Summary of the invention
In order to overcome deficiency of the prior art, technical problem to be solved by this invention provides a kind of main manipulator that light and flexible has the chucking power sensation of operating, this main manipulator adopts articulated structure, have 7 frees degree, the operation light and flexible, can arrive any one point in the predetermined operation space easily, finish backguy, hold pin, multiple action such as stitching, and have the chucking power sensory function, can finish backguy, hold pin, multiple virtual operation operation such as stitching or realize the robotic assisted surgery action by surgical robot system.This system trembles for staff in effective inhibition operating process, and the success rate that improves operation has important value.
In order to solve the problems of the technologies described above, purpose of the present invention can be achieved through the following technical solutions:
A kind of main manipulator with chucking power sensation, it is characterized in that center support mechanism top is disposed with trunk mechanism, shoulder articulation mechanism, big arm mechanism, ancon articulation mechanism, little arm mechanism, wrist articulation mechanism, wrist rotating mechanism and finger open-and-close mechanism and bascule;
Described trunk mechanism comprises the central axle sleeve with center support top mechanical connection, central shaft is equipped with in described central axle sleeve inside, described central shaft outer cover is equipped with the Large lining that is fixed on the central axle sleeve, the central shaft end is provided with initiatively flange, described active flange is provided with bearing pin, described first optical code disk is arranged on the center support, the first optical code disk axle is provided with driven flange, described bearing pin and driven flange mechanical fixation, be fixed with first thrust bearing between described central shaft top and the central axle sleeve, the first thrust bearing lower end is supported on the Large lining;
Described shoulder articulation mechanism comprises the shoulder U-shaped seat of fixedlying connected with described central shaft top, described shoulder U-shaped seat is connected with the shoulder back-up block by the shoulder lining, described shoulder bush inside is provided with trunnion axis, described trunnion axis is fixed in shoulder back-up block inside, the trunnion axis front end is provided with big outer shaft sleeve, described big outer shaft sleeve inside is provided with drive block, and described second optical code disk is fixed on the shoulder U-shaped seat, and the described drive block and the second optical code disk shaft mechanical are fixed;
Described big arm mechanism one end is fixed on the shoulder back-up block, and the other end is fixed on the ancon back-up block;
Described ancon articulation mechanism comprises the ancon U-shaped seat that is connected by the ancon lining with the ancon back-up block, described ancon bush inside is provided with trunnion axis, described trunnion axis is fixed in ancon back-up block inside, its front end is provided with big outer shaft sleeve, described big outer shaft sleeve inside is provided with drive block, described the 3rd optical code disk is fixed on the ancon U-shaped seat, and described drive block and the 3rd optical code disk shaft mechanical are fixed;
Described bascule by be fixed in arc on the shoulder back-up block, be fixed on flange short tube on the shoulder U-shaped seat, the tappet of spring be housed outward, the steel wire that is fixedly connected on tappet upper end and arc upper end constitutes;
Described little arm mechanism comprises the forearm that is fixed on the ancon U-shaped seat, and described forearm outer cover is equipped with little lining, and described little lining outer cover is equipped with sleeve flange, and described sleeve flange is by thin dish of outer transition and wrist U-shaped frame mechanical connection; Described forearm end is provided with initiatively flange, described active flange is provided with bearing pin, described the 4th optical code disk is arranged on the thin dish of outer transition, the 4th optical code disk axle is provided with driven flange, described bearing pin and driven flange mechanical fixation, the upper surface of the described sleeve flange inner ring surface and second thrust bearing offsets, and the lower surface of second thrust bearing is fixed by the circlip on the forearm;
Described wrist articulation mechanism is lifted on the wrist U-shaped frame by the wrist lining, radially fixing by flange shaft and little outer shaft sleeve, be provided with drive block in the described flange shaft, described the 5th optical code disk is arranged on the wrist U-shaped frame by the thick dish of outer transition, and described drive block and the 5th optical code disk shaft mechanical are fixed;
Described wrist rotating mechanism by flange shaft with the fuselage lining, hollow shaft sleeve, the rolling tapered sleeve, rolling sleeve and wrist back-up block axial restraint, described hollow shaft sleeve inside is provided with the fuselage lining, described fuselage lining is encircled the torque motor fuselage, fix by steel ball in described rolling sleeve and the rolling tapered sleeve and realize rotating, be provided with the adjustment packing ring between described rolling tapered sleeve and hollow shaft sleeve, described hollow shaft sleeve front end robot is connected with gear wheel, described hollow shaft sleeve rear end is set with inner screw sheath, described wrist back-up block is arranged with support, described the 6th optical code disk is fixedly connected on the support, described pinion is fixedly mounted on the 6th optical code disk axle, and described gear wheel is arranged with pinion;
Described finger open-and-close mechanism comprises the hollow fingerstall that is fixed on the hollow shaft sleeve, described torque motor axle is provided with axle sleeve, described axle sleeve is provided with the rotor fingerstall, described hollow shaft sleeve is provided with saddle, described the 7th optical code disk is fixed on the saddle, be fixed with driven flange on the axle of described the 7th optical code disk, described axle sleeve is provided with bearing pin, described bearing pin and driven flange mechanical fixation.
Described bearing pin is a spiro caudal pin; Described the 5th optical code disk can be arranged on arbitrary side of wrist U-shaped frame; Described fuselage lining is two semicircle linings; Between described first optical code disk and the center support, between second optical code disk and the shoulder U-shaped seat, between the 3rd optical code disk and the ancon U-shaped seat, be provided with the thin dish of outer transition between the 7th optical code disk and the saddle; Be provided with flange between described big arm and shoulder back-up block, the ancon back-up block.
The main manipulator that the present invention has the chucking power sensation compared with prior art has following beneficial effect:
1. this mechanism is an articulated type coordinate structure, has 7 frees degree, the operation light and flexible;
2. the clasping formula is adopted in the installation of torque motor, and the position of centre of gravity of adjustment wrist that can be suitable can also be reduced or remitted the damage to the torque motor end;
3. the space connection and reasonable arrangement of mechanism offers doctor's optimum operation space;
4. balanced controls adopt silk to connect, and have reduced the load that the space is supported, and the therefore size and the weight of reducing mechanism;
5. the operating point is placed the design of wrist three axis congruence intersection points, eliminate the compensation rate of pose when attitude is adjusted;
6. this mechanism can realize six interlocks;
7. adopt the torque motor output torque to demarcate the size of finger strength sensation;
8. whole system has higher rigidity, attitude to adjust precision and reliability.
Description of drawings
Fig. 1 is the structural representation with main manipulator of chucking power sensation of the present invention;
Fig. 2 is the wrist rotating mechanism B-B cutaway view with main manipulator of chucking power sensation of the present invention;
Fig. 3 is the shoulder articulation mechanism C-C cutaway view with main manipulator of chucking power sensation of the present invention;
Fig. 4 is the A-A of the trunk mechanism cutaway view with main manipulator of chucking power sensation of the present invention.
Reference numeral:
The hollow fingerstall of 1-pinion 2-support 3-saddle 4-
The driven flange of the outer transition thin dish 8-of 5-rotor fingerstall 6-wrist U-shaped frame 7-
9-is the little lining 12-of flange 10-sleeve flange 11-forearm initiatively
The big arm 15-of 13-ancon U-shaped seat 14-flange 16-shoulder back-up block
17-arc 18-shoulder U-shaped seat 19-flange short tube 20-central shaft
21-central axle sleeve 22-Large lining 23-tappet 24-spring
The big outer shaft sleeve of 25-center support 26-shoulder lining 27-trunnion axis 28-
29-drive block 30-axle sleeve 31-gear wheel 32-adjusts packing ring
The outer little outer shaft sleeve 35-of the thick dish of the transition 34-wrist lining 36-flange shaft of 33-
37-wrist back-up block 38-rolling sleeve 39-rolling tapered sleeve 40-hollow shaft sleeve
41-inner screw sheath 42-fuselage lining 43-torque motor 44-steel wire
The 45-first thrust bearing 46-second thrust bearing 51-first optical code disk 52-second optical code disk
53-the 3rd optical code disk 54-the 4th optical code disk 55-the 5th optical code disk 56-the 6th optical code disk
57-the 7th optical code disk
The specific embodiment
Below in conjunction with the drawings and specific embodiments the main manipulator that the present invention has the chucking power sensation is done to describe in further detail.
In the drawings, a kind of main manipulator with chucking power sensation of the present invention, center support 25 tops are disposed with trunk mechanism, shoulder articulation mechanism, big arm mechanism, ancon articulation mechanism, little arm mechanism, wrist articulation mechanism, wrist rotating mechanism and finger open-and-close mechanism and bascule;
Described trunk mechanism comprises the central axle sleeve 21 with center support top mechanical connection, central shaft 20 is equipped with in described central axle sleeve 21 inside, described central shaft 20 outer cover are equipped with the Large lining 22 that is fixed on the central axle sleeve 21, central shaft 20 ends are provided with initiatively flange, described active flange is provided with bearing pin, described first optical code disk 51 is arranged on the center support 25, the first optical code disk axle is provided with driven flange, described bearing pin and driven flange mechanical fixation, being fixed with first thrust bearing, 45, the first thrust bearings, 45 lower ends between described central shaft 20 tops and the central axle sleeve 21 is supported on the Large lining 22;
Described shoulder articulation mechanism comprises the shoulder U-shaped seat 18 of fixedlying connected with described central shaft 20 tops, described shoulder U-shaped seat 18 is connected with shoulder back-up block 16 by shoulder lining 26, described shoulder lining 26 inside are provided with trunnion axis 27, described trunnion axis 27 is fixed in shoulder back-up block 16 inside, trunnion axis 27 front ends are provided with big outer shaft sleeve 28, described big outer shaft sleeve 28 inside are provided with drive block 29, described second optical code disk 52 is fixed on the shoulder U-shaped seat 18, and the described drive block 29 and the second optical code disk shaft mechanical are fixed;
Described big arm mechanism 14 1 ends are fixed on the shoulder back-up block 16, and the other end is fixed on the ancon back-up block;
Described ancon articulation mechanism and shoulder articulation mechanism are identical, comprise the ancon U-shaped seat 13 that is connected by the ancon lining with the ancon back-up block, described ancon bush inside is provided with trunnion axis, described trunnion axis is fixed in ancon back-up block inside, its front end is provided with big outer shaft sleeve, described big outer shaft sleeve inside is provided with drive block, and described the 3rd optical code disk 53 is fixed on the ancon U-shaped seat 13, and described drive block and the 3rd optical code disk shaft mechanical are fixed;
Described bascule by be fixed in arc 17 on the shoulder back-up block 16, be fixed on flange short tube 19 on the shoulder U-shaped seat 18, the tappet 23 of spring 24 be housed outward, the steel wire 44 that is fixedly connected on tappet 23 upper ends and arc 17 upper ends constitutes;
Described little arm mechanism comprises the forearm 12 that is fixed on the ancon U-shaped seat, and described forearm 12 outer cover are equipped with little lining 11, and described little lining 11 outer cover are equipped with sleeve flange 10, and described sleeve flange 10 is by thin dish 7 of outer transition and wrist U-shaped frame 6 mechanical connections; Described forearm 12 ends are provided with initiatively flange 9, described active flange 9 is provided with bearing pin, described the 4th optical code disk 54 is arranged on the thin dish 7 of outer transition, 54 of the 4th optical code disks are provided with driven flange 8, described bearing pin and driven flange mechanical fixation, the upper surface of described sleeve flange 10 inner ring surfaces and second thrust bearing 46 offsets, and the lower surface of second thrust bearing 46 is fixed by the circlip on the forearm 12;
Described wrist articulation mechanism is lifted on the wrist U-shaped frame 6 by wrist lining 35, radially fixing by flange shaft 36 and little outer shaft sleeve 34, be provided with drive block in the described flange shaft 34, described the 5th optical code disk 55 is arranged on the wrist U-shaped frame 6 by the thick dish 33 of outer transition, and described drive block and the 5th optical code disk shaft mechanical are fixed;
Described wrist rotating mechanism by flange shaft 36 with fuselage lining 41, hollow shaft sleeve 40, rolling tapered sleeve 39, rolling sleeve 38 and wrist back-up block 37 axial restraints, described hollow shaft sleeve 40 inside are provided with fuselage lining 41, described fuselage lining 41 is encircled torque motor 43 fuselages, fix by steel ball in described rolling sleeve 38 and the rolling tapered sleeve 39 and realize rotating, 40 of described rolling tapered sleeve 39 and hollow shaft sleeves are provided with adjusts packing ring 32, described hollow shaft sleeve 40 front end robot are connected with gear wheel 31, described hollow shaft sleeve 40 rear ends are set with inner screw sheath 41, described wrist back-up block 37 is arranged with support 2, described the 6th optical code disk 56 is fixedly connected on the support 2, described pinion 1 is fixedly mounted on the 6th optical code disk axle, and described gear wheel 31 is arranged with pinion 1;
Described finger open-and-close mechanism comprises the hollow fingerstall 4 that is fixed on the hollow shaft sleeve 40, described hollow shaft sleeve 40 inside are provided with fuselage lining 42, described fuselage lining 42 is encircled torque motor 43 fuselages, described torque motor axle is provided with axle sleeve 30, described axle sleeve 30 is provided with rotor fingerstall 5, described hollow shaft sleeve 40 is provided with saddle 3, described the 7th optical code disk 57 is fixed on the saddle 3, be fixed with driven flange on described the 7th optical code disk axle, described axle sleeve 30 is provided with bearing pin, described bearing pin and driven flange mechanical fixation.
Described bearing pin is a spiro caudal pin; Described the 5th optical code disk can be arranged on arbitrary side of wrist U-shaped frame 6; Described fuselage lining 42 is two semicircle linings; Between described first optical code disk 51 and the center support 25, between second optical code disk 52 and the shoulder U-shaped seat 18, between the 3rd optical code disk 53 and the ancon U-shaped seat 13, be provided with the thin dish of outer transition of plastic material between the 7th optical code disk 57 and the saddle 3; Be provided with flange 15 between described big arm 14 and the shoulder back-up block 16, and also be provided with flange between the ancon back-up block.
Now further specify the structure that the present invention has the main manipulator of chucking power sensation in conjunction with specific embodiments.
This system can realize six interlocks, comprises that wrist is around the rotation (in order to realize the adjustment of control attitude) of X, Y, three directions of Z, the rotation (in order to realize the adjustment of control position) of three directions of arm.Its wrist also comprises the controlling organization of the 7 degree of freedom that can realize pointing folding.The angle output of 7 degree of freedom all realizes by the high accuracy optical code disk.The size of terminal chucking power makes operator's perception by torque motor.Rotor fingerstall on the operator is connected with stator with the rotor of torque motor respectively with hollow fingerstall, produces moment by torque motor, makes the operator that force feeling be arranged, thereby perceives the chucking power from hand finger chucking power or virtual environment of far-end.
Wrist is the mechanisms in order to realize that attitude is adjusted around the rotating mechanism of X, Y, three directions of Z.
As shown in the figure, whole wrist is hung on the wrist U-shaped frame, the installing mechanism left-right symmetry of wrist, be connected with wrist U-shaped frame by the wrist lining, the output quantity of rotation that can realize the rotation directions X of directions X is radially fixing by flange shaft and little outer shaft sleeve, after fixing the two can freely be rotated in the wrist lining, thereby the drive block in the drive flange shaft rotates, drive block is connected with the 5th optical code disk shaft mechanical, thereby drive the 5th optical code disk axle, produce output quantity, the 5th optical code disk is fixed on the wrist U-shaped frame by thick outer transition disc; Because symmetrical configuration, the 5th optical code disk can be installed in arbitrary side of wrist U-shaped frame as required.
The rotation of Y direction realizes that by Bearning mechanism the lower surface of second thrust bearing relies on and is installed on the forearm, supports with circlip for shaft, and forearm is fixed on the ancon U-shaped seat; The upper surface of second thrust bearing withstands on the inner ring surface of sleeve flange, and little lining is housed between sleeve flange and forearm, and little lining is contained on the forearm, and fixedly lubrication is arranged; Sleeve flange is by thin dish of outer transition and wrist U-shaped frame mechanical connection; The output quantity that the Y direction is rotated is to rotate by being installed in the active flange of forearm end, driving the spiro caudal pin that is installed on it, and spiro caudal pin is stirred the driven flange that is installed on the 4th optical code disk axle and rotated, and rotates thereby realize driving the 4th optical code disk axle, produces output quantity; The 4th optical code disk is installed on the thin dish of outer transition.
The rotation of Z direction realizes that by ball bearing mechanism ball places in the two circle trough with straight angle of rolling sleeve, withstands with the rolling tapered sleeve respectively, makes its Z that can only realize mechanism to rotation; The rolling sleeve is fixed on the flange shaft by the wrist back-up block, and the rolling tapered sleeve of an end is located with hollow shaft sleeve, the adjustment packing ring is housed, and the rolling tapered sleeve of the other end is fixed with inner screw sheath, and rolling tapered sleeve and inner screw sheath all are enclosed within on the hollow shaft sleeve; The hollow shaft sleeve front end is installed with gear wheel, and support is equipped with in wrist back-up block below, and the 6th optical code disk is rack-mount, pinion place gear wheel under and be installed on the 6th optical code disk axle; The output quantity of the rotation of Z direction is to drive gear wheel by hollow shaft sleeve to rotate, and the large gear turn the small gear rotates, and pinion is stirred the 6th optical code disk axle, thereby produces the output quantity of the rotation of Z direction.
The mechanism that realizes the finger folding is fixed on the wrist rotating mechanism.Hollow fingerstall is fixed on the hollow shaft sleeve, and the rotor fingerstall is fixed on the axle sleeve, and axle sleeve is fixed on the torque motor axle, torque motor fuselage fuselage lining, and promptly a pair of semicircle lining is embraced, and radially fixes torque motor; Axle sleeve is installed on rotating mechanism inside, constitutes retaining mechanism, lives torque motor at axial restraint; Saddle is fixed on the hollow shaft sleeve, and the 7th optical code disk is fixed on the saddle by the thin dish of outer transition, is fixed with driven flange on the axle of the 7th optical code disk; During the finger folding, thumb is controlled hollow fingerstall, makes it fixing, and forefinger control rotor fingerstall makes it to rotate, and drives axle sleeve, and spiro caudal pin is arranged on the axle sleeve, stirs driven flange, and driven flange drives the 7th optical code disk axle and rotates, thereby produces the output quantity of finger folding.
Arm is the mechanisms in order to realize that the position is adjusted around the rotating mechanism of three directions.
Realize the position adjusting mechanism of trunk mechanism, realize by Bearning mechanism.First thrust bearing is installed on the central shaft, and the lower end is supported on the Large lining, and on the Large lining centering axle sleeve, central axle sleeve is mechanically connected on the center support; First optical code disk is installed on the center support by thin outer transition disc, is fixed with driven flange on the first optical code disk axle, and the center the tip of the axis is equipped with initiatively flange; The output quantity that realizes the position adjustment of directions X is by being installed in the active flange of central shaft end, the spiro caudal pin that drive is installed on it rotates, spiro caudal pin is stirred the driven flange that is installed on the first optical code disk axle and is rotated, and rotates thereby realize driving the first optical code disk axle, produces output quantity.
Realize the position adjusting mechanism of shoulder articulation mechanism, realize by slip friction mechanisms.Trunnion axis is fixed on the shoulder U-shaped seat by the shoulder lining, and the shoulder back-up block is fixed on the trunnion axis; The trunnion axis front end has big outer shaft sleeve, in the big outer shaft sleeve drive block is arranged, and second optical code disk is fixed on the shoulder U-shaped seat by the thin dish of outer transition; The output quantity that realizes the position adjustment in shoulder joint is to rotate in big outer shaft sleeve by trunnion axis, and the drive block that drives in it rotates, and drive block is connected with the second optical code disk shaft mechanical, thereby stirs the second optical code disk axle, produces output quantity.
Realize the position adjusting mechanism of ancon articulation mechanism, also realize that its version is identical with the version of the position adjusting mechanism of realizing the shoulder articulation mechanism by slip friction mechanisms.Trunnion axis is fixed on the ancon U-shaped seat by the ancon lining, and the ancon back-up block is fixed on the trunnion axis; The trunnion axis front end has big outer shaft sleeve, in the big outer shaft sleeve drive block is arranged, and the 3rd optical code disk is fixed on the ancon U-shaped seat by thin outer transition disc; The output quantity that realizes the position adjustment in ancon joint is to rotate in big outer shaft sleeve by trunnion axis, and the drive block that drives in it rotates, and drive block is connected with the 3rd optical code disk shaft mechanical, thereby stirs the 3rd optical code disk axle, produces output quantity.
Connect with big arm between the position adjusting mechanism of the position adjusting mechanism of realization shoulder articulation mechanism and realization ancon articulation mechanism, an end of big arm is connected with flange, and flange is fixed on the shoulder back-up block; The other end is connected with flange, and flange is fixed on the ancon back-up block.
In addition, also have bascule, be used for balance wrist weight and the moment that big arm produces, alleviate the burden of operator part.Bascule is to be fixed on the shoulder back-up block with arc, and flange short tube is fixed on the shoulder U-shaped seat, and tappet is equipped with spring outward, and the upper end of tappet is connected with steel wire with the lower end of arc, thus the Compositional balance device.
Further specify the method for work that the present invention has the main manipulator of chucking power sensation below in conjunction with concrete operations.
During operation, thumb places hollow fingerstall, and forefinger places the rotor fingerstall, and the palm of the hand withstands the 7th optical code disk that places on the saddle.During motion, can realize six interlocks, i.e. rotation and arm the rotation in order to realize position adjust around X, Y, Z three directions of wrist in order to realize that attitude is adjusted; Simultaneously, can control from the folding of the finger of hand by the folding of thumb and forefinger.Also can realize the adjustment respectively of attitude and position, promptly can realize the motion of single shaft.
Specifically, wrist is in order to realize the adjustment of attitude around the rotation of X, Y, three directions of Z.During operation, thumb places hollow fingerstall, and forefinger places the rotor fingerstall, and the palm of the hand withstands the 7th optical code disk that places on the saddle.When directions X rotated, because the 7th optical code disk is fixed on the saddle by thin outer transition disc, saddle was fixed on the hollow shaft sleeve, and hollow shaft sleeve is by rolling tapered sleeve, rolling sleeve, wrist back-up block and the flange shaft axial relative fixed in flange shaft; Flange shaft and little outer shaft sleeve are radially fixing, and the two after fixing can freely be rotated in the wrist lining, thereby the drive block that drives in the flange shaft rotates, and drive block is connected with the 5th optical code disk shaft mechanical, thereby drives the 5th optical code disk axle, produces the output quantity of directions X; Drive the 7th optical code disk so hold, the saddle fixing by the 7th optical code disk drives flange shaft indirectly, realizes the motion of directions X.
When the Y direction is rotated, because whole wrist mechanism is lifted on the wrist U-shaped frame; Again because wrist U-shaped frame passes through thin outer transition disc and sleeve flange mechanical connection; Fix by little lining between sleeve flange upper end and forearm, the inner bay of sleeve flange is on second thrust bearing, and second thrust bearing and forearm are radially fixing, thereby can realize relatively rotating of sleeve flange and forearm; Forearm is fixed on the ancon U-shaped seat.Drive the 7th optical code disk so hold, the saddle fixing by the 7th optical code disk drives wrist U-shaped frame indirectly, realizes the motion of Y direction.
When the Z direction is rotated, because the 7th optical code disk is fixed on the saddle by thin outer transition disc, saddle is fixed on the hollow shaft sleeve, and hollow shaft sleeve and rolling tapered sleeve are fixing to axial, can realize rolling between the two by the ball between rolling tapered sleeve and rolling sleeve; The hollow shaft sleeve front end is installed with gear wheel, support is equipped with in wrist back-up block below, and the 6th optical code disk is rack-mount, pinion place gear wheel under and be installed on the 6th optical code disk axle, the gear wheel motion drives pinion, thereby drives the 6th optical code disk; Drive the 7th optical code disk so hold, the saddle fixing by the 7th optical code disk drives hollow shaft sleeve, realizes the motion of Z direction.
When pointing the motion of folding, because hollow fingerstall is fixed on the hollow shaft sleeve; The rotor fingerstall is fixed on the axle sleeve, and axle sleeve is fixed on the torque motor axle, and the torque motor fuselage is embraced with a pair of semicircle lining, radially fixes torque motor, semicircle lining and hollow shaft sleeve relative fixed; So hollow fingerstall and torque motor relative fixed; During the finger folding, thumb is controlled hollow fingerstall, makes it fixing, and forefinger control rotor fingerstall makes it to rotate, and the rotor fingerstall drives axle sleeve, and spiro caudal pin is arranged on the axle sleeve, stirs driven flange, and driven flange drives the 7th optical code disk axle and rotates, thereby realizes the finger open and close movement.
Arm is in order to realize the adjustment of position around the rotation of three directions.When realizing that the trunk mechanism position is adjusted, because whole wrist and forearm axial restraint, forearm is connected with big arm, and big arm is connected with shoulder U-shaped seat; Shoulder U-shaped seat and central shaft are fixed, and central shaft can be realized relatively rotating between central shaft and the central axle sleeve by first thrust bearing of frame on central axle sleeve; Central axle sleeve is mechanically connected on the center support; So operator's operation, drives the rotation of forearm, big arm, shoulder U-shaped seat, central shaft realization and central axle sleeve and central axle sleeve by mobile wrist, promptly realizes the position adjustment of trunk structure.
When the position of realization elbow joint was adjusted, because whole wrist and forearm axial restraint, forearm and ancon U-shaped seat were fixed, and ancon U-shaped seat and ancon back-up block can be realized relatively rotating by the ancon lining, and the ancon back-up block is fixedlyed connected by flange with big arm; So operator's operation, drives forearm by mobile wrist, the realization of ancon U-shaped seat relatively rotates with big arm, promptly realizes the position adjustment of elbow joint.
When the position of realization shoulder joint is adjusted, because whole wrist and forearm axial restraint; forearm is connected with big arm by elbow joint; arm is fixed by flange and shoulder back-up block greatly; shoulder back-up block and shoulder U-shaped seat can be realized relatively rotating by the shoulder lining; event operator operation is by mobile wrist, and drive forearm, big arm realization relatively rotate with shoulder U-shaped seat, promptly realize the position adjustment of shoulder joint.At this moment, be used for the bascule that balance wrist weight produces moment with big arm, alleviates the burden of operator part, by be fixed on arc on the shoulder back-up block, be fixed on flange short tube on the shoulder U-shaped seat, be equipped with outward spring tappet, be fixedly connected on the steel wire of tappet upper end and arc upper end, realize the balance of motion.
The main manipulator that the present invention has a chucking power sensation is mainly used in virtual operation such as microsurgery, minimally invasive surgery, ear nose laryngosurgery, neurosurgery or the assisted surgery for robots operation.
More than be schematically to the description of the present invention and embodiment thereof, do not have restricted.So, if those of ordinary skill in the art is enlightened by it, under the situation that does not break away from the invention aim, make other embodiment, all should belong to protection scope of the present invention.
Claims (10)
1. one kind has the main manipulator that chucking power is felt, it is characterized in that center support mechanism top is disposed with trunk mechanism, shoulder articulation mechanism, big arm mechanism, ancon articulation mechanism, little arm mechanism, wrist articulation mechanism, wrist rotating mechanism and finger open-and-close mechanism and bascule;
Described trunk mechanism comprises the central axle sleeve with center support top mechanical connection, central shaft is equipped with in described central axle sleeve inside, described central shaft outer cover is equipped with the Large lining that is fixed on the central axle sleeve, the central shaft end is provided with initiatively flange, described active flange is provided with bearing pin, described first optical code disk is arranged on the center support, the first optical code disk axle is provided with driven flange, described bearing pin and driven flange mechanical fixation, be fixed with first thrust bearing between described central shaft top and the central axle sleeve, the first thrust bearing lower end is supported on the Large lining;
Described shoulder articulation mechanism comprises the shoulder U-shaped seat of fixedlying connected with described central shaft top, described shoulder U-shaped seat is connected with the shoulder back-up block by the shoulder lining, described shoulder bush inside is provided with trunnion axis, described trunnion axis is fixed in shoulder back-up block inside, the trunnion axis front end is provided with big outer shaft sleeve, described big outer shaft sleeve inside is provided with drive block, and described second optical code disk is fixed on the shoulder U-shaped seat, and the described drive block and the second optical code disk shaft mechanical are fixed;
Described big arm mechanism one end is fixed on the shoulder back-up block, and the other end is fixed on the ancon back-up block;
Described ancon articulation mechanism comprises the ancon U-shaped seat that is connected by the ancon lining with the ancon back-up block, described ancon bush inside is provided with trunnion axis, described trunnion axis is fixed in ancon back-up block inside, its front end is provided with big outer shaft sleeve, described big outer shaft sleeve inside is provided with drive block, described the 3rd optical code disk is fixed on the ancon U-shaped seat, and described drive block and the 3rd optical code disk shaft mechanical are fixed;
Described bascule by be fixed in arc on the shoulder back-up block, be fixed on flange short tube on the shoulder U-shaped seat, the tappet of spring be housed outward, the steel wire that is fixed on tappet upper end and arc upper end constitutes;
Described little arm mechanism comprises the forearm that is fixed on the ancon U-shaped seat, and described forearm outer cover is equipped with little lining, and described little lining outer cover is equipped with sleeve flange, and described sleeve flange is by thin dish of outer transition and wrist U-shaped frame mechanical connection; Described forearm end is provided with initiatively flange, described active flange is provided with bearing pin, described the 4th optical code disk is arranged on the thin dish of outer transition, the 4th optical code disk axle is provided with driven flange, described bearing pin and driven flange mechanical fixation, the upper surface of the described sleeve flange inner ring surface and second thrust bearing offsets, and the lower surface of second thrust bearing is fixed by the circlip on the forearm;
Described wrist articulation mechanism is lifted on the wrist U-shaped frame by the wrist lining, radially fixing by flange shaft and little outer shaft sleeve, be provided with drive block in the described flange shaft, described the 5th optical code disk is arranged on the wrist U-shaped frame by the thick dish of outer transition, and described drive block and the 5th optical code disk shaft mechanical are fixed;
Described wrist rotating mechanism by flange shaft with the fuselage lining, hollow shaft sleeve, the rolling tapered sleeve, rolling sleeve and wrist back-up block axial restraint, described hollow shaft sleeve inside is provided with the fuselage lining, described fuselage lining is encircled the torque motor fuselage, described rolling sleeve and rolling tapered sleeve inside are fixed by steel ball, described hollow shaft sleeve front end robot is connected with gear wheel, described hollow shaft sleeve rear end is set with inner screw sheath, described wrist back-up block is arranged with support, described the 6th optical code disk is fixedly connected on the support, described pinion is fixedly mounted on the 6th optical code disk axle, and described gear wheel is arranged with pinion;
Described finger open-and-close mechanism comprises the hollow fingerstall that is fixed on the hollow shaft sleeve, described torque motor axle is provided with axle sleeve, described axle sleeve is provided with the rotor fingerstall, described hollow shaft sleeve is provided with saddle, described the 7th optical code disk is fixed on the saddle, be fixed with driven flange on the axle of described the 7th optical code disk, described axle sleeve is provided with bearing pin, described bearing pin and driven flange mechanical fixation.
2, a kind of main manipulator with chucking power sensation according to claim 1 is characterized in that described bearing pin is a spiro caudal pin.
3, a kind of main manipulator with chucking power sensation according to claim 1 is characterized in that described the 5th optical code disk is arranged on arbitrary side of wrist U-shaped frame.
4, a kind of main manipulator with chucking power sensation according to claim 1 is characterized in that described fuselage lining is two semicircle linings.
5, a kind of main manipulator with chucking power sensation according to claim 1 is characterized in that, is provided with the thin dish of outer transition between described first optical code disk and the center support.
6, a kind of main manipulator with chucking power sensation according to claim 1 is characterized in that, is provided with the thin dish of outer transition between described second optical code disk and the shoulder U-shaped seat.
7, a kind of main manipulator with chucking power sensation according to claim 1 is characterized in that, is provided with the thin dish of outer transition between described the 3rd optical code disk and the ancon U-shaped seat.
8, a kind of main manipulator with chucking power sensation according to claim 1 is characterized in that, is provided with the thin dish of outer transition between described the 7th optical code disk and the saddle.
9, a kind of main manipulator with chucking power sensation according to claim 1 is characterized in that, is provided with flange between described big arm and shoulder back-up block or the ancon back-up block.
10, a kind of main manipulator with chucking power sensation according to claim 1 is characterized in that, is provided with the adjustment packing ring between described rolling tapered sleeve and the hollow shaft sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100130044A CN1328018C (en) | 2005-01-05 | 2005-01-05 | Main operation hand with clamping force sensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100130044A CN1328018C (en) | 2005-01-05 | 2005-01-05 | Main operation hand with clamping force sensation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1634685A true CN1634685A (en) | 2005-07-06 |
| CN1328018C CN1328018C (en) | 2007-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100130044A Active CN1328018C (en) | 2005-01-05 | 2005-01-05 | Main operation hand with clamping force sensation |
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| Country | Link |
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| CN (1) | CN1328018C (en) |
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Effective date of registration: 20220905 Address after: 264211 no.566-1 Qishan Road, caomiaozi Town, Lingang Economic and Technological Development Zone, Weihai City, Shandong Province Patentee after: SHANDONG WEIGAO OPERATION ROBOT CO.,LTD. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University Patentee before: Tianjin University Asset Management Co.,Ltd. Effective date of registration: 20220905 Address after: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee after: Tianjin University Patentee after: Tianjin University Asset Management Co.,Ltd. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92, Tianjin University Patentee before: Tianjin University |