CN114343857A - Power-assisted mechanism and manipulator - Google Patents
Power-assisted mechanism and manipulator Download PDFInfo
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- CN114343857A CN114343857A CN202210014975.4A CN202210014975A CN114343857A CN 114343857 A CN114343857 A CN 114343857A CN 202210014975 A CN202210014975 A CN 202210014975A CN 114343857 A CN114343857 A CN 114343857A
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Abstract
The invention provides a power assisting mechanism and an operator, and relates to the technical field of medical equipment. When the external force applied to the rod body disappears, the elastic assembly can apply a reaction force to the rod body, balance the gravity of the rod body and the load of the rod body, and reduce the autonomous movement of the rod body after an operator takes off the hand, so that the autonomous balance capability of the rod assembly on the manipulator is improved, the linkage and output burden of each control part of the manipulator can be reduced, and the manipulation performance of the manipulator is improved.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a power assisting mechanism and an operating hand.
Background
The surgical robot system has a wide application range, and can be applied to operations such as kidney lesion excision, ureter replantation, and gallbladder excision, a surgeon can keep away from an operating table and perform operation through an operating hand on an operating console, or the operating hand is combined with real-time 3D images, and the hand action of the surgeon is transmitted to the tail end of a mechanical arm through the operating hand to be executed, so that the operation is completed.
In the prior art, an operator of a surgical robot system usually adopts active operation control, assists an operator to easily realize surgical actions through program operation, and can autonomously complete planned trajectory motion to avoid behavior risks caused by misoperation and the like.
However, most of the rod members on the manipulator of the surgical robot system have a heavy hand feeling when operated in a mechanical motion mode, and the self-balancing capability of swinging to any position is poor, and the rod members can generate directional self-motion under the influence of gravity after an operator releases his hand.
Disclosure of Invention
The invention solves the problem of how to improve the autonomous balance capability of the rod piece on the manipulator and improve the control performance of the manipulator.
In order to solve the above problems, the present invention provides a power assisting mechanism, including a rod member assembly, a first support assembly, a second support assembly, and an elastic assembly, where the rod member assembly includes a rod member body, the rod member body is adapted to be connected to the first support assembly and rotate in a first axial direction, one end of the elastic assembly is adapted to be connected to the rod member body and rotate in a second axial direction parallel to the first axial direction, and the other end of the elastic assembly is adapted to be connected to the second support assembly and rotate in a third axial direction parallel to the first axial direction.
Optionally, the first support assembly includes a first support seat and a first rotating shaft, the first rotating shaft is disposed on the first support seat along the first axial direction, and the rod body is adapted to be connected with the first rotating shaft and rotate in the first axial direction.
Optionally, the rod member assembly further comprises a second rotating shaft, the second rotating shaft is arranged on the rod member body along the second axial direction, the elastic assembly comprises a spring part and a spring rod, the spring part is a cylindrical spring, the cylindrical spring is sleeved on the spring rod, and one end of the spring rod is suitable for being connected with the second rotating shaft and rotating in the second axial direction.
Optionally, the second support assembly includes a second support seat and a third rotating shaft, the third rotating shaft is disposed on the second support seat along the third axial direction, and a portion of the spring rod away from the second rotating shaft is adapted to be connected to the third rotating shaft and rotate in the third axial direction.
Optionally, the second support assembly further includes a rotary base, the rotary base is connected to the third rotating shaft, and a portion of the spring rod away from the second rotating shaft is adapted to be connected to the rotary base and rotate in the third axial direction together with the rotary base.
Optionally, the rotating base includes a base body and a guide hole, the base body is connected to the third rotating shaft, the guide hole is disposed on the base body, and a portion of the spring rod away from the second rotating shaft is adapted to extend into the guide hole and slide along a length direction.
Optionally, the elastic assembly further includes a limiting structure, the limiting structure is disposed on a portion of the spring rod close to the second rotating shaft, one end of the cylindrical spring abuts against the limiting structure, and the other end of the cylindrical spring abuts against the rotating seat.
Optionally, the rod assembly further includes a load member, a plurality of load mounting positions are arranged on the rod body, the load mounting positions are arranged at intervals along the length direction of the rod body, and the load member is suitable for being mounted on the load mounting positions.
Optionally, the load member is provided with a plurality of load members, and the plurality of load members are suitable for detachable connection.
Compared with the prior art, the invention has the following beneficial effects:
the manipulator of the surgical robot system usually adopts different structural forms to adapt to different requirements, for example, in order to reduce the space occupied by the manipulator on the console and improve the comfort of the operator during operation, the manipulator can adopt a forward mounting mode different from a conventional hoisting mode, and a bent connecting arm is adopted between every two attitude joints, at this time, a part of the structure of a certain attitude joint of the manipulator can be used as a first supporting component of a power assisting mechanism, a second supporting component of the power assisting mechanism is arranged at a bent part of the connecting arm corresponding to the attitude joint, a rod body is connected with the first supporting component and can rotate in a first axial direction, one end of an elastic component is connected with the rod body and can rotate in a second axial direction parallel to the first axial direction, when the rod body rotates in the first axial direction under the action of external force, the acting force can be exerted on the elastic assembly, the other end of the elastic assembly is connected with the second supporting assembly and can rotate in a third axial direction parallel to the first axial direction, and therefore the other end of the elastic assembly cannot move in the length direction of the elastic assembly, the elastic assembly is compressed or elongated under the action of the rod body and the second supporting assembly, when the external force applied to the rod body disappears, the elastic assembly can exert a reaction force on the rod body, the gravity of the rod body and the load of the rod body is balanced, the autonomous movement of the rod body after an operator takes off the hand is reduced, the autonomous balancing capability of the rod assembly on the operator is improved, the linkage and the output burden of each control part of the operator can be reduced, and the control performance of the operator is improved.
Another objective of the present invention is to provide an operating handle, so as to improve the autonomous balance capability of the rod on the operating handle and improve the operation performance of the operating handle.
In order to solve the above problems, the technical solution of the present invention is realized as follows:
an operating hand comprises the power assisting mechanism.
The advantages of the operator and the power assisting mechanism are the same compared with the prior art, and are not described in detail herein.
Drawings
FIG. 1 is a schematic structural diagram of a power assisting mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another perspective of the power assisting mechanism in the embodiment of the present invention;
FIG. 3 is a schematic structural view of another state of the power assisting mechanism in the embodiment of the present invention;
FIG. 4 is a schematic structural diagram illustrating another state of the power assisting mechanism according to the embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another state of the power assisting mechanism in the embodiment of the present invention.
Description of reference numerals:
the device comprises a rod piece assembly 1, a rod piece body 11, a second rotating shaft 12, a load piece 13, a first supporting assembly 2, a first supporting seat 21, a first rotating shaft 22, a second supporting assembly 3, a second supporting seat 31, a third rotating shaft 32, a rotating seat 33, an elastic assembly 4, a spring piece 41, a spring rod 42 and a limiting structure 43.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the description of the present invention, it is to be understood that the forward direction of "X" in the drawings represents the left direction, and correspondingly, the reverse direction of "X" represents the right direction; the forward direction of "Y" represents forward, and correspondingly, the reverse direction of "Y" represents rearward; the forward direction of "Z" represents the upward direction, and correspondingly, the reverse direction of "Z" represents the downward direction, and the directions or positional relationships indicated by the terms "X", "Y", "Z", etc. are based on the directions or positional relationships shown in the drawings of the specification, and are only for convenience of describing and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular direction, be constructed and operated in a particular direction, and thus should not be construed as limiting the present invention.
The terms "first", "second" and "third", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In order to solve the above problem, an embodiment of the present invention provides a power assisting mechanism, including a rod assembly 1, a first support assembly 2, a second support assembly 3, and an elastic assembly 4, where the rod assembly 1 includes a rod body 11, the rod body 11 is adapted to be connected to the first support assembly 2 and rotate in a first axial direction, one end of the elastic assembly 4 is adapted to be connected to the rod body 11 and rotate in a second axial direction parallel to the first axial direction, and the other end of the elastic assembly 4 is adapted to be connected to the second support assembly 3 and rotate in a third axial direction parallel to the first axial direction.
As shown in fig. 1 and fig. 2, in the present embodiment, the first supporting component 2 may be a partial structure of a certain joint of the operating hand, for example, a partial structure of a joint such as attitude pitching, attitude yawing, or attitude turning, and the second supporting component 3 may be fixed on a position on the operating hand, which is at a suitable distance from the joint, for example, a suitable position on a certain arm connected to the joint, by welding, riveting, or bolting, so as not to interfere with the rotation of the lever body 11 in the first axial direction, which is not limited herein; the elastic component 4 may be disposed on the front side of the lever body 11, or may be disposed on the rear side of the lever body 11, and the elastic component 4 may be a combined structure including a type of spring such as a cylindrical spring or a tension spring, for example.
It should be noted that the elastic component 4 is a strip-shaped structure that is combined by one or more components, and after the combination, the whole or a part of the components can be elastically deformed along the length direction, and both ends of the structure can be directly connected with the rod body 11 and the second supporting component 3, for example, when the elastic component 4 is a tension spring, hook structures can be arranged on the rod body 11 and the second supporting component 3, both ends of the tension spring can be respectively hooked on the corresponding hook structures, and both ends of the tension spring can also rotate in the second axial direction and the third axial direction; the two ends of the spring element 41 may also be indirectly connected to the rod element body 11 and the second support assembly 3 through other structures, which will not be described herein.
As shown in fig. 1, the first axial direction is a direction of an imaginary line a, the second axial direction is a direction of an imaginary line b, and the third axial direction is a direction of an imaginary line c.
It should be noted that the phrase "the lever body 11 rotates in the first axial direction", "one end of the elastic member 4 rotates in the second axial direction", and "the other end of the elastic member 4 rotates in the third axial direction" means that the lever body rotates on the axis of each axial direction, and cannot be understood as revolving around each axial direction.
In this way, the rod body 11 is connected to the first support assembly 2 and can rotate in the first axial direction, by connecting one end of the elastic assembly 4 to the rod body 11 and can rotate in the second axial direction parallel to the first axial direction, when the rod body 11 rotates in the first axial direction under the action of an external force, an acting force can be applied to the elastic assembly 4, since the other end of the elastic assembly 4 is connected to the second support assembly 3 and can rotate in the third axial direction parallel to the first axial direction, the other end of the elastic assembly 4 cannot move in the length direction thereof, so that the elastic assembly 4 is compressed or elongated under the action of the rod body 11 and the second support assembly 3, when the external force applied to the rod body 11 disappears, the elastic assembly 4 can apply a reaction force to the rod body 11 to balance the gravity of the rod body 11 and the load thereof, thereby reducing the autonomous movement of the rod body 11 after an operator takes off the hand, therefore, the autonomous balance capacity of the rod component 1 on the manipulator is improved, the linkage and output burden of each control part of the manipulator can be reduced, and the control performance of the manipulator is improved.
Optionally, the first support assembly 2 comprises a first support seat 21 and a first rotating shaft 22, the first rotating shaft 22 is arranged on the first support seat 21 along a first axial direction, and the rod body 11 is adapted to be connected with the first rotating shaft 22 and rotate around the first axial direction.
As shown in fig. 1, in this embodiment, two first supporting seats 21 are provided, the two first supporting seats 21 are disposed in tandem along the first axial direction, a first shaft hole is provided at a position on the rod body 11 near the end, the size of the first shaft hole matches with the size of the first rotating shaft 22, the first rotating shaft 22 passes through the first shaft hole of the rod body 11, and then one end of the first rotating shaft is connected to one first supporting seat 21, and the other end of the first rotating shaft is connected to the other first supporting seat 21, so that the rod body 11 can rotate in the first axial direction.
It should be noted that, in order to enable the rod body 11 to rotate in the first axial direction, the first rotating shaft 22 may be rotatably connected to the first supporting seat 21, the rod body 11 may be fixedly connected to the first rotating shaft 22, the first rotating shaft 22 may be fixedly connected to the first supporting seat 21, the rod body 11 may be rotatably connected to the first rotating shaft 22, the first rotating shaft 22 may be rotatably connected to the first supporting seat 21, and the rod body 11 may also be rotatably connected to the first rotating shaft 22, which is not limited herein.
Optionally, the lever assembly 1 further includes a second rotating shaft 12, the second rotating shaft 12 is disposed on the lever body 11 along a second axial direction, the elastic assembly 4 includes a spring member 41 and a spring rod 42, the spring member 41 is a cylindrical spring, the cylindrical spring is sleeved on the spring rod 42, and one end of the spring rod 42 is adapted to be connected to the second rotating shaft 12 and rotate in the second axial direction.
As shown in fig. 1, 2, 4 and 5, the second rotating shaft 12 may be disposed at an end of the lever body 11 far from the first rotating shaft 22, or may be disposed at a middle portion of the lever body 11 or any suitable position so as not to interfere with the rotation of the lever body 11 in the first axial direction, and the spring member 41 may be capable of rotating in the second axial direction.
In this embodiment, the second rotating shaft 12 is disposed on a portion of the middle of the rod member body 11 near the first rotating shaft 22 along the second axial direction, a second shaft hole is disposed at one end of the spring rod 42 connected to the second rotating shaft 12, the second rotating shaft 12 passes through the second shaft hole and then is connected to the rod member body 11, and the cylindrical spring is sleeved on the spring rod 42 and is driven by the rod member body 11 to rotate together with the spring rod 42 in the second axial direction and to be compressed or extended.
It should be noted that, in order to enable the spring element 41 to rotate in the second axial direction, the second rotating shaft 12 may be rotatably connected to the lever body 11, and the spring rod 42 may be fixedly connected to the second rotating shaft 12, or the second rotating shaft 12 may be fixedly connected to the lever body 11, and the spring rod 42 may be rotatably connected to the second rotating shaft 12, or the second rotating shaft 12 may be rotatably connected to the lever body 11, and the spring rod 42 may also be rotatably connected to the second rotating shaft 12, which may be specifically set as required, and is not limited herein.
Optionally, the second support assembly 3 includes a second support seat 31, a third rotation shaft 32 and a rotation seat 33, the third rotation shaft 32 is disposed on the second support seat 31 along a third axial direction, the rotation seat 33 is connected with the third rotation shaft 32, and a portion of the spring rod 42 away from the second rotation shaft 12 is adapted to be connected with the rotation seat 33 and rotate with the rotation seat 33 along the third axial direction.
As shown in fig. 1, 2, 4 and 5, in the embodiment, the third rotating shaft 32 is disposed between the second supporting seat 31 and the rotating seat 33 along the third axial direction, one end of the third rotating shaft is connected to the second supporting seat 31, and the other end of the third rotating shaft is connected to the rotating seat 33, so that the rotating seat 33 can rotate in the third axial direction, the third rotating shaft 32 may be rotatably connected to the second supporting seat 31, the rotating seat 33 may be fixedly connected to the third rotating shaft 32, the third rotating shaft 32 may be fixedly connected to the second supporting seat 31, the rotating seat 33 may be rotatably connected to the third rotating shaft 32, the third rotating shaft 32 may be rotatably connected to the second supporting seat 31, and the rotating seat 33 may also be rotatably connected to the third rotating shaft 32, which is not limited herein.
It should be noted that the spring rod 42 may adopt a telescopic structure, such as a telescopic rod, at this time, the cylindrical spring is sleeved on the telescopic rod, one end of the telescopic rod is connected with the second rotating shaft 12, and the other end of the telescopic rod may be fixedly or movably connected with the rotating seat 33, when the telescopic rod moves along with the rod body 11, the telescopic rod may be telescopic according to the distance between the second rotating shaft 12 and the third rotating shaft 32 to adjust the length thereof, so as to avoid obstructing the rotation of the rod body 11; the spring rod 42 may also be of a fixed length, which is not described in detail herein.
Alternatively, the rotating base 33 includes a base body connected to the third shaft 32 and a guide hole (not shown) provided on the base body, and a portion of the spring rod 42 away from the second shaft 12 is adapted to extend into the guide hole and slide along the length direction.
As shown in fig. 2 to 5, in the present embodiment, the spring rod 42 is of a structure with a fixed length, and since the rod body 11 is in the process of driving the spring rod 42 to move, when the rod body 11 is in different positions, the distance between the second rotating shaft 12 and the third rotating shaft 32 is different, so that the length of the portion of the spring rod 42 between the second rotating shaft 12 and the third rotating shaft 32 can adapt to the position change of the rod body 11, thereby avoiding blocking the rotation of the rod body 11, a guide hole can be provided on the seat body of the rotating seat 33, the spring rod 42 can be inserted into the guide hole, so that the spring rod and the seat body are connected in a sliding manner, and meanwhile, the inner diameter of the guide hole is smaller than the outer diameter of the cylindrical spring, thereby avoiding the cylindrical spring from falling into the guide hole.
As shown in fig. 3, the longitudinal direction of the spring rod 42 is a direction of a straight line where the imaginary line f is located.
Optionally, the elastic assembly 4 further includes a limiting structure 43, the limiting structure 43 is disposed on a portion of the spring rod 42 close to the second rotating shaft 12, one end of the cylindrical spring abuts against the limiting structure 43, and the other end of the cylindrical spring abuts against the rotating seat 33.
As shown in fig. 1 and fig. 2, the position-limiting structure 43 may be a plate-shaped structure, a column-shaped structure or a block-shaped structure, and is connected to the spring rod 42 by welding, riveting or bolting, in this embodiment, the position-limiting structure 43 is an annular boss structure disposed on a portion of the spring rod 42 close to the second rotating shaft 12, an outer diameter of the annular boss structure is greater than an inner diameter of the cylindrical spring, when the cylindrical spring is sleeved on the spring rod 42, one end of the cylindrical spring close to the second rotating shaft 12 abuts against the annular boss structure, and because the outer diameter of the cylindrical spring is greater than the inner diameter of the guide hole, one end of the cylindrical spring close to the third rotating shaft 32 can abut against the seat body of the rotating seat 33.
Like this, through set up limit structure 43 on spring lever 42, cylindrical spring's one end and limit structure 43 butt, the other end and roating seat 33 butt, when member body 11 with first axial rotation under the effect of external force and when exerting the effort to cylindrical spring, cylindrical spring is compressed and can exert reaction force to member body 11 when the external force that member body 11 received disappears, the gravity of balanced member body 11 and load, reduce the autonomous movement of member body 11 behind the operator takes off hand, thereby improve the autonomic balancing capability of member subassembly 1 on the operator, can reduce each control part's of operator linkage and output burden, improve the operation performance of operator.
Optionally, the rod assembly 1 further includes a load member 13, the rod body 11 is provided with a plurality of load mounting locations, the plurality of load mounting locations are arranged at intervals along the length direction of the rod body 11, the load member 13 is suitable for being mounted on the load mounting locations, the load member 13 is provided with a plurality of load members, and the plurality of load members 13 are suitable for being detachably connected.
As shown in fig. 1 to 5, in order to prevent the improper selection of the spring, the acting force of the spring assembly 4 exceeds the gravity of the rod body 11, which makes the rod body 11 difficult to return, a load member 13 may be disposed on the rod body 11 to increase the total weight of the rod assembly 1, and the load member 13 may be a weight or an iron block, for example.
In this embodiment, in order to add the load member 13 conveniently, a load mounting position may be provided on the rod body 11, the load member 13 may be mounted on the load mounting position, and meanwhile, a plurality of load mounting positions are provided along the length direction of the rod body 11, and the torque of the load member 13 to the first rotating shaft 22 is adjusted by adjusting the distance from the load member 13 to the first rotating shaft 22, and in addition, the total weight of the load member 13 may also be adjusted by detachably connecting a plurality of load members 13, so as to adjust the torque of the load member 13 to the first rotating shaft 22.
As shown in FIG. 3, assuming that the gravity of the rod assembly 1 (including the load member 13) is G, the distance from the gravity acting point to the center point of the first rotating shaft 22 is L2The spring lever 42 has a working point on the lever body 11 (i.e. the center point of the second rotating shaft 12) and a distance L from the center point of the first rotating shaft 223The distance from the center point of the second rotating shaft 12 to the center point of the third rotating shaft 32 is L1The distance from the center point of the first rotating shaft 22 to the center point of the third rotating shaft 32 is H, an included angle between a connecting line from the center point of the first rotating shaft 22 to the center point of the third rotating shaft 32 and the rod body 11 is α (i.e., an included angle between a dashed line d and a dashed line e in fig. 3), an included angle between a connecting line from the center point of the first rotating shaft 22 to the center point of the third rotating shaft 32 and the spring rod 42 is β (i.e., an included angle between a dashed line d and a dashed line f in fig. 3), the current length of the cylindrical spring is S, and the original length (length in a free state) of the cylindrical spring is S0The stiffness coefficient of the cylindrical spring is k, and the current spring force of the cylindrical spring is FkThe balance moment of the cylindrical spring to the first rotating shaft 22 is TkThe total load has a moment T on the first shaft 121And the compensated residual torque is T, then:
FK＝(S0-S)×k；Tk＝Fk×H×sinβ；T1＝G×L2×sinα；
as can be seen from the relationship of the trigonometric function,
the compensated residual torque T can be obtained through calculation,
specifically, each parameter can be determined according to actual needs, so that a proper force balance effect is obtained.
It should be noted that, in the present embodiment, the first rotating shaft 22 is in a structural form that two ends of the first supporting seats 21 are supported, and the spring rod 42 is disposed between two supporting points of the first rotating shaft 22, and along with the rotation of the rod body 11, when the axes of the second rotating shaft 12, the first rotating shaft 22, and the third rotating shaft 32 are located on a straight line, and the first rotating shaft 22 is located between the second rotating shaft 12 and the third rotating shaft 32, the spring rod 41 will interfere with the first rotating shaft 22, so this embodiment is only applicable to a case that the rod body 11 does not need to rotate 360 ° in a whole circle, and since the maximum stroke range of the posture rod of the manipulator of the laparoscopic surgical robot is usually between 240 ° and 280 °, this feature will not affect the normal use of the manipulator.
Another embodiment of the present invention provides an operating hand, including the above power assisting mechanism.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. The utility model provides a booster mechanism, characterized in that, includes member subassembly (1), first supporting component (2), second supporting component (3) and elastic component (4), member subassembly (1) includes member body (11), member body (11) be suitable for with first supporting component (2) are connected and rotate with the first axial, the one end of elastic component (4) be suitable for with member body (11) are connected and rotate with being on a parallel with first axial second axial, the other end of elastic component (4) be suitable for with second supporting component (3) are connected and rotate with being on a parallel with first axial third axial.
2. A power assist mechanism according to claim 1, wherein the first support assembly (2) comprises a first support seat (21) and a first rotating shaft (22), the first rotating shaft (22) is arranged on the first support seat (21) along the first axial direction, and the rod body (11) is adapted to be connected with the first rotating shaft (22) and rotate in the first axial direction.
3. A power assist mechanism according to claim 1 or 2, wherein the lever member assembly (1) further comprises a second rotating shaft (12), the second rotating shaft (12) is arranged on the lever member body (11) along the second axial direction, the elastic assembly (4) comprises a spring member (41) and a spring rod (42), the spring member (41) is a cylindrical spring, the cylindrical spring is sleeved on the spring rod (42), and one end of the spring rod (42) is suitable for being connected with the second rotating shaft (12) and rotating along the second axial direction.
4. A power assist mechanism according to claim 3, wherein the second support member (3) comprises a second support seat (31) and a third rotary shaft (32), the third rotary shaft (32) is arranged on the second support seat (31) along the third axial direction, and the portion of the spring rod (42) far away from the second rotary shaft (12) is adapted to be connected with the third rotary shaft (32) and rotate in the third axial direction.
5. A power assist mechanism according to claim 4, wherein the second support member (3) further comprises a rotary seat (33), the rotary seat (33) being connected to the third rotary shaft (32), a portion of the spring rod (42) remote from the second rotary shaft (12) being adapted to be connected to the rotary seat (33) and to rotate with the rotary seat (33) in the third axial direction.
6. A power assisting mechanism according to claim 5, wherein the rotary seat (33) comprises a seat body and a guide hole, the seat body is connected with the third rotating shaft (32), the guide hole is arranged on the seat body, and the part of the spring rod (42) far away from the second rotating shaft (12) is suitable for extending into the guide hole and sliding along the length direction.
7. A power assisting mechanism according to claim 5, wherein the elastic component (4) further comprises a limiting structure (43), the limiting structure (43) is arranged on a part of the spring rod (42) close to the second rotating shaft (12), one end of the cylindrical spring is abutted with the limiting structure (43), and the other end of the cylindrical spring is abutted with the rotating seat (33).
8. The power assisting mechanism according to any one of claims 1, 2 and 4 to 7, wherein the rod assembly (1) further comprises a load member (13), the rod body (11) is provided with a plurality of load mounting positions, the load mounting positions are arranged at intervals along the length direction of the rod body (11), and the load member (13) is suitable for being mounted on the load mounting positions.
9. A power assist mechanism according to claim 8, wherein said load member (13) is provided in plurality, and a plurality of said load members (13) are adapted to be detachably connected to each other.
10. An operator hand comprising the assist mechanism according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210014975.4A CN114343857A (en) | 2022-01-07 | 2022-01-07 | Power-assisted mechanism and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210014975.4A CN114343857A (en) | 2022-01-07 | 2022-01-07 | Power-assisted mechanism and manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN114343857A true CN114343857A (en) | 2022-04-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210014975.4A Pending CN114343857A (en) | 2022-01-07 | 2022-01-07 | Power-assisted mechanism and manipulator |
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| JP2018140475A (en) * | 2017-02-28 | 2018-09-13 | 学校法人 中央大学 | Self-weight compensation apparatus and force sense presentation device |
| CN108778642A (en) * | 2016-03-09 | 2018-11-09 | 川崎重工业株式会社 | The gas of revolute robot and its gas spring reduces condition estimation method |
| CN109199554A (en) * | 2018-11-07 | 2019-01-15 | 哈尔滨理工大学 | A kind of prostate biopsy positioning robot and application method |
| CN212859494U (en) * | 2020-08-11 | 2021-04-02 | 旻投电力发展有限公司 | Rotatable attitude control arm support with buffer at end part |
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2022
- 2022-01-07 CN CN202210014975.4A patent/CN114343857A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102471043A (en) * | 2009-07-15 | 2012-05-23 | 学校法人庆应义塾 | Load-compensation device |
| CN108778642A (en) * | 2016-03-09 | 2018-11-09 | 川崎重工业株式会社 | The gas of revolute robot and its gas spring reduces condition estimation method |
| JP2018140475A (en) * | 2017-02-28 | 2018-09-13 | 学校法人 中央大学 | Self-weight compensation apparatus and force sense presentation device |
| CN109199554A (en) * | 2018-11-07 | 2019-01-15 | 哈尔滨理工大学 | A kind of prostate biopsy positioning robot and application method |
| CN212859494U (en) * | 2020-08-11 | 2021-04-02 | 旻投电力发展有限公司 | Rotatable attitude control arm support with buffer at end part |
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