CN113787512B - Arc motion steel wire rope driving mechanism - Google Patents
Arc motion steel wire rope driving mechanism Download PDFInfo
- Publication number
- CN113787512B CN113787512B CN202111193999.2A CN202111193999A CN113787512B CN 113787512 B CN113787512 B CN 113787512B CN 202111193999 A CN202111193999 A CN 202111193999A CN 113787512 B CN113787512 B CN 113787512B
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- guide rail
- arc
- wire rope
- shaped
- steel wire
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a steel wire rope driving mechanism for arc motion, which comprises: an arm support; the rear end of the front ring joint is provided with an arc-shaped guide rail, and the front ring joint is arranged at the front end of the arm support in a sliding manner through the arc-shaped guide rail; the steel wire rope driving device is arranged in the front ring joint, an input mechanism of the steel wire rope driving device is in transmission connection with the arc-shaped guide rail, a steel wire rope is wound on an output mechanism of the steel wire rope driving device, and the steel wire rope is led out of the front ring joint through a pulley. The operation circular motion is smooth, the transmission of the steel wire rope is stable, when the wrist rotates to drive the front ring joint, the inner and outer inner ring arc female guide rails and the outer ring arc female guide rail to do circular motion, the bevel gear starts to rotate under the action of the pushing force of the gear teeth, the rotation of the bevel gear drives the mandrel to rotate, and finally the driving of the steel wire rope on the mandrel is realized.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to an arc-shaped motion steel wire rope driving mechanism.
Background
Minimally invasive surgery, also known as interventional surgery, is a surgery performed by making a plurality of tiny incisions in the body surface (or relying on the natural cavities of the human body), and extending surgical instruments into the body through the body surface incisions for treatment or diagnosis by means of image guidance of a visual display system. In the minimally invasive surgical operation process of the robot, in order to prevent the body surface incision of a patient from being enlarged, a tail end execution mechanism of the robot is kept still at the body surface incision, and in order to keep the tail end execution mechanism flexible and simultaneously not to cause the incision to be enlarged, the tail end execution mechanism is rotated through an arc-shaped guide rail in a common means.
The operation robot needs to simulate the rotation of the wrist in the motion process, so that the operation master hand of the robot needs to have a corresponding rotation function and lead out the rotation motion through a steel wire rope, the existing operation master hand usually adopts an arc-shaped guide rail, but the arc motion of the conventional arc-shaped guide rail is easy to block when the arc motion is loaded, the operation is uncomfortable, and the transmission of the steel wire rope is unstable.
Disclosure of Invention
The invention provides an arc-shaped movement steel wire rope driving mechanism, and aims to solve the problems that when a wrist of a master hand is operated to rotate, arc movement is blocked, personnel are uncomfortable to operate, steel wire rope transmission is unstable, and the like.
In order to achieve the above object, an embodiment of the present invention provides an arc motion cable driving mechanism, including:
an arm support;
the rear end of the front ring joint is provided with an arc-shaped guide rail, and the front ring joint is arranged at the front end of the arm support in a sliding manner through the arc-shaped guide rail;
the steel wire rope driving device is arranged in the front ring joint, an input mechanism of the steel wire rope driving device is in transmission connection with the arc-shaped guide rail, a steel wire rope is wound on an output mechanism of the steel wire rope driving device, and the steel wire rope is led out of the front ring joint through a pulley.
The arc guide rail is provided with an arc male guide rail, an inner ring arc female guide rail and an outer ring arc female guide rail, the arc male guide rail is fixedly arranged on the arm support, the inner ring arc female guide rail and the outer ring arc female guide rail are fixedly arranged on the front ring joint, and the arc male guide rail is slidably arranged between the inner ring arc female guide rail and the outer ring arc female guide rail.
The arc-shaped male guide rail is characterized in that a plurality of male guide rail threaded holes which are circumferentially arranged are formed in the bottom of the arc-shaped male guide rail, and the arc-shaped male guide rail is arranged on the arm support through the male guide rail threaded holes.
The front ring joint is provided with two rows of shell threaded holes, and the inner ring arc female guide rail and the outer ring arc female guide rail are respectively connected with the front ring joint through the two rows of shell threaded holes.
The upper part and the lower part of the two sides of the arc-shaped male guide rail are both provided with a plurality of balls, and the arc-shaped male guide rail is arranged between the inner ring arc-shaped female guide rail and the outer ring arc-shaped female guide rail in a sliding manner through the balls.
The ball bearing device comprises an inner ring arc female guide rail, an outer ring arc female guide rail, ball bearing mounting grooves, ball bearing mounting holes, balls, a ball bearing, an inner ring arc male guide rail, an outer ring arc female guide rail, a plurality of ball bearing mounting holes, a plurality of balls, a plurality of inner ring arc female guide rails and a plurality of outer ring arc female guide rails.
The arc-shaped male guide rail is provided with an arc-shaped rack along the circumferential direction, the steel wire rope driving device comprises a mandrel and a bevel gear, the mandrel penetrates through the circle center of the bevel gear, the steel wire rope is wound on the mandrel, and the bevel gear is in meshing transmission with the arc-shaped rack.
The center of the bevel gear is provided with a square hole, the middle part of the mandrel is a square shaft section, and the square shaft section of the mandrel is matched with the square hole of the bevel gear.
The mandrel is provided with a spiral groove, and the steel wire rope is wound in the spiral groove.
The scheme of the invention has the following beneficial effects:
the arc-shaped motion steel wire rope driving mechanism is provided with a front ring joint, the front ring joint is provided with a mandrel, a bevel gear is sleeved on the mandrel, the gear teeth of the bevel gear are meshed with an arc-shaped rack on an arc-shaped male guide rail, the front ring joint is connected with an inner ring arc-shaped female guide rail and an outer ring arc-shaped female guide rail through screws, the arc-shaped male guide rail is fixed on an arm support, and the axes of the male arc-shaped guide rail, the female arc-shaped guide rail and the arm support are superposed; a ball retainer is arranged between the male and female arc-shaped guide rails; when the main hand operates, the wrist rotates to drive the front ring joint, the inner and outer inner ring arc female guide rails and the outer ring arc female guide rail to do circular motion, the bevel gear starts to rotate under the action of the gear tooth thrust force and keeps meshed motion with the gear teeth arranged on the arc male guide rail, the bevel gear rotates to drive the mandrel to rotate, and finally the driving of the steel wire rope on the mandrel is realized.
Drawings
FIG. 1 is a first schematic structural view of an arcuate motion wire rope drive mechanism of the present invention;
FIG. 2 is a schematic structural diagram of a wire rope driving mechanism for arc motion according to the present invention
FIG. 3 is a schematic side cross-sectional view of the arcuate motion cable drive mechanism of the present invention;
FIG. 4 is a schematic view of the mandrel of the arcuate motion wire rope drive mechanism of the present invention;
FIG. 5 is a schematic view of the front ring joint assembly of the arcuate motion wire rope drive mechanism of the present invention;
FIG. 6 is a schematic view of the arcuate male rail of the arcuate motion wire rope drive mechanism of the present invention;
FIG. 7 is a schematic view of a ball cage of the arcuate motion cable drive mechanism of the present invention;
FIG. 8 is a schematic view of the arcuate female guide rail of the arcuate motion wire rope drive mechanism of the present invention;
FIG. 9 is a schematic view of the bevel gear assembly of the arcuate motion cable drive mechanism of the present invention;
fig. 10 is a third structural schematic diagram of the arc motion steel wire rope driving mechanism of the invention.
[ description of reference ]
1-arm support; 2-anterior ring joint; 3-a steel wire rope; 4-arc male guide rail; 5-inner ring arc female guide rail; 6-outer ring arc female guide rail; 7-threaded hole of male guide rail; 8-a threaded hole of the shell; 10-a ball cage; 11-ball retainer mounting grooves; 12-ball mounting holes; 13-arc rack; 14-a mandrel; 15-bevel gear; 16-helical groove; 17-ball retainer limit screw holes; 18-a guide pulley; 19-leading-out pulley.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention provides an arc-shaped movement steel wire rope driving mechanism, which aims at the problems that the arc movement is blocked when the wrist of a main hand is operated to rotate, the operation of personnel is uncomfortable, the transmission of a steel wire rope is unstable and the like.
As shown in fig. 1, 2 and 10, an embodiment of the present invention provides an arc motion wire rope driving mechanism, including: an arm rest 1; the rear end of the front ring joint 2 is provided with an arc-shaped guide rail, and the front ring joint 2 is arranged at the front end of the arm support 1 in a sliding manner through the arc-shaped guide rail; the steel wire rope driving device is arranged in the front ring joint 2 and packaged through a cover plate, an input mechanism of the steel wire rope driving device is in transmission connection with the arc-shaped guide rail, a steel wire rope 3 is wound on an output mechanism of the steel wire rope driving device, and the steel wire rope 3 is led out of the front ring joint 2 through a pulley.
In the arc-shaped movement steel wire rope driving mechanism according to the above embodiment of the present invention, the front ring joint 2 is slidably connected to the arm support 1 through the arc-shaped guide rail, and when the front ring joint 2 moves in an arc shape relative to the arm support 1, the steel wire rope driving device and the arc-shaped guide rail move synchronously, so as to drive the steel wire rope 3.
As shown in fig. 1, 2, 3 and 5, the arc-shaped guide rail is provided with an arc-shaped male guide rail 4, an inner ring arc-shaped female guide rail 5 and an outer ring arc-shaped female guide rail 6, the arc-shaped male guide rail 4 is fixedly arranged on the arm support 1, a plurality of male guide rail threaded holes 7 which are circumferentially arranged are formed in the bottom of the arc-shaped male guide rail 4, and the arc-shaped male guide rail 4 is installed on the arm support 1 through the male guide rail threaded holes 6. Two rows of shell threaded holes 8 are formed in the front ring joint 2, the inner ring arc female guide rail 5 and the outer ring arc female guide rail 6 are connected with the front ring joint 2 through the two rows of shell threaded holes 8 respectively, the inner ring arc female guide rail 5 and the outer ring arc female guide rail 6 are fixedly arranged on the front ring joint 2, and the arc male guide rail 4 is slidably arranged between the inner ring arc female guide rail 5 and the outer ring arc female guide rail 6.
A plurality of balls are arranged on the upper and lower sides of the two sides of the arc-shaped male guide rail 4, and the arc-shaped male guide rail 4 is arranged between the inner ring arc-shaped female guide rail 5 and the outer ring arc-shaped female guide rail 6 in a sliding mode through the balls.
As shown in fig. 7, 8, 9 and 10, ball holders 10 are respectively disposed on two sides of the arc-shaped male guide rail 4, ball holder mounting grooves 11 are formed in the inner ring arc-shaped female guide rail 5 and the outer ring arc-shaped female guide rail 6, a plurality of ball mounting holes 12 are formed in the upper side and the lower side of each ball holder 10, each ball mounting hole 12 is internally provided with a ball, and two exposed ends of the ball are respectively in contact with the arc-shaped male guide rail 4 and the inner ring arc-shaped female guide rail 5 or the outer ring arc-shaped female guide rail 6.
In the arc-shaped motion steel wire rope driving mechanism according to the above embodiment of the present invention, the ball retainer 10 is installed between the arc-shaped male guide rail 4 and the inner ring arc-shaped female guide rail 5 or the outer ring arc-shaped female guide rail 6, the balls are arranged on the ball retainer 10 in an arc shape, and the arc-shaped male guide rail 4, the inner ring arc-shaped female guide rail 5 and the outer ring arc-shaped female guide rail 6 all have grooves in which the balls roll, so that it is ensured that the relative motion form between the inner ring arc-shaped female guide rail 5 or the outer ring arc-shaped female guide rail 6 and the arc-shaped male guide rail 4 is rolling, and the friction force is greatly reduced; the end surfaces of the inner ring arc female guide rail 5 and the outer ring arc female guide rail 6 are provided with ball retainer limiting threaded holes 17, and after the ball retainer 10 is screwed with screws, the head part of the screw can prevent the ball retainer 10 from falling off from the guide rails.
As shown in fig. 2, 6 and 9, the arc-shaped male guide rail 4 is provided with an arc-shaped rack 13 along the circumferential direction, the steel wire rope driving device includes a mandrel 14 and a bevel gear 15, the mandrel 14 is inserted in the center of the bevel gear 15, the steel wire rope 3 is wound on the mandrel 14, and the bevel gear 15 is in meshing transmission with the arc-shaped rack 13.
As shown in fig. 4 and 9, a square hole is formed in the center of the bevel gear 15, a square shaft section is arranged in the middle of the mandrel 14, and the square shaft section of the mandrel 14 is matched with the square hole of the bevel gear 15.
The mandrel 14 is provided with a spiral groove 16, and the steel wire rope 3 is wound in the spiral groove 16.
According to the arc-shaped movement steel wire rope driving mechanism disclosed by the embodiment of the invention, when a main operator operates, the wrist rotates to drive the front ring joint 2, the inner ring arc-shaped female guide rail 5 and the outer ring arc-shaped female guide rail 6 to do arc movement, and the bevel gear 15 starts to rotate under the action of the pushing force of the arc-shaped rack 13; the bevel gear 15 rotates to drive the mandrel 14 to rotate, finally, the steel wire rope 3 on the mandrel 14 is driven, and the movement of the steel wire rope 3 is guided by the guide pulley 18 and guided out by the guide pulley 19.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. An arcuate motion wire rope drive mechanism, comprising:
an arm support;
the rear end of the front ring joint is provided with an arc-shaped guide rail, and the front ring joint is arranged at the front end of the arm support in a sliding manner through the arc-shaped guide rail;
the steel wire rope driving device is arranged in the front ring joint, an input mechanism of the steel wire rope driving device is in transmission connection with the arc-shaped guide rail, a steel wire rope is wound on an output mechanism of the steel wire rope driving device, and the steel wire rope is led out of the front ring joint through a pulley;
the arc-shaped guide rail is provided with an arc-shaped male guide rail, an inner ring arc-shaped female guide rail and an outer ring arc-shaped female guide rail, the arc-shaped male guide rail is fixedly arranged on the arm support, the inner ring arc-shaped female guide rail and the outer ring arc-shaped female guide rail are fixedly arranged on the front ring joint, and the arc-shaped male guide rail is slidably arranged between the inner ring arc-shaped female guide rail and the outer ring arc-shaped female guide rail;
a plurality of balls are arranged on the upper and lower parts of the two sides of the arc-shaped male guide rail, and the arc-shaped male guide rail is arranged between the inner ring arc-shaped female guide rail and the outer ring arc-shaped female guide rail in a sliding manner through the balls;
ball holders are respectively arranged on two sides of the arc-shaped male guide rail, ball holder mounting grooves are formed in the inner ring arc-shaped female guide rail and the outer ring arc-shaped female guide rail, a plurality of ball mounting holes are formed in the upper side and the lower side of each ball holder, a ball is arranged in each ball mounting hole, and two exposed ends of each ball are respectively contacted with the arc-shaped male guide rail and the inner ring arc-shaped female guide rail or the outer ring arc-shaped female guide rail;
and ball retainer limiting threaded holes are formed in the end surfaces of the inner ring arc-shaped female guide rail and the outer ring arc-shaped female guide rail, so that the ball retainers are prevented from being separated from the guide rails.
2. The arcuate motion wire rope drive mechanism as defined in claim 1, wherein said arcuate male rail has a plurality of circumferentially aligned male rail threaded holes formed in a bottom portion thereof, said arcuate male rail being mounted to said arm bracket through said male rail threaded holes.
3. The arcuate motion wire rope drive mechanism as defined in claim 1, wherein the front ring joint is provided with two rows of housing threaded holes, and the inner ring arcuate female guide rail and the outer ring arcuate female guide rail are connected to the front ring joint through the two rows of housing threaded holes, respectively.
4. The arcuate motion wire rope drive mechanism as claimed in claim 1, wherein the arcuate male rail is provided with an arcuate rack along a circumferential direction, the wire rope drive device comprises a mandrel and a bevel gear, the mandrel is inserted into a center of the bevel gear, the mandrel is wound with the wire rope, and the bevel gear is in meshing transmission with the arcuate rack.
5. The arcuate motion wire rope drive mechanism as defined in claim 4, wherein said bevel gear has a square hole formed in the center thereof, said mandrel has a square shaft section at the middle thereof, and said square shaft section of said mandrel is fitted into said bevel gear square hole.
6. The arcuate motion cable wire drive mechanism as defined in claim 4, wherein said mandrel defines a helical groove, said cable wire being wound in said helical groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111193999.2A CN113787512B (en) | 2021-10-13 | 2021-10-13 | Arc motion steel wire rope driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111193999.2A CN113787512B (en) | 2021-10-13 | 2021-10-13 | Arc motion steel wire rope driving mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113787512A CN113787512A (en) | 2021-12-14 |
| CN113787512B true CN113787512B (en) | 2023-03-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111193999.2A Active CN113787512B (en) | 2021-10-13 | 2021-10-13 | Arc motion steel wire rope driving mechanism |
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| Country | Link |
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| CN (1) | CN113787512B (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI386291B (en) * | 2009-11-30 | 2013-02-21 | Ind Tech Res Inst | A power transmission mechanism and a robot utilizing the mechanism are presented |
| CN202515948U (en) * | 2012-03-30 | 2012-11-07 | 东华大学 | Wrist joint rehabilitation training device |
| CN202637381U (en) * | 2012-06-06 | 2013-01-02 | 常州汉迪机器人科技有限公司 | Robot for human body upper limb rehabilitation |
| CN111067627A (en) * | 2019-12-31 | 2020-04-28 | 常州脉康仪医疗机器人有限公司 | Seven-degree-of-freedom master manipulator for surgical robot |
| CN113729969B (en) * | 2021-10-11 | 2023-05-16 | 中南大学 | Force feedback integrated minimally invasive surgical robot |
| CN113749784B (en) * | 2021-10-11 | 2023-06-20 | 中南大学 | Force feedback transmission system of surgical robot |
| CN113752280B (en) * | 2021-10-12 | 2023-02-03 | 中南大学 | Seven-degree-of-freedom decoupling main manipulator |
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2021
- 2021-10-13 CN CN202111193999.2A patent/CN113787512B/en active Active
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| Publication number | Publication date |
|---|---|
| CN113787512A (en) | 2021-12-14 |
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