CN201743777U - Triple-drive dipolar-coordinates and four-degree-of-freedom parallel robot - Google Patents
Triple-drive dipolar-coordinates and four-degree-of-freedom parallel robot Download PDFInfo
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- CN201743777U CN201743777U CN2010205128780U CN201020512878U CN201743777U CN 201743777 U CN201743777 U CN 201743777U CN 2010205128780 U CN2010205128780 U CN 2010205128780U CN 201020512878 U CN201020512878 U CN 201020512878U CN 201743777 U CN201743777 U CN 201743777U
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Abstract
The utility model discloses a triple-drive dipolar-coordinate and four-degree-of-freedom parallel robot. The parallel robot comprises screw rod mechanisms, a puncture needle mechanism, a bevel gear transmission mechanism, a main connecting plate, a parallel platform fixing frame and a support frame, wherein one end of the parallel platform fixing frame is provided with a three-claw structure which is fixed on the main connecting plate through a fastening screw; the other end of the parallel platform fixing frame is provided with a threaded coupling and is connected with the support fame through the threaded coupling; the bevel gear transmission mechanism is connected with the main connecting plate; two groups of screw rod mechanisms are symmetrically arranged at both sides of the center of the main connecting plate and are connected with the bevel gear transmission mechanism respectively so as to form two rotary degrees of freedom; and the puncture needle mechanism is arranged on the screw rod mechanism so as to form two movable degrees of freedom. The parallel robot has the advantages of simple structure, convenience for resolving of robot kinematics, large work space, high flexibility, light weight, stability, high positioning accuracy and compact structure, and can be used for designing a minimally invasive surgery parallel robot mechanism or other digitalized medical devices.
Description
Technical field
This utility model relates to a kind of three and drives bipolar coordinate four-freedom parallel device people, belongs to micro-wound surgical operation puncture needle spatial pose digitized automatic positioning equipment.
Background technology
At present, for surgical operation, the development of medical robot technology and application have obtained the high praise of various countries, the technology that it is relevant etc. has also obtained develop rapidly, rapid raising along with China's economic strength and whole people's health care consciousness, with raising location of operation precision and facilitating operation degree and the efficient of performing the operation is the minimally invasive surgery robot Study on Technology of aim, become one of topmost forward position research focus in the China and even the whole world, and China present surgical operation puncture positioning robot rests on development basically, and the surgical operation parallel robot of research and development has following characteristics.One, topological structure is continued to use the mentality of designing of industrial robot, makes up robot system with traditional moving platform and silent flatform, and this kind mechanism overall dimensions is big, and heavy, doctor's inconvenient operation; Two, the same with traditional parallel robot, this parallel robot work space is little, operation attitude scope is little, very flexible, the requirement of this and microtrauma puncture positioning operation robot (as the neurosurgery robot) is disagreed, therefore this robot is difficult to move towards clinical practice from laboratory, that is to say, the at present still untapped micro-wound surgical operation parallel robot mechanism that goes out the small volume and less weight high flexibility, exploitation is towards the four-freedom parallel device people of micro-wound surgical operation, not only can establish the research basis, simultaneously, also can design and develop reference is provided for the robot of other operative indication for the robot mechanism of the positioning operation that initiatively punctures.Therefore,
The utility model content
In order to overcome the deficiencies in the prior art, the purpose of this utility model is to provide a kind of three to drive bipolar coordinate four-freedom parallel device people, the manual positioning of surgical operation puncturing pin is become full-automatic digitized location, promptly become the automatic location of robot
In addition, the purpose of this utility model also is to make this utility model not only to can be used as the automedica operating theater instruments, can also handle and the location by supporting binocular stereo vision location, medical science 2 peacekeeping 3 d images, and the resolving of robot kinematics, the puncture path of image space doctor planning is mapped to the robot space automatically, thereby realize the locus of operation puncturing pin vector and the accurate location of attitude, in addition can be simultaneously as surgical operation puncture localized medical equipment and stable operation support platform.
For achieving the above object, this utility model is to realize by following technical scheme:
A kind of three drive bipolar coordinate four-freedom parallel device people, it is characterized in that: comprise screw mechanism, following screw mechanism, puncture needle mechanism, Bevel Gear Transmission mechanism, main connecting plate, parallel connection platform fixed mount and bracing frame, wherein, parallel connection platform fixed mount one end is provided with the three-jaw structure, its three-jaw structure is fixed on the main connecting plate by trip bolt, the parallel connection platform fixed mount other end also is provided with hickey, it is connected with bracing frame by hickey, and Bevel Gear Transmission mechanism is positioned at main connecting plate one side and be connected with main connecting plate, last screw mechanism and following screw mechanism are symmetricly set in the both sides at main connecting plate center respectively, and be connected with Bevel Gear Transmission mechanism respectively, form two rotational freedoms, puncture needle mechanism then is arranged on screw mechanism and the following screw mechanism simultaneously, forms two one-movement-freedom-degrees.
Aforesaid Bevel Gear Transmission mechanism comprises the bevel pinion motor cabinet, the bevel pinion seat, large conic gear seat A, large conic gear seat B, direct current generator, the bevel pinion shaft coupling, bevel pinion, bevel gear wheel A and bevel gear wheel B, wherein, the bevel pinion motor cabinet, the bevel pinion seat, large conic gear seat A and large conic gear seat B are fixed on the main connecting plate by trip bolt respectively, direct current generator is fixed on the bevel pinion motor cabinet, its output shaft is connected with an end of bevel pinion shaft coupling, the other end of bevel pinion shaft coupling is connected with the turning cylinder of bevel pinion, and the spacing and support by the bevel pinion seat of the turning cylinder of bevel pinion, the axis of the turning cylinder of bevel gear wheel A and bevel gear wheel B point-blank, and simultaneously with vertical setting of turning cylinder of bevel pinion, and the turning cylinder of bevel gear wheel A and bevel gear wheel B passes through large conic gear seat A respectively and large conic gear seat B is spacing and support, and bevel gear wheel A and bevel gear wheel B mesh with bevel pinion simultaneously.
The aforesaid screw mechanism of going up comprises the leading screw bearing cover, last lead screw shaft bearing, last leading screw guide housing, last ball-screw, last feed screw nut, last spindle motor seat, last leading screw shaft coupling and last leading screw direct current generator, wherein, last spindle motor seat respectively with the turning cylinder interference fit of above-mentioned bevel gear wheel A, last leading screw direct current generator is connected the side of spindle motor seat by screw, its output shaft and the locking of last leading screw shaft coupling one end, the other end of last leading screw shaft coupling is connected with the end of last ball-screw of bearing block on passing the spindle motor seat, last ball-screw and the coaxial setting of the output shaft of last spindle motor seat, and its other end is spacing and support by last lead screw shaft bearing, last leading screw bearing cover is arranged on the end of lead screw shaft bearing, last leading screw guide housing then is arranged between lead screw shaft bearing and the last spindle motor seat, and be enclosed within the outside of ball-screw, and with last ball-screw the axle concentric setting, last leading screw guide housing middle part, its side also have along on the gathering sill A of ball-screw axis direction, last feed screw nut is enclosed within on the ball-screw and is spacing in gathering sill A.
Aforesaid screw mechanism down comprises leading screw bearing cover down, following lead screw shaft bearing, following leading screw guide housing, following ball-screw, following feed screw nut, following spindle motor seat, following leading screw shaft coupling and following leading screw direct current generator, wherein, following spindle motor seat respectively with the turning cylinder interference fit of above-mentioned bevel gear wheel B, following leading screw direct current generator is connected down the side of spindle motor seat by screw, its output shaft and following leading screw shaft coupling one end locking, the other end of following leading screw shaft coupling is connected with the end of following ball-screw of bearing block on passing down the spindle motor seat, following ball-screw and the coaxial setting of the output shaft of following spindle motor seat, and its other end is by the spacing and support of lead screw shaft bearing down, following leading screw bearing cover is arranged on down the end of lead screw shaft bearing, following leading screw guide housing then is arranged on down between lead screw shaft bearing and the following spindle motor seat, and the outside of cover infra ball-screw, and with following ball-screw the axle concentric setting, following leading screw guide housing middle part, its side also have along under the gathering sill B of ball-screw axis direction, on the following screw nut sleeve infra ball-screw and spacing in gathering sill B.
Aforesaid puncture needle mechanism comprises puncture needle, puncture needle fixed mechanism A and puncture needle fixed mechanism B, puncture needle fixed mechanism A and puncture needle fixed mechanism B are separately positioned on screw mechanism and the following screw mechanism, and puncture needle then is fixed on puncture needle fixed mechanism A and the puncture needle fixed mechanism B simultaneously.
Aforesaid puncture needle fixed mechanism A comprises fairlead U-shaped locating ring A, fairlead cylindricality locating ring A, location battle pin A and puncture needle fairlead A, fairlead U-shaped locating ring A is connected by sliding bearing with above-mentioned last feed screw nut, and it is a symmetrical structure, its turning cylinder is perpendicular to the axle of last ball-screw, fairlead cylindricality locating ring A is connected the opening of fairlead U-shaped locating ring A by the location battle pin A of its both sides, its inside also is provided with puncture needle fairlead A with one heart, and puncture needle then is located in the puncture needle fairlead A.
Aforesaid puncture needle fixed mechanism B comprises fairlead U-shaped locating ring B, fairlead cylindricality locating ring B, location battle pin B and puncture needle fairlead B, fairlead U-shaped locating ring B is connected by sliding bearing with above-mentioned following feed screw nut, and it is a symmetrical structure, its turning cylinder is perpendicular to the axle of following ball-screw, fairlead cylindricality locating ring B is connected the opening of fairlead U-shaped locating ring B by the location battle pin B of its both sides, its inside also is provided with puncture needle fairlead B with one heart, and puncture needle then is located in the puncture needle fairlead B.
The axis of the axis of aforesaid puncture needle fairlead A, location battle pin A and the axis of fairlead U-shaped locating ring A meet at a bit, form ball pivot A, and the axis of puncture needle fairlead B, the axis of location battle pin B and the axis of fairlead U-shaped locating ring B meet at some formation ball pivot B.
The beneficial effects of the utility model are:
1, simple in structure: this utility model adopts the bipolar coordinate topological structure, last screw mechanism and following screw mechanism can both implementation space point translation and spatial point around the rotation of fixed axis, and last screw mechanism is consistent with following screw mechanism structure, makes that design, manufacturing are all very convenient and cost is lower;
2, the robot kinematics resolves conveniently: the bipolar coordinate structure that this utility model adopts, its kinematic calculation gets final product based on method of geometry, need not set up mathematical model, need not to carry out complicated matrixing yet, thereby greatly reduce the difficulty of resolving and programme according to traditional D-H method;
3, work space is bigger: the abstract puncture needle for doctor's operation of moving platform of the present utility model, it can break away from parallel connection platform, in fact this utility model is an Open architecture, its rotary joint can ± 90 ° of motions, therefore compare with the parallel robot of identical appearance size, its work space obviously increases;
4, motility is higher: because range of motion of the present utility model increases, then moving platform attitude scope increases, that is to say, this utility model puncture needle vector space attitude showed increased, therefore, compare with general parallel robot, its motility significantly improves, thereby doctor's efficient of performing the operation is improved;
5, light firm: four-freedom parallel device people's described in the utility model material of main part adopts high-strength engineering plastic, in light weight, good rigidly;
6, positioning accuracy is higher: the robot of relative cascaded structure, and joint of the present utility model does not have cumulative errors, the positioning accuracy height;
7, compact conformation: when this utility model adopts the bipolar coordinate topological structure, adopted 3 bevel gear axis to meet at the Bevel Gear Transmission structure of a bit, system has only used 3 motors, drive 4 joints of parallel robot, make little, in light weight, the compact conformation of this four-freedom parallel device people volume, promptly can be used for designing the micro-wound surgical operation parallel robot mechanism, also can be applied to other digital medical Design of device.
Description of drawings
Fig. 1 is the front view of this utility model one embodiment;
Fig. 2 is the vertical view of this utility model one embodiment;
Fig. 3 is the right view of this utility model one embodiment.
Main Reference numeral implication is among the figure:
1, main connecting plate 2, parallel connection platform fixed mount 3, bevel pinion motor cabinet
4, bevel pinion seat 5, large conic gear seat A 6, large conic gear seat
7, direct current generator 8, bevel pinion shaft coupling 9, bevel pinion
10, bevel gear wheel A 11, bevel gear wheel B 12, last leading screw bearing cover
13, last lead screw shaft bearing 14, last leading screw guide housing 15, last ball-screw
16, last feed screw nut 17, last spindle motor seat 18, last leading screw shaft coupling
19, go up leading screw direct current generator 20, following leading screw bearing cover 21, following lead screw shaft bearing
22, following leading screw guide housing 23, following ball-screw 24, following feed screw nut
25, following spindle motor seat 26, following leading screw shaft coupling 27, following leading screw direct current generator
28, puncture needle 29, fairlead U-shaped locating ring A 30, fairlead cylindricality locating ring A
31, location battle pin A 32, puncture needle fairlead A 33, fairlead U-shaped locating ring B
34, fairlead cylindricality locating ring B 35, location battle pin B 36, puncture needle fairlead B
The specific embodiment
Below in conjunction with accompanying drawing, describe the specific embodiment of the present utility model in detail:
Fig. 1 is the front view of this utility model one embodiment; Fig. 2 is the vertical view of this utility model one embodiment; Fig. 3 is the right view of this utility model one embodiment.
As shown in Figure 1 to Figure 3: three drive bipolar coordinate four-freedom parallel device people, comprise screw mechanism, following screw mechanism, puncture needle mechanism, Bevel Gear Transmission mechanism, main connecting plate 1, parallel connection platform fixed mount 2 and bracing frame (in this utility model, not setting forth), wherein, main connecting plate 1 is as the part of the silent flatform of parallel connection platform, be basic components of the present utility model, the three-jaw structure of parallel connection platform fixed mount 2 one end settings is rigidly connected by three screws and main connecting plate 1, parallel connection platform fixed mount 2 other ends also are provided with hickey, it is connected with bracing frame by hickey, and Bevel Gear Transmission mechanism is positioned at main connecting plate 1 one sides and be connected with main connecting plate 1, last screw mechanism and following screw mechanism are symmetricly set in the both sides at main connecting plate 1 center respectively, and be connected with Bevel Gear Transmission mechanism respectively, form two rotational freedoms, puncture needle mechanism then is arranged on screw mechanism and the following screw mechanism simultaneously, forms two one-movement-freedom-degrees.
Above-mentioned Bevel Gear Transmission mechanism comprises bevel pinion motor cabinet 3, bevel pinion seat 4, large conic gear seat A5, large conic gear seat B6, direct current generator 7, bevel pinion shaft coupling 8, bevel pinion 9, bevel gear wheel A10 and bevel gear wheel B11, wherein, bevel pinion motor cabinet 3, bevel pinion seat 4, large conic gear seat A5 and large conic gear seat B6 are fixed on the main connecting plate 1 by trip bolt respectively, direct current generator 7 is fixed on the bevel pinion motor cabinet 3, its output shaft is connected with an end of bevel pinion shaft coupling 8, the other end of bevel pinion shaft coupling 8 is connected with the turning cylinder of bevel pinion 9, and the turning cylinder of bevel pinion 9 is by the 4 spacing and supports of bevel pinion seat, the axis of the turning cylinder of bevel gear wheel A10 and bevel gear wheel B11 point-blank, and simultaneously with vertical setting of turning cylinder of bevel pinion 9, and the turning cylinder of bevel gear wheel A10 and bevel gear wheel B11 passes through large conic gear seat A5 respectively and large conic gear seat B6 is spacing and support bevel gear wheel A10 and bevel gear wheel B11 while and bevel pinion 9 engagements.
Above-mentioned last screw mechanism comprises leading screw bearing cover 12, last lead screw shaft bearing 13, last leading screw guide housing 14, last ball-screw 15, last feed screw nut 16, last spindle motor seat 17, last leading screw shaft coupling 18 and last leading screw direct current generator 19, wherein, last spindle motor seat 17 respectively with the turning cylinder interference fit of above-mentioned bevel gear wheel A10, screw mechanism integral body is around the turning cylinder rotation of bevel gear wheel A10 in the realization, form a rotational freedom, last leading screw direct current generator 19 is connected the side of spindle motor seat 17 by screw, its output shaft and the locking of last leading screw shaft coupling 18 1 ends, the other end of last leading screw shaft coupling 18 is connected with the end of last ball-screw 15 of bearing block on passing spindle motor seat 13, last ball-screw 15 and the coaxial setting of the output shaft of last spindle motor seat 17, and its other end is by last lead screw shaft bearing 13 spacing and supports, last leading screw bearing cover 12 is arranged on the end of lead screw shaft bearing 13, last leading screw guide housing 14 then is arranged between lead screw shaft bearing 13 and the last spindle motor seat 17, and be enclosed within the outside of ball-screw 15, and with last ball-screw 15 the axle concentric setting, last leading screw guide housing 14 also has the gathering sill A of ball-screw 15 axis directions on the edge at its middle part, side, last feed screw nut 16 is enclosed within on the ball-screw 15 and is spacing in gathering sill A, the last feed screw nut 16 of promptly going up ball-screw 15 can move along the axis direction of going up ball-screw 15 down, but must be limited in the gathering sill A scope.
And the structure of the structure of following screw mechanism and last screw mechanism is identical, it also comprises leading screw bearing cover 20 down, following lead screw shaft bearing 21, following leading screw guide housing 22, following ball-screw 23, following feed screw nut 24, following spindle motor seat 25, following leading screw shaft coupling 26 and following leading screw direct current generator 27, wherein, following spindle motor seat 25 respectively with the turning cylinder interference fit of above-mentioned bevel gear wheel B11, realize that screw mechanism integral body is around the turning cylinder rotation of bevel gear wheel B11 down, form another rotational freedom, following leading screw direct current generator 27 is connected down the side of spindle motor seat 25 by screw, its output shaft and following leading screw shaft coupling 26 1 ends locking, the other end of following leading screw shaft coupling 26 is connected with the end of following ball-screw 23 of bearing block on passing down spindle motor seat 25, following ball-screw 23 and the coaxial setting of the output shaft of following spindle motor seat 25, and its other end is by lead screw shaft bearing 21 spacing and supports down, following leading screw bearing cover 20 is arranged on down the end of lead screw shaft bearing 21, following leading screw guide housing 22 then is arranged on down between lead screw shaft bearing 21 and the following spindle motor seat 25, and the outside of cover infra ball-screw 23, and with following ball-screw 23 the axle concentric setting, following leading screw guide housing 22 also has the gathering sill B of ball-screw 23 axis directions under the edge at its middle part, side, on the following feed screw nut 24 cover infra ball-screws 23 and spacing in gathering sill B, promptly descend the following feed screw nut 24 of ball-screw 23 to move, but must be limited in the gathering sill B scope along the axis direction of following ball-screw 23.
Puncture needle mechanism comprises puncture needle 28, puncture needle fixed mechanism A and puncture needle fixed mechanism B, puncture needle fixed mechanism A and puncture needle fixed mechanism B are separately positioned on screw mechanism and the following screw mechanism, and puncture needle 28 then is fixed on puncture needle fixed mechanism A and the puncture needle fixed mechanism B simultaneously.
Further, puncture needle fixed mechanism A comprises fairlead U-shaped locating ring A29, fairlead cylindricality locating ring A30, location battle pin A31 and puncture needle fairlead A32, fairlead U-shaped locating ring A29 and above-mentioned last feed screw nut 16 are connected by sliding bearing, and it is a symmetrical structure, its turning cylinder is perpendicular to the axle of last ball-screw 15, fairlead cylindricality locating ring A30 is connected the opening of fairlead U-shaped locating ring A29 by the location battle pin A31 of its both sides, fairlead cylindricality locating ring A30 can be around location battle pin A31 rotation, its inside also is provided with puncture needle fairlead A32 with one heart, and puncture needle 28 then is located in the puncture needle fairlead A32.
And puncture needle fixed mechanism B with comprise fairlead U-shaped locating ring B33, fairlead cylindricality locating ring B34, location battle pin B35 and puncture needle fairlead B36, fairlead U-shaped locating ring B33 and above-mentioned following feed screw nut 24 are connected by sliding bearing, and it is a symmetrical structure, its turning cylinder is perpendicular to the axle of following ball-screw 22, fairlead cylindricality locating ring B34 is connected the opening of fairlead U-shaped locating ring B33 by the location battle pin B35 of its both sides, fairlead cylindricality locating ring B34 can be around location battle pin A35 rotation, its inside also is provided with puncture needle fairlead B36 with one heart, puncture needle 28 then is located in the puncture needle fairlead B36, in addition, the difference of puncture needle fixed mechanism B and puncture needle fixed mechanism A is, fixedly the structure of the puncture needle fairlead B36 of puncture needle 28 is than the contraction in length of puncture needle fairlead A32 along puncture needle 28 directions, but function is constant.
The axis of the axis of above-mentioned puncture needle fairlead A32, location battle pin A31 and the axis of fairlead U-shaped locating ring 29 meet at a bit, form ball pivot A, and the axis of puncture needle fairlead B36, the axis of location battle pin B35 and the axis of fairlead U-shaped locating ring B33 meet at a bit, form ball pivot B.
Operation principle of the present utility model is: the utlity model has 4 degree of freedom, wherein 2 is one-movement-freedom-degree, 2 for forwarding degree of freedom to, last screw mechanism integral body is under direct current generator 7 drives, can be around the main axis rotation of bevel gear wheel A10, same, following screw mechanism integral body is under direct current generator 7 drives, can be around the main axis rotation of bevel gear wheel B11, and these 2 rotary joints can move in ± 90 °.Last feed screw nut 16 and following feed screw nut 24 are respectively under the driving of last leading screw direct current generator 19 and following leading screw direct current generator 27, do translational motion along last ball-screw 15 and following ball-screw 24 respectively, drive puncture needle fairlead A32 and puncture needle fairlead B36 and do translational motion together, therefore, last screw mechanism can be done translation and rotatablely move, following screw mechanism also can be done translation and rotatablely move, and forms two polar coordinate up and down.
Before the operation, patient's affected areas is carried out CT/MRI medical image tomoscan, extract the gauge point position, set up image coordinate system by Flame Image Process.During operation, binocular stereo vision system keeps track vision localization template is set up robot base's coordinate system through mathematical tool again, and the binocular tri-dimensional vision system is followed the tracks of the gauge point of patient's body surface again, sets up external gauge point coordinate system.Through a series of spaces rigid body translation process, make the doctor be mapped to robot base's coordinate space like this in the operation puncturing path of image space planning.Separate by the robot kinematics is counter, calculate each joint motions value, direct current generator 7 and last leading screw direct current generator 19 and following leading screw direct current generator 27 drive each joint to assigned address.When finished the location, the puncture needle fairlead A32 and the puncture needle fairlead B36 of screw mechanism and following screw mechanism promptly formed space vector in the connection, thereby realized the locus of operation puncturing pin and the location of attitude.
Above specific embodiment is set forth embodiment of the present utility model; this elaboration does not have limitation; shown in the accompanying drawing also is basic embodiment of the present utility model; practical structure is not limited thereto; so; if those skilled in the art or research worker are enlightened by it; under the situation that does not break away from this utility model creation aim; adopt other similar topological structure; other similar drive mechanism; perhaps just change the rod member size; design the version similar without creationary, all should belong to protection domain of the present utility model to this technical scheme.
Claims (9)
1. three drive bipolar coordinate four-freedom parallel device people, it is characterized in that: comprise screw mechanism, following screw mechanism, puncture needle mechanism, Bevel Gear Transmission mechanism, main connecting plate, parallel connection platform fixed mount and bracing frame, wherein, parallel connection platform fixed mount one end is provided with the three-jaw structure, its three-jaw structure is fixed on the main connecting plate by trip bolt, the parallel connection platform fixed mount other end also is provided with hickey, it is connected with bracing frame by hickey, and Bevel Gear Transmission mechanism is positioned at main connecting plate one side and be connected with main connecting plate, last screw mechanism and following screw mechanism are symmetricly set in the both sides at main connecting plate center respectively, and be connected with Bevel Gear Transmission mechanism respectively, form two rotational freedoms, puncture needle mechanism then is arranged on screw mechanism and the following screw mechanism simultaneously, forms two one-movement-freedom-degrees.
2. according to claim 1 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that described Bevel Gear Transmission mechanism comprises the bevel pinion motor cabinet, the bevel pinion seat, large conic gear seat A, large conic gear seat B, direct current generator, the bevel pinion shaft coupling, bevel pinion, bevel gear wheel A and bevel gear wheel B, wherein, the bevel pinion motor cabinet, the bevel pinion seat, large conic gear seat A and large conic gear seat B are fixed on the main connecting plate by trip bolt respectively, direct current generator is fixed on the bevel pinion motor cabinet, its output shaft is connected with an end of bevel pinion shaft coupling, the other end of bevel pinion shaft coupling is connected with the turning cylinder of bevel pinion, and the spacing and support by the bevel pinion seat of the turning cylinder of bevel pinion, the axis of the turning cylinder of bevel gear wheel A and bevel gear wheel B point-blank, and simultaneously with vertical setting of turning cylinder of bevel pinion, and the turning cylinder of bevel gear wheel A and bevel gear wheel B passes through large conic gear seat A respectively and large conic gear seat B is spacing and support, and bevel gear wheel A and bevel gear wheel B mesh with bevel pinion simultaneously.
3. according to claim 1 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that the described screw mechanism of going up comprises the leading screw bearing cover, last lead screw shaft bearing, last leading screw guide housing, last ball-screw, last feed screw nut, last spindle motor seat, last leading screw shaft coupling and last leading screw direct current generator, wherein, last spindle motor seat respectively with the turning cylinder interference fit of above-mentioned bevel gear wheel A, last leading screw direct current generator is connected the side of spindle motor seat by screw, its output shaft and the locking of last leading screw shaft coupling one end, the other end of last leading screw shaft coupling is connected with the end of last ball-screw of bearing block on passing the spindle motor seat, last ball-screw and the coaxial setting of the output shaft of last spindle motor seat, and its other end is spacing and support by last lead screw shaft bearing, last leading screw bearing cover is arranged on the end of lead screw shaft bearing, last leading screw guide housing then is arranged between lead screw shaft bearing and the last spindle motor seat, and be enclosed within the outside of ball-screw, and with last ball-screw the axle concentric setting, last leading screw guide housing middle part, its side also have along on the gathering sill A of ball-screw axis direction, last feed screw nut is enclosed within on the ball-screw and is spacing in gathering sill A.
4. according to claim 1 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that described screw mechanism down comprises leading screw bearing cover down, following lead screw shaft bearing, following leading screw guide housing, following ball-screw, following feed screw nut, following spindle motor seat, following leading screw shaft coupling and following leading screw direct current generator, wherein, following spindle motor seat respectively with the turning cylinder interference fit of above-mentioned bevel gear wheel B, following leading screw direct current generator is connected down the side of spindle motor seat by screw, its output shaft and following leading screw shaft coupling one end locking, the other end of following leading screw shaft coupling is connected with the end of following ball-screw of bearing block on passing down the spindle motor seat, following ball-screw and the coaxial setting of the output shaft of following spindle motor seat, and its other end is by the spacing and support of lead screw shaft bearing down, following leading screw bearing cover is arranged on down the end of lead screw shaft bearing, following leading screw guide housing then is arranged on down between lead screw shaft bearing and the following spindle motor seat, and the outside of cover infra ball-screw, and with following ball-screw the axle concentric setting, following leading screw guide housing middle part, its side also have along under the gathering sill B of ball-screw axis direction, on the following screw nut sleeve infra ball-screw and spacing in gathering sill B.
5. according to claim 1 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that described puncture needle mechanism comprises puncture needle, puncture needle fixed mechanism A and puncture needle fixed mechanism B, puncture needle fixed mechanism A and puncture needle fixed mechanism B are separately positioned on screw mechanism and the following screw mechanism, and puncture needle then is fixed on puncture needle fixed mechanism A and the puncture needle fixed mechanism B simultaneously.
6. according to claim 5 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that described puncture needle fixed mechanism A comprises fairlead U-shaped locating ring A, fairlead cylindricality locating ring A, location battle pin A and puncture needle fairlead A, fairlead U-shaped locating ring A is connected by sliding bearing with above-mentioned last feed screw nut, and it is a symmetrical structure, its turning cylinder is perpendicular to the axle of last ball-screw, fairlead cylindricality locating ring A is connected the opening of fairlead U-shaped locating ring A by the location battle pin A of its both sides, its inside also is provided with puncture needle fairlead A with one heart, and puncture needle then is located in the puncture needle fairlead A.
7. according to claim 5 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that described puncture needle fixed mechanism B comprises fairlead U-shaped locating ring B, fairlead cylindricality locating ring B, location battle pin B and puncture needle fairlead B, fairlead U-shaped locating ring B is connected by sliding bearing with above-mentioned following feed screw nut, and it is a symmetrical structure, its turning cylinder is perpendicular to the axle of following ball-screw, fairlead cylindricality locating ring B is connected the opening of fairlead U-shaped locating ring B by the location battle pin B of its both sides, its inside also is provided with puncture needle fairlead B with one heart, and puncture needle then is located in the puncture needle fairlead B.
8. according to claim 6 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that the axis of described puncture needle fairlead A, the axis of location battle pin A and the axis of fairlead U-shaped locating ring A meet at a bit, form ball pivot A.
9. according to claim 7 three drive bipolar coordinate four-freedom parallel device people, it is characterized in that the axis of described puncture needle fairlead B, the axis of location battle pin B and the axis of fairlead U-shaped locating ring B meet at a bit, form ball pivot B.
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| CN2010205128780U CN201743777U (en) | 2010-08-30 | 2010-08-30 | Triple-drive dipolar-coordinates and four-degree-of-freedom parallel robot |
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| CN2010205128780U CN201743777U (en) | 2010-08-30 | 2010-08-30 | Triple-drive dipolar-coordinates and four-degree-of-freedom parallel robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101933840A (en) * | 2010-08-30 | 2011-01-05 | 昆山市工业技术研究院有限责任公司 | Three-drive four degree-of-freedom parallel robot with bipolar coordinate |
| CN103919610A (en) * | 2014-04-25 | 2014-07-16 | 哈尔滨工程大学 | Multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure |
| CN104473653A (en) * | 2014-12-17 | 2015-04-01 | 山东科技大学 | Three-degree-of-freedom front arm blood collection robot |
| CN112568980A (en) * | 2020-12-15 | 2021-03-30 | 航天科工智能机器人有限责任公司 | Clamping device suitable for puncture needles of different models and specifications |
-
2010
- 2010-08-30 CN CN2010205128780U patent/CN201743777U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101933840A (en) * | 2010-08-30 | 2011-01-05 | 昆山市工业技术研究院有限责任公司 | Three-drive four degree-of-freedom parallel robot with bipolar coordinate |
| CN101933840B (en) * | 2010-08-30 | 2012-07-25 | 昆山市工业技术研究院有限责任公司 | Three-drive four degree-of-freedom parallel robot with bipolar coordinate |
| CN103919610A (en) * | 2014-04-25 | 2014-07-16 | 哈尔滨工程大学 | Multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure |
| CN103919610B (en) * | 2014-04-25 | 2016-01-27 | 哈尔滨工程大学 | The armed arm mechanism of multiple degrees of freedom micro-wound surgical operation |
| CN104473653A (en) * | 2014-12-17 | 2015-04-01 | 山东科技大学 | Three-degree-of-freedom front arm blood collection robot |
| CN104473653B (en) * | 2014-12-17 | 2016-08-24 | 山东科技大学 | Three Degree Of Freedom forearm blood sampling robot |
| CN112568980A (en) * | 2020-12-15 | 2021-03-30 | 航天科工智能机器人有限责任公司 | Clamping device suitable for puncture needles of different models and specifications |
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Granted publication date: 20110216 Effective date of abandoning: 20120725 |