CN206273534U - A kind of manipulator control structure and manipulator control platform - Google Patents
A kind of manipulator control structure and manipulator control platform Download PDFInfo
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- CN206273534U CN206273534U CN201621233028.0U CN201621233028U CN206273534U CN 206273534 U CN206273534 U CN 206273534U CN 201621233028 U CN201621233028 U CN 201621233028U CN 206273534 U CN206273534 U CN 206273534U
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- manipulator control
- control structure
- universal joint
- rotating disk
- angle sensor
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Abstract
The utility model discloses a kind of manipulator control structure, is related to machine field of synchronization.It includes substrate, universal joint, synchronous piece, first angle sensor and second angle sensor.The driven spindle nose of universal joint is rotatably coupled with one end of substrate.Synchronous piece is connected with the active spindle nose of universal joint.The one end of first angle sensor with second angle sensor respectively with two rotating shafts of universal joint is connected.Operation can be synchronized with operating robot by its specific structure, so as to correcting or preventing the operation of surgical machine human factor error by manipulator control structure in time, it is to avoid the generation of malpractice.The utility model also announces manipulator control platform, it has above-mentioned manipulator control structure, operation is synchronized by the specific structure and operating robot of manipulator control structure, so as to the operation of surgical machine human factor error is corrected or prevents by manipulator control structure in time, it is to avoid the generation of malpractice.
Description
Technical field
The utility model is related to machine field of synchronization, it is specific and, be related to a kind of manipulator control structure and manipulator
Control platform.
Background technology
Operating robot is a kind of higher-level robot platform, and the theory of its design is, by using minimally invasive method, to implement
Complicated surgical operation.Operating robot is current state-of-the-art microinvasive surgical teatment platform, and it surpasses the precision of surgical operation
The limit of staff is got over, has been the leap of revolution for whole surgical operation idea.
Operating robot causes to detect movement angle with actual movement angle not due to machine ages or human factor
Together, the medical malpractice for causing can not timely be corrected or prevented, and easily cause malpractice.
Utility model content
First purpose of the present utility model is to provide manipulator control structure, and it passes through its specific structure energy and hand
Art robot synchronizes operation, can in time pass through the deviation of manipulator control topology discovery detection angles and actual angle, from
And correct or prevent the operation of surgical machine human factor error, it is to avoid the generation of malpractice.
Second purpose of the present utility model is to provide manipulator control platform, and it has above-mentioned manipulator control knot
Structure, operation is synchronized by the specific structure and operating robot of manipulator control structure, can be manual by machinery in time
The deviation of topology discovery detection angles processed and actual angle, so as to correct or prevent the operation of surgical machine human factor error, it is to avoid
The generation of malpractice.
What embodiment of the present utility model was realized in：
A kind of manipulator control structure, it includes substrate, universal joint, synchronous piece, first angle sensor and second jiao
Degree sensor.The driven spindle nose of universal joint is rotatably coupled with one end of substrate.Synchronous piece connects with the active spindle nose of universal joint
Connect.The one end of first angle sensor with second angle sensor respectively with two rotating shafts of universal joint is connected.
Inventor has found：Operating robot causes to detect movement angle with reality due to machine ages or human factor
Movement angle is different, and the medical malpractice for causing can not timely be corrected or prevented, and easily cause malpractice.Therefore, invention
People devises above-mentioned manipulator control structure, and it passes through synchronous piece and is connected with the mechanical hand of operating robot, due to synchronous piece
It is connected with universal joint, the movement locus of the mechanical hand of energy Complete Synchronization operating robot, by be respectively arranged at universal joint two
The first angle sensor of one end of individual rotating shaft carries out the measurement of movement angle with second angle sensor, and feeds back to operation
The heart, if operating robot operational error, i.e. movement locus occurs and produces skew, can in time correct or prevent.
In a kind of embodiment of the present utility model：
Manipulator control structure also includes the first rotating disk, and universal joint is rotatably coupled by the first rotating disk and substrate.
In a kind of embodiment of the present utility model：
First rotating disk is provided with third angle sensor.
In a kind of embodiment of the present utility model：
Manipulator control structure also includes pedestal, the one end and pedestal connection rotationally of substrate away from universal joint.
In a kind of embodiment of the present utility model：
Manipulator control structure also includes the second rotating disk, and substrate is rotatably coupled by the first rotating disk and pedestal.
In a kind of embodiment of the present utility model：
Second rotating disk is provided with fourth angle sensor.
In a kind of embodiment of the present utility model：
Synchronous piece offers the synchronous hole of the wall through synchronous piece away from one end of universal joint.
In a kind of embodiment of the present utility model：
The inner wall surface in synchronous hole is provided with frictional damping layer.
A kind of manipulator control platform, it includes multiple above-mentioned manipulator control structures and workbench.Multiple machineries are manual
Structure processed is uniformly arranged at intervals at the surface of workbench along the periphery of workbench.
In a kind of embodiment of the present utility model：
Manipulator control platform also includes the 3rd rotating disk and the 5th angular transducer.Manipulator control structure passes through the 3rd turn
Disk is rotatably coupled with workbench.5th angular transducer is arranged at the 3rd rotating disk.
The technical solution of the utility model at least has the advantages that：
A kind of manipulator control structure that the utility model is provided, it passes through its specific structure can enter with operating robot
Row simultaneously operating, so as to correcting or preventing the operation of surgical machine human factor error by manipulator control structure in time, it is to avoid
The generation of malpractice.
A kind of manipulator control platform that the utility model is provided, it has above-mentioned manipulator control structure, by machine
The specific structure of tool hand control structure synchronizes operation with operating robot, so as to pass through manipulator control structure in time
Correct or prevent the operation of surgical machine human factor error, it is to avoid the generation of malpractice.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the utility model embodiment, below will be to be used needed for embodiment
Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiments of the present utility model, therefore should not be by
Regard the restriction to scope as, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
Other related accompanying drawings are obtained with according to these accompanying drawings.
Fig. 1 is a kind of a kind of structural representation of manipulator control structure in the utility model embodiment 1；
Fig. 2 is a kind of another structural representation of manipulator control structure in the utility model embodiment 1；
Fig. 3 is a kind of structural representation of manipulator control structure in the utility model embodiment 2；
Fig. 4 is a kind of a kind of structural representation of manipulator control structure in the utility model embodiment 3；
Fig. 5 is a kind of another structural representation of manipulator control structure in the utility model embodiment 3.
Icon：10- manipulator control structures；20- manipulator control structures；30- manipulator control platforms；100- substrates；
110- universal joints；The driven spindle noses of 111-；112- active spindle noses；120- synchronous pieces；121- synchronizations hole；1211- frictional dampings layer；
130- first angle sensors；140- second angle sensors；The rotating disks of 150- first；160- third angle sensors；200- bases
Seat；The rotating disks of 210- second；220- fourth angle sensors；300- workbench；301- operative end surfaces；The rotating disks of 310- the 3rd；320-
5th angular transducer.
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, is clearly and completely described, it is clear that retouched to the technical scheme in the utility model embodiment
The embodiment stated is a part of embodiment of the utility model, rather than whole embodiments.Generally described in accompanying drawing herein and
The component of the utility model embodiment for showing can be arranged and designed with a variety of configurations.
Therefore, the detailed description of embodiment of the present utility model below to providing in the accompanying drawings is not intended to limit requirement
The scope of the present utility model of protection, but it is merely representative of selected embodiment of the present utility model.Based in the utility model
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all
Belong to the scope of the utility model protection.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further defined and explained in subsequent accompanying drawing.
In description of the present utility model, it is necessary to explanation, term " on " etc. instruction orientation or position relationship be base
In orientation shown in the drawings or position relationship, or the orientation usually put when using of the utility model product or position are closed
System, is for only for ease of description the utility model and simplifies description, necessary rather than the device or element for indicating or imply meaning
With specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.Additionally,
Term " first ", " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relative importance.
In description of the present utility model, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " sets
Put ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Can be joined directly together, it is also possible to be indirectly connected to by intermediary to be to mechanically connect, can be two companies of element internal
It is logical.For the ordinary skill in the art, can understand that above-mentioned term is specific in the utility model with concrete condition
Implication.
Embodiment 1
Fig. 1 is refer to, Fig. 1 shows the manipulator control structure 10 being described in detail below.
Manipulator control structure 10 includes substrate 100, universal joint 110, synchronous piece 120, first angle sensor 130, the
Two angular transducers 140 and the first rotating disk 150.
Substrate 100 is plate-like.
The driven spindle nose 111 of universal joint 110 is rotatably coupled with one end of substrate 100 by the first rotating disk 150.
The active spindle nose 112 of universal joint 110 is connected with synchronous piece 120.
Synchronous piece 120 is in strip, and the wall through synchronous piece 120 is offered away from one end of universal joint 110 in synchronous piece 120
Synchronous hole 121.
The inner wall surface in synchronous hole 121 is provided with frictional damping layer 1211.
First angle sensor 130, second angle sensor 140 connect with one end of two rotating shafts of universal joint 110 respectively
Connect.
First angle sensor 130, second angle sensor 140 are respectively used to sense the active spindle nose 112 of universal joint 110
With the change of the angle of driven spindle nose 111.
Inventor has found：Operating robot causes to detect movement angle with reality due to machine ages or human factor
Movement angle is different, and the medical malpractice for causing can not timely be corrected or prevented, and easily cause malpractice.
Therefore, inventor devises above-mentioned manipulator control structure 10, the mechanical hand of operating robot is by through same
Step hole 121 is connected with synchronous piece 120, the movement locus of the mechanical hand of the energy Complete Synchronization operating robot of synchronous piece 120, by dividing
The first angle sensor 130 and second angle of one end of two rotating shafts of the universal joint 110 being connected with synchronous piece 120 are not arranged at
Sensor 140 carries out the measurement of movement angle, and feeds back to operation center.If operational error occurs in operating robot, that is, move
Track produces skew, and operating personnel can in time correct or prevent.
It should be noted that in the present embodiment, in order to expand the radius of clean-up of operating robot, i.e., in universal joint 110
First rotating disk 150 is set between substrate 100 so that universal joint 110 can be rotated relative to substrate 100.In other specific implementations
In mode, such as Fig. 2 is provided with third angle sensor 160 so that manipulator control structure 10 is more on the first rotating disk 150
The job information and significantly more efficient control operating robot of effective feedback operating robot.
In other specific embodiments, it is also possible to cancel and the first rotating disk 150 is set so that universal joint 110 is fixed and base
On plate 100.
In the present embodiment, it is in order that obtaining operating robot with the stabilization of synchronous piece 120 to set frictional damping layer 1211
Connection.In other specific embodiments, frictional damping layer 1211 can be cancelled, select the mode of other increase frictions to cause operation
The connection that robot can stablize with synchronous piece 120.
Embodiment 2
Fig. 3 is refer to, Fig. 3 shows the structural representation of the manipulator control structure 20 that the present embodiment is provided.
Manipulator control structure 20 includes manipulator control structure 10, pedestal 200, the second rotating disk that above-described embodiment is provided
210th, fourth angle sensor 220.
Manipulator control structure 10 is described in detail in the above-described embodiments, therefore repeats no more.
As Fig. 3, the second rotating disk 210 are rotatably coupled with pedestal 200, the substrate 100 in manipulator control structure 10 is remote
End face from one end of universal joint 110 with the second rotating disk 210 away from pedestal 200 is connected, so as to realize that pedestal 200 is manual with machinery
Structure processed 10 is rotatably coupled.
Fourth angle sensor 220 is arranged on the second rotating disk 210.The anglec of rotation for sensing the second rotating disk 210.
Inventor has found：Operating robot causes to detect movement angle with reality due to machine ages or human factor
Movement angle is different, and the medical malpractice for causing can not timely be corrected or prevented, and easily cause malpractice.
Therefore, inventor devises above-mentioned manipulator control structure 20, manipulator control structure 20 is due to being provided with base
Substrate 100 in the 200, second rotating disk 210 of seat and manipulator control structure 10 passes through the second rotating disk away from one end of universal joint 110
210 are rotatably coupled with pedestal 200, increase the operating robot radius of clean-up.
The mechanical hand of operating robot is connected by through synchronous hole 121 with synchronous piece 120, and synchronous piece 120 can be completely same
The movement locus of the mechanical hand of operating robot is walked, by two turns that are respectively arranged at the universal joint 110 being connected with synchronous piece 120
The first angle sensor 130 of one end of axle is sensed with the fourth angle on the rotating disk 210 of second angle sensor 140 and second
Device 220 carries out the measurement of movement angle, and feeds back to operation center.If there is operational error, i.e. movement locus in operating robot
Skew is produced, operating personnel can in time correct or prevent.Embodiment 3
Fig. 4 is refer to, Fig. 4 shows the manipulator control platform 30 being described in detail below.
Manipulator control platform 30 includes the manipulator control structure 20 and workbench of multiple above-described embodiments offers
300。
The concrete structure of manipulator control structure 20 is described in detail in the above-described embodiments, therefore is repeated no more.
Workbench 300 has smooth rounded operative end surface 301, and multiple manipulator control structures 20 are along workbench
300 periphery is uniformly arranged at intervals at the operative end surface 301 of workbench 300.
Inventor has found：Operating robot causes to detect movement angle with reality due to machine ages or human factor
Movement angle is different, and the medical malpractice for causing can not timely be corrected or prevented, and easily cause malpractice.
Therefore, inventor devises above-mentioned manipulator control platform 30, manipulator control platform 30 has multiple machineries
Hand control structure 20.It is therefore manipulator control platform 30 has the feature of manipulator control structure 20 and manual due to being multiple machineries
Structure processed 20 works on workbench 300 jointly, therefore can synchronize operation to multiple operating robots, improves work effect
Rate.If operational error, i.e. movement locus occurs in operating robot produces skew, can in time correct or prevent.
In other specific embodiments, such as Fig. 5, manipulator control platform 30 also includes the 3rd rotating disk 310 and the 5th angle
Sensor 320.Manipulator control structure 20 is rotatably coupled by the 3rd rotating disk 310 with workbench 300.5th angle sensor
Device 320 is arranged at the 3rd rotating disk 310.
In other specific embodiments, manipulator control structure 20 can be replaced with manipulator control structure 10.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.
Claims (10)
1. a kind of manipulator control structure, it is characterised in that：
The manipulator control structure includes substrate, universal joint, synchronous piece, first angle sensor and second angle sensing
Device；
The driven spindle nose of the universal joint is rotatably coupled with one end of the substrate；
The synchronous piece is connected with the active spindle nose of the universal joint；
The first angle sensor connects with one end of two rotating shafts of the universal joint respectively with the second angle sensor
Connect.
2. manipulator control structure according to claim 1, it is characterised in that：
The manipulator control structure also includes the first rotating disk, and the universal joint can be turned by first rotating disk with the substrate
Connect dynamicly.
3. manipulator control structure according to claim 2, it is characterised in that：
First rotating disk is provided with third angle sensor.
4. manipulator control structure according to claim 2, it is characterised in that：
The manipulator control structure also includes pedestal, and the substrate is rotatable with the pedestal away from one end of the universal joint
The connection on ground.
5. manipulator control structure according to claim 4, it is characterised in that：
The manipulator control structure also includes the second rotating disk, and the substrate is rotatable with the pedestal by first rotating disk
Ground connection.
6. manipulator control structure according to claim 5, it is characterised in that：
Second rotating disk is provided with fourth angle sensor.
7. manipulator control structure according to claim 1, it is characterised in that：
The synchronous piece offers the synchronous hole of the wall through the synchronous piece away from one end of the universal joint.
8. manipulator control structure according to claim 7, it is characterised in that：
The inner wall surface in the synchronous hole is provided with frictional damping layer.
9. a kind of manipulator control platform, it is characterised in that：
The manipulator control platform includes the manipulator control structure and the work of multiple claim 1-8 any one
Platform；
Multiple manipulator control structures are uniformly arranged at intervals at the surface of the workbench along the periphery of the workbench.
10. manipulator control platform according to claim 9, it is characterised in that：
The manipulator control platform also includes the 3rd rotating disk and the 5th angular transducer；The manipulator control structure passes through institute
The 3rd rotating disk is stated to be rotatably coupled with the workbench；
5th angular transducer is arranged at the 3rd rotating disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621233028.0U CN206273534U (en) | 2016-11-16 | 2016-11-16 | A kind of manipulator control structure and manipulator control platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621233028.0U CN206273534U (en) | 2016-11-16 | 2016-11-16 | A kind of manipulator control structure and manipulator control platform |
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| Publication Number | Publication Date |
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| CN206273534U true CN206273534U (en) | 2017-06-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111770737A (en) * | 2017-12-28 | 2020-10-13 | 奥博斯吉科有限公司 | Special tactile hand controller for microsurgery |
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2016
- 2016-11-16 CN CN201621233028.0U patent/CN206273534U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111770737A (en) * | 2017-12-28 | 2020-10-13 | 奥博斯吉科有限公司 | Special tactile hand controller for microsurgery |
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