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A kind of master-slave robot master hand operating wrist

A robot master and hand operation technology, applied in the directions of manipulators, manufacturing tools, joints, etc., can solve problems such as the inability to achieve the balance of force of the manipulator, lack of force feeling, application limitations, etc. The effect of reducing the level of fatigue

Active Publication Date: 2017-05-03
杭州唯精医疗机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention solves the following problems of the mechanical arm at the main hand end in the prior art: 1. The working space is relatively small, the flexibility is not high, and there is a lack of force and torque feedback information; 2. The mechanism is too large, lacks force feeling, and the space utilization rate is low. 3. Its application occasions are limited. 4. The operation is inflexible and the control is complicated. 5. The force balance at any position of the robotic arm itself cannot be achieved. The doctor drives the main hand to operate with a large load and is prone to fatigue, so a master-slave type is provided. The robot master hand operates the wrist

Method used

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  • A kind of master-slave robot master hand operating wrist
  • A kind of master-slave robot master hand operating wrist
  • A kind of master-slave robot master hand operating wrist

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specific Embodiment approach 1

[0015] Specific implementation mode one: combine Figure 1-Figure 4 Describe this embodiment, a master-slave robot master hand operation wrist, which includes an arm connector 1, a first wrist joint assembly 2, a second wrist joint assembly 3, a third wrist joint assembly 4, and a fourth wrist joint assembly 5 And the clamping mechanism connector 6, the first wrist joint assembly 2 includes a first driver 2-1, a first motor 2-2, a first coupling 2-3, a first shaft 2-5, a first absolute angle Encoder 2-6, first housing 2-7 and two first bevel gears 2-4; arm connector 1 is a bar-shaped frame, the first housing 2-7 is a rectangular hollow housing, and the first shell One end of the body 2-7 is fixedly connected to the bottom end of the arm connector 1, and the centerline of the first housing 2-7 along the length direction is perpendicular to the centerline of the arm connector 1 along the length direction, and the first driver 2- 1 is fixedly installed on the side wall of the fi...

specific Embodiment approach 2

[0016] Specific implementation mode two: combination Figure 1-Figure 3 Describe this embodiment, a master-slave robot master hand operates the wrist, and the second wrist joint assembly 3 includes a second driver 3-1, a second motor 3-2, a second coupling 3-3, a second Shaft 3-5, second absolute angle encoder 3-6, second housing 3-7 and two second bevel gears 3-4; second housing 3-7 is an 'L' shaped housing, the second The second driver 3-1 is installed on the second housing 3-7 horizontal plate, the top of the first shaft 2-5 is fixedly installed on the second housing 3-7 horizontal plate, the output end of the second motor 3-2 rotating shaft Fixedly connected with the bottom end of the second shaft coupling 3-3, a second bevel gear 3-4 is fixedly sleeved on the top of the second shaft coupling 3-3, and another second bevel gear 3-4 is fixedly sleeved on On the second shaft 3-5, the second absolute angle encoder 3-6 is fixedly installed on the vertical plate of the second h...

specific Embodiment approach 3

[0017] Specific implementation mode three: combination Figure 1-Figure 4Describe this embodiment, a master-slave robot master hand operates the wrist, and the third wrist joint assembly 4 includes a third driver 4-1, a third motor 4-2, a third coupling 4-3, a third Shaft 4-5, the third absolute angle encoder 4-6, the third housing 4-7 and two third bevel gears 4-4; the third housing 4-7 is an 'L' shaped housing, the third housing 4-7 The two shafts 3-5 are fixedly installed on the vertical plate of the third housing 4-7, the third driver 4-1 is fixedly installed on the vertical plate of the third housing 4-7, and the third motor 4-2 rotating shaft The output end of the third shaft coupling 4-3 is fixed, a third bevel gear 4-4 is fixedly fitted on the other end of the third shaft coupling 4-3, and the third absolute angle encoder 4- 6 is fixedly installed on the horizontal plate of the third housing 4-7, and the rotating shaft of the third absolute angle encoder 4-6 is fixedl...

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Abstract

The invention discloses a main hand operating wrist of a master-slave robot, relates to the main hand operating wrist, and aims to solve the problems that a mechanical arm of a main hand end in the prior art is relatively small in working space, not high in flexibility, lack of force and moment of force feedback information, great in mechanism, lack of sense of force, low in space utilization rate, limited in application occasion, not flexible to operate, complex to operate, incapable of realizing force balance of any position of the mechanical arm, great in load for a doctor to drive the main hand to operate, and fatigable. The main hand operating wrist comprises an arm connector, a first wrist joint assembly, a second wrist joint assembly, a third wrist joint assembly, a fourth wrist joint assembly and a clamping mechanism connector, wherein the first wrist joint assembly comprises a first driver, a first motor, a first shaft coupler, a first shaft, a first absolute type angle encoder, a first housing and two first bevel gears. The main hand operating wrist is used for the field of medical robots.

Description

technical field [0001] The invention relates to a wrist operated by a master hand, in particular to a wrist operated by a master hand of a master-slave robot. Background technique [0002] In order to achieve good real-time status feedback and deal with complex situations during surgery, medical robotic systems for surgery usually use master-slave robotic arms. The operator drives the end of the master hand to move, and the joints of the master manipulator are mainly passive. The joint movement information is measured and mapped to the end of the slave manipulator, and the slave manipulator is driven to achieve the corresponding movement. [0003] At present, there are mainly the following types of robotic arms commonly used for the main hand. The ZEUS system manipulator developed by American Computer Motion Company has relatively small working space, low flexibility and lack of force / torque feedback information. The da Vinci system developed by IntuitiveSurgical has power...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02
CPCB25J17/02
Inventor 潘博付宜利王涛闫佳雯张少凡王树国
Owner 杭州唯精医疗机器人有限公司
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