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Six-freedom-degree parallel robot

A degree of freedom and robot technology, applied in the field of medical devices, can solve problems such as large cumulative error at the end, inconvenience for doctors, and large operating environment space, and achieve the effect of small and compact mechanism design and small space occupation

Pending Publication Date: 2018-03-09
嘉兴复尔机器人有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The device used by traditional surgical robots to adjust the position and posture of surgical instruments often adopts the mechanism configuration of series arms. inconvenient

Method used

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Embodiment Construction

[0027] In order to make the object, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0028] Such as figure 1 As shown, a six-degree-of-freedom parallel robot includes an upper platform 1, a lower platform 2, a motion chain and a control device. The upper platform 1 and the lower platform 2 are connected by six motion chains, such as image 3 As shown, the six kinematic branch chains are arranged in the form of spokes, and for the upper platform, the distribution angle α between the hinge points of each kinematic branch chain 上 and angle β 上 The included angles are 30° and 90° in turn, and for the lower platform, the distribution angle α between the hinge points of each of the kinematic branches 下 and angle β 下 The included angles are 20° and 100° in turn; the motion branch chain includes the first spherical joint 3, the miniature elect...

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Abstract

The invention provides a six-freedom-degree parallel robot and relates to the field of medical instruments. The six-freedom-degree parallel robot comprises an upper platform (1), a lower platform (2),movement branch chains and a control device, wherein the upper platform (1) and the lower platform (2) are connected through the six movement branch chains; each movement branch chain comprises a first spherical hinge (3), a micro electric push rod (4), a lower connection part (5) and a second spherical hinge (6), the first spherical hinge (3) is connected with the upper platform (1), and the second spherical hinge (6) is connected with the lower platform (2); the control device is used for controlling movement of the six-freedom-degree parallel robot. The six-freedom-degree parallel robot disclosed by the invention has the advantages of strong mechanical strength, small accumulated error, small and compact structure design, small space occupation and obvious advantage in volume comparedwith a traditional parallel mechanism.

Description

technical field [0001] The invention relates to the field of medical devices, in particular to a six-degree-of-freedom parallel robot. Background technique [0002] With the continuous development of medical technology, the treatment measures for various diseases are constantly being introduced, and surgical robots for the medical field are gradually appearing in our field of vision. The core purpose of surgical robots is to adjust the position and posture of surgical instruments to replace doctors in completing some precise operations that are easy to plan. The device used by traditional surgical robots to adjust the position and posture of surgical instruments often adopts the mechanism configuration of series arms. inconvenient. The present invention designs a pose adjustment robot based on the configuration of a parallel mechanism, which can realize the actively driven six-degree-of-freedom position and attitude adjustment operation, and the mechanism is small and comp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0057
Inventor 林艳萍栾楠宋巴特尔王鹏飞陈斌斌
Owner 嘉兴复尔机器人有限公司
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