CN209734152U - full passive type main operation hand - Google Patents
full passive type main operation hand Download PDFInfo
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- CN209734152U CN209734152U CN201822259179.9U CN201822259179U CN209734152U CN 209734152 U CN209734152 U CN 209734152U CN 201822259179 U CN201822259179 U CN 201822259179U CN 209734152 U CN209734152 U CN 209734152U
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Abstract
the utility model discloses a full passive type main manipulator, a position part and an attitude part, wherein the position part is fixedly connected with the attitude part, and the position part comprises a base; the slide supporting seat is arranged on the base and rotates around an axis R6 of the base; the sliding seat is connected with the sliding support seat and rotates around the axis R5 of the sliding support seat; the spline shaft penetrates through the sliding seat and rotates around an axis R4 of the sliding seat; triaxial R4, R5, R6 intersect in a bit, the utility model discloses a to the brand-new structural design of position part, the overall structure overall arrangement is along same axis, and the triaxial of position part is handed over in a bit, and the structure is concentrated, and is small, and workspace is big and utilize fully.
Description
Technical Field
The utility model relates to the field of medical equipment, concretely relates to full passive type owner operation hand.
Background
the surgical operation often has some fine operations, the objects of the operations are small and complex in shape, some operations often need a long time to finish, doctors are easy to fatigue, so that shaking of hands of the doctors easily causes inaccurate actions, the mechanical operation hand can completely avoid the potential safety hazards, and some complex operations which need a long time are accurately finished, so that the mechanical operation hand is concerned by people, and the main operation hand is an important component unit in a master-slave system;
at present, the main successful master manipulator systems mainly include the PHANTOM series master manipulator of the American Sensable company and the Omega series master manipulator of the ForceDimension company of Switzerland. For the main manipulator of PHANTOM and Omega series, the mechanism occupies a large volume and a small working space, and can not realize gravity balance by self, the gravity balance is realized by respectively arranging balancing weights at the posture part and the position part of the main manipulator in the prior art, but the structural design of the position part of the main manipulator is unreasonable, the occupied volume is large, and the application environment of the main manipulator is limited.
in view of the above-mentioned drawbacks, the authors of the present invention have finally obtained the present invention through long-term research and practice.
SUMMERY OF THE UTILITY MODEL
For solving the technical defect, the utility model discloses a technical scheme lie in, provide a full passive type main operation hand, this main operation hand is through the brand-new structural design to the position part, and the overall structure overall arrangement is along same axis, and the triaxial of position part is handed in a bit, and the structure is concentrated, and is small, and workspace is big and utilize fully.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
A full passive type main operator, a position part and a posture part, the position part and the posture part are fixedly connected, and the position part comprises a base; the slide supporting seat is arranged on the base and rotates around an axis R6 of the base; the sliding seat is connected with the sliding support seat and rotates around the axis R5 of the sliding support seat; the spline shaft penetrates through the sliding seat and rotates around an axis R4 of the sliding seat; the three axes R4, R5, R6 intersect at a point.
Preferably, the device also comprises a sliding rod, and the sliding rod is fixed at one end of the spline shaft; the traction plate is fixed at the other end of the spline shaft in the direction opposite to the sliding rod; one end of the pulley connecting plate is fixed on the sliding seat; the first pulley is arranged on the inner side of one end of the pulley connecting plate; the second pulley is arranged on the inner side of the other end of the pulley connecting plate in the direction opposite to the first pulley; the sliding balancing weight is sleeved on the spline shaft and slides along the axial direction of the spline shaft; the steel wire rope bypasses the first pulley and the second pulley, one end of the steel wire rope is fixedly connected with the traction plate, the other end of the steel wire rope is fixedly connected with the sliding balancing weight, and the movement directions of the traction plate and the sliding balancing weight are opposite.
Preferably, the device further comprises a constant force spring, one end of the constant force spring is fixed on the sliding seat, and the other end of the constant force spring is fixedly connected to the traction plate;
the sliding support seat, the sliding seat, the spline shaft, the slide bar, the traction plate, the pulley connecting plate, the first pulley, the second pulley, the sliding counterweight, the steel wire rope and the constant force spring form the position part of a main operator.
Preferably, the hand clamp further comprises a main hand clamp, and the main hand clamp moves along an axis R0 in an opening and closing mode; one end of the main hand clamp is fixedly connected to the first joint and rotates around the axis R1 of the first joint; one end of the first connecting rod is fixedly connected with the first joint; the first connecting rod counterweight block is fixed at the other end of the first connecting rod; the second joint is fixedly arranged on the first connecting rod; one end of the second connecting rod is fixedly connected to the second joint and rotates around the axial direction R2 of the second joint; the second connecting rod counterweight block is fixed at the other end of the second connecting rod; one end of the flange is arranged on the second connecting rod, the second connecting rod rotates around a rotating shaft R3 of the flange, and the other end of the flange is fixedly connected with the sliding rod;
Wherein the main hand clamp, the first joint, the first connecting rod counterweight block, the second joint, the second connecting rod counterweight block and the flange form a posture part of a main manipulator.
Preferably, the axes R4, R5 corresponding to the sliding seat and the sliding support seat are perpendicular to each other, the axes R5, R6 corresponding to the sliding support seat and the base are perpendicular to each other, the axes R1, R4 corresponding to the first joint and the sliding seat intersect at a point, and the axes R2, R4 corresponding to the second joint and the sliding seat are coplanar.
preferably, the slide bearing is connected to the base through a rotating shaft and a pair of bearings; the sliding seat is connected to the sliding support seat through a rotating shaft and a pair of bearings; the first pulley is connected to one end of a pulley connecting plate through a rotating shaft and a pair of bearings; the second pulley is connected to the other end of the pulley connecting plate through a rotating shaft and a pair of bearings; the main hand clamp is connected to the first joint through a rotating shaft and a pair of bearings; the second joint is connected to the first link through a rotating shaft and a pair of bearings.
Preferably, the first connecting rod is formed by sequentially connecting a first section rod, a second section rod and a third section rod through an integrated forming mode, the first section rod is perpendicular to the second section rod and the third section rod, a plane formed by the first section rod and the second section rod is perpendicular to a plane formed by the second section rod and the third section rod, and the second section rod is L-shaped.
Preferably, the part of the spline shaft penetrating through the sliding seat is sleeved with a rotating spline, the rotating spline is fixedly arranged at the end part of the sliding seat, the outer side of the sliding rod is sleeved with an outer barrel, and the end part of the outer barrel is fixedly connected with the rotating spline.
Preferably, the first joint is fixed at one end of the first connecting rod through a screw; the second joint is fixed at one end of the second connecting rod through a screw; one end of the flange is fixed at one end of the sliding rod through a screw; the other end of the flange is fixed on the second connecting rod through a screw; the first connecting rod counterweight block is fixed at one end of the first connecting rod through a screw, and the second connecting rod counterweight block is fixed at one end of the second connecting rod through a screw.
Preferably, the upper end of the sliding seat is provided with a stay wire encoder, a stay wire of the stay wire encoder is fixedly connected to the traction plate, and the lower end of the base is provided with a rotary encoder.
Compared with the prior art, the beneficial effects of the utility model reside in that:
the main manipulator is designed through a brand new structure of the position part, the whole structure is distributed along the same axis, three axes of the position part are intersected at one point, the structure is concentrated, the size is small, the working space is large, and the utilization is sufficient.
2, this main operation hand is through setting up the slip balancing weight on the integral key shaft, and the direction of motion of traction plate and slip balancing weight is opposite, and when the integral key shaft was when the rectilinear concertina movement of following axis R4, the reverse concertina movement of the same proportion can be accomplished to the slip balancing weight to dynamic gravity balance when realizing the position part along axis R4 rectilinear motion has reduced the setting of balancing weight, thereby alleviates main operation hand's whole weight.
3, this main operative hand is through setting up the constant force spring on the sliding seat, and the one end and the traction plate of constant force spring are fixed to offset the partial decurrent component force on axis R4 of position, so that the partial power balance on axis R4 of position, avoid the traction plate to drive the integral key shaft and slide downwards, make this main operative hand's position part reliable and stable.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below.
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;
FIG. 3 is a cross-sectional view of a portion of the present invention;
Fig. 4 is a schematic structural view of the posture part of the present invention.
Description of reference numerals:
1. the base, 2, the sliding support seat, 3, the sliding seat, 4, the integral key shaft, 5, the slide bar, 6, the traction plate, 7, the pulley connecting plate, 8, first pulley, 9, the second pulley, 10, the slip balancing weight, 11, wire rope, 12, the constant force spring, 13, the main hand clamp, 14, first joint, 15, first connecting rod, 151, first festival pole, 152, the second festival pole, 153, the third festival pole, 16, first connecting rod balancing weight, 17, the second joint, 18, the second connecting rod, 19, the second connecting rod balancing weight, 20, the flange, 21, rotatory spline, 22, the urceolus, 23, the encoder of acting as go-between, 24, the rotary encoder.
Detailed Description
the above and further features and advantages of the present invention will be described in more detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1-2, a fully passive main manipulator includes a base 1, a sliding support base 2, a sliding base 3, a spline shaft 4, a sliding rod 5, a traction plate 6, a pulley connecting plate 7, a first pulley 8, a second pulley 9, a sliding weight 10, a steel wire rope 11, and a constant force spring 12, wherein the sliding support base 2, the sliding base 3, the spline shaft 4, the sliding rod 5, the traction plate 6, the pulley connecting plate 7, the first pulley 8, the second pulley 9, the sliding weight 10, the steel wire rope 11, and the constant force spring 12 form a position portion of the main manipulator.
In this embodiment, the slide bearing 2 is connected to the base 1 through a rotating shaft and a pair of bearings, and the slide bearing 2 rotates around the axis R6 of the base 1, so as to realize the rotating motion of the whole main operator; the rotary encoder 24 arranged at the lower end of the base 1 can measure the rotation angle of the whole main manipulator, and the sliding seat 3 is connected to the sliding support seat 2 through a rotating shaft and a pair of bearings, so that the pitching action of the whole main manipulator is realized.
in the embodiment, as shown in fig. 3, the sliding support base 2 is a U-shaped member, the sliding support base 2 can be integrally cast and formed, which is convenient for production and processing, and is sturdy and durable, and the sliding base 2 is disposed on the U-shaped member, which has a large rotation space, which is convenient for adjusting the pitching posture of the main manipulator to meet the operation requirement, the sliding base 3 is mounted at the opening of the U-shaped member through a rotating shaft, the sliding base 3 rotates around the axis R5 of the sliding support base 2, the sliding base 3 realizes the pitching action of the main manipulator through the rotation in the U-shaped member, the sliding base 3 is a cuboid structure as a whole, the inside of the sliding base 3 is a cavity structure, which further reduces the overall weight of the main manipulator, and is convenient for component arrangement, the rotating spline 21 is mounted at one end of the sliding base 3, the rotating spline 21 is formed by combining a spline and a bearing sleeved outside the spline, the bearing part, the mutual gomphosis of spline part and integral key shaft of rotatory spline 21, because integral key shaft and rotatory spline are the keyway cooperation, the rotation accuracy of rotatory spline is high, be favorable to the accurate adjustment in position of gesture part, and the terminal surface of the bearing part of rotatory spline 21 still with urceolus 22's tip welding together, urceolus 22 cup joints in the outside of slide bar, avoid the connection position of slide bar 5 and integral key shaft 4 to expose outside, avoid its inside internals to receive the damage.
In this embodiment, as shown in fig. 3, the other end of the sliding seat 3 is an opening, the constant force spring 12 is installed at the opening through the rotating shaft, one end of the constant force spring 12 is fixedly connected to the traction plate 6, the elastic force of the constant force spring 12 is constant and has no relation with the extension length of the elastic sheet thereof, and the elastic force of the constant force spring 12 is equal to the downward component force of the gravity of the main operating hand along the axis R4, so that the force of the main operating hand on the axis R4 is balanced, and the position of the main operating hand is stable and unchanged after the sliding rod 5 is adjusted in extension and retraction.
In this embodiment, the spline shaft 4 penetrates through the sliding seat 3 and rotates around the axis R4 of the sliding seat 3; thereby adjusting the integral rotation angle of the posture part of the main operator to adapt to the operation at different positions, and the sliding rod 5 is fixed at one end of the spline shaft 4; the traction plate 6 is fixed at the other end of the spline shaft 4 in the direction opposite to the sliding rod 5; the spline shaft 4 is connected to the traction plate 6 through a bearing, the spline shaft 4 and the traction plate 6 can rotate relatively, the position state of the traction plate 6 cannot be influenced when the spline shaft 4 rotates automatically, the spline shaft 4 and the traction plate 6 cannot move relatively in the axial direction of the spline shaft 4, the traction plate 6 can be driven to move simultaneously when the spline shaft 4 moves in an axial telescopic mode, the sliding counterweight block 10 is driven to move through the steel wire rope 11, dynamic gravity balance of a main operator when the main operator moves linearly along the axis R4 is achieved, and the pulley connecting plate 7 is fixed on the sliding seat 3; the first pulley 8 is connected to the inner side of one end of the pulley connecting plate 7 through a rotating shaft and a pair of bearings, and the second pulley 9 is connected to the inner side of the other end of the pulley connecting plate 7 through a rotating shaft and a pair of bearings; the sliding balancing weight 10 is sleeved on the spline shaft 4 and slides along the axial direction of the spline shaft 4; the sliding balancing weight 10 is connected with the spline shaft 4 through a bearing, the spline shaft 4 and the sliding balancing weight 10 can rotate relatively, a steel wire rope 11 bypasses the first pulley 8 and the second pulley 9, one end of the steel wire rope 11 is fixedly connected with the traction plate 6, the other end of the steel wire rope 11 penetrates through the lower end of the traction plate and is fixedly connected with the sliding balancing weight 10, the steel wire rope 11 forms a closed steel wire ring, and the motion directions of the traction plate 6 and the sliding balancing weight 10 are opposite.
The sliding rod 5 is held by a hand to rotate around the axis R4 so as to adjust the rotation angle of the posture part to adapt to the operation requirement, the rotation of the sliding rod 5 drives the spline shaft 4 to rotate, the rotation of the spline shaft 4 does not influence the movement of other components at the position part, and the rotation of the sliding rod 5 drives the posture part to integrally rotate as the sliding rod 5 is fixedly connected with the posture part through the flange 20; when the sliding rod 5 is held by a hand to stretch along the axis R4, the sliding rod 5 drives the spline shaft 4 to stretch, the spline shaft 4 drives the traction plate 6 to stretch, the position of the traction plate 6 moves to pull the steel wire rope 11, the sliding counterweight 10 at the other end of the steel wire rope 11 moves on the spline shaft 4, because the traction plate 6 is fixedly connected with the upper end of the steel wire ring, the sliding balancing weight 10 is fixedly connected with the lower end of the steel wire ring, the moving directions of the traction plate 6 and the sliding balancing weight 10 are opposite, when the sliding rod 5 retracts, the spline shaft 4 extends towards the rear end, the spline shaft 4 drives the traction plate 6 to move backwards, meanwhile, the sliding counterweight 10 moves forwards in the direction opposite to that of the traction plate 6, therefore, the gravity center moving tendency caused by the backward movement of the spline shaft 4 is counteracted, the gravity balance of the main manipulator on the axial direction R4 is kept, and the dynamic gravity balance of the main manipulator when the main manipulator moves linearly along the axis R4 is realized in the same way.
example 2
As shown in fig. 4, unlike the previous embodiment, the present embodiment further includes a main hand clamp 13, a first joint 14, a first link 15, a first link weight 16, a second joint 17, a second link 18, a second link weight 19, and a flange 20, wherein the main hand clamp 13, the first joint 14, the first link 15, the first link weight 16, the second joint 17, the second link weight 19, and the flange 20 constitute a posture portion of the main operator.
The position part is arranged in a decoupling mode with the gesture part, and when the position of the gesture part of the main operating hand changes, the position part of the main operating hand cannot be affected.
in this embodiment, the main gripper 13 moves along an axis R0; thereby clamping an object, the main hand grip 13 being connected to the first joint 14 through a rotation shaft and a pair of bearings, the main hand grip 13 being rotated about the axis R1 of the first joint 14; the first joint 14 is fixed at one end of the first connecting rod 15 through a screw, and the first connecting rod counterweight block 16 is fixed at one end of the first connecting rod 15 through a screw; the second joint 17 is connected to the first link 15 through a rotating shaft and a pair of bearings, the first link 15 realizes gravity balance through the second joint, the gravity moment of the first joint 14 and the main hand clamp 13 is applied to the second joint 17, the gravity balance is realized through a first link counterweight 16 at the other end of the first link 15, so that the gravity balance can be realized no matter where the first link 15 moves, the second joint 17 is fixed at one end of the second link 18 through a screw, and the second link 18 rotates around the axial direction R2 of the second joint 17; the second connecting rod counterweight block 19 is fixed at one end of the second connecting rod 18 through screws, the flange 20 is fixed at one end of the sliding rod 5 through screws, the other end of the flange 20 is fixed on the second connecting rod 18 through screws, the sliding rod 5 rotates to drive the second connecting rod 18 to rotate so as to drive the attitude part to rotate integrally, the gravity moment of the second connecting rod 18 and the additional parts thereof is applied to the flange 20, and gravity balance is realized through the second connecting rod counterweight block 19 at the other end of the second connecting rod 18, so that gravity balance can be realized no matter where the second connecting rod 18 moves.
example 3
as shown in fig. 1 and 4, unlike the above embodiments, in this embodiment, the axes R4 and R5 corresponding to the sliding seat 3 and the sliding seat 2 are perpendicular to each other, the axes R5 and R6 corresponding to the sliding seat 2 and the base 1 are perpendicular to each other, the three axes R4, R5 and R6 intersect at a point, the overall structural layout is along the same axis R4, the structure is concentrated, the volume is small, the working space is large and fully utilized, the axes R1 and R4 corresponding to the first joint 14 and the sliding seat 3 intersect at a point, and the axes R2 and R4 corresponding to the second joint 17 and the sliding seat 3 are coplanar, the structure is compact, and the occupied space is small.
Example 4
As shown in fig. 4, unlike the previous embodiment, in the present embodiment, the first link 15 is formed by sequentially connecting and integrally forming a first rod 151, a second rod 152 and a third rod 153, the first rod 151, the second rod 152 and the third rod 153 are perpendicular to each other, a plane formed by the first rod 151 and the second rod 152 and a plane formed by the second rod 152 and the third rod 153 are perpendicular to each other, the second rod 152 is shaped like an L, and the special design of the structure of the first link 15 and the second link 18 can make the gravity center distribution of the posture part concentrated, reduce the number of weight blocks of the posture part, and reduce the weight of a single weight block, thereby reducing the weight of the whole main operating handle.
Example 5
As shown in fig. 1-3, unlike the above embodiments, in this embodiment, a pull encoder 23 is disposed at an upper end of the sliding seat 3, a pull of the pull encoder 23 is fixedly connected to the traction plate 6, and the movement of the traction plate 6 drives a pull of the pull encoder, so as to measure displacement data of the traction plate 6, and further measure movement data of the sliding rod 5.
The main manipulator is suitable for any master-slave operation robot system, such as the fields of medical equipment: a main operation end in a master-slave operation system of a laparoscopic surgery robot, an orthopedic surgery robot, a dental surgery robot and the like.
The foregoing is only a preferred embodiment of the present invention, which is illustrative, not limiting. Those skilled in the art will appreciate that many variations, modifications, and equivalents may be made thereto without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. a fully passive master manipulator, comprising: a position portion and a posture portion, the position portion and the posture portion being fixedly connected, the position portion comprising: a base (1);
the sliding support seat (2) is arranged on the base (1) and rotates around an axis R6 of the base (1);
the sliding seat (3) is connected with the sliding support seat (2) and rotates around an axis R5 of the sliding support seat (2);
The spline shaft (4), the spline shaft (4) runs through the sliding seat (3) and rotates around the axis R4 of the sliding seat (3);
the three axes R4, R5, R6 intersect at a point.
2. A fully passive master manipulator according to claim 1, further comprising:
The spline shaft is characterized by also comprising a sliding rod (5), wherein the sliding rod (5) is fixed at one end of the spline shaft (4);
The traction plate (6), the traction plate (6) is fixed at the other end of the spline shaft (4) in the direction opposite to the sliding rod (5);
one end of the pulley connecting plate (7) is fixed on the sliding seat (3);
The first pulley (8), the first pulley (8) is set up inside one end of the said pulley tie plate (7);
the second pulley (9), the second pulley (9) is set up in the other end inboard of the said pulley tie plate (7) of the opposite direction of said first pulley (8);
the sliding balancing weight (10) is sleeved on the spline shaft (4) and slides along the axial direction of the spline shaft (4);
Wire rope (11), wire rope (11) are walked around first pulley (8) with second pulley (9), wire rope (11) one end with traction plate (6) fixed connection, wire rope (11) the other end with slip balancing weight (10) fixed connection, traction plate (6) with the motion direction of slip balancing weight (10) is opposite.
3. a fully passive master manipulator according to claim 2, further comprising:
The device is characterized by further comprising a constant force spring (12), wherein one end of the constant force spring (12) is fixed on the sliding seat (3), and the other end of the constant force spring (12) is fixedly connected to the traction plate (6);
Wherein, slide support seat (2), sliding seat (3) integral key shaft (4) slide bar (5) draw plate (6) pulley connecting plate (7) first pulley (8) second pulley (9) slide balancing weight (10) wire rope (11) and constant force spring (12) constitute the position part of main operation hand.
4. A fully passive master manipulator according to claim 2, further comprising:
The hand clamp is characterized by further comprising a main hand clamp (13), wherein the main hand clamp (13) can be opened and closed along an axis R0;
the first joint (14), one end of the main hand clamp (13) is fixedly connected to the first joint (14) and rotates around the axis R1 of the first joint (14);
one end of the first connecting rod (15) is fixedly connected with the first joint (14);
The first connecting rod counterweight block (16), the first connecting rod counterweight block (16) is fixed at the other end of the first connecting rod (15);
The second joint (17), the second joint (17) is fixedly arranged on the first connecting rod (15);
one end of the second connecting rod (18) is fixedly connected to the second joint (17) and rotates around the axial direction R2 of the second joint (17);
the second connecting rod counterweight block (19), the second connecting rod counterweight block (19) is fixed at the other end of the second connecting rod (18);
One end of the flange (20) is fixedly arranged on the second connecting rod (18), and the other end of the flange (20) is fixedly connected with the sliding rod (5);
Wherein the main hand clamp (13), the first joint (14), the first link (15), the first link weight (16), the second joint (17), the second link weight (19) and the flange (20) constitute a posture part of a main operating hand.
5. a fully passive master manipulator according to claim 4, further comprising: the axes R4 and R5 corresponding to the sliding seat (3) and the sliding support seat (2) are mutually vertical, the axes R5 and R6 corresponding to the sliding support seat (2) and the base (1) are mutually vertical, the axes R1 and R4 corresponding to the first joint (14) and the sliding seat (3) are intersected at one point, and the axes R2 and R4 corresponding to the second joint (17) and the sliding seat (3) are coplanar.
6. A fully passive master manipulator according to claim 4, further comprising: the sliding support seat (2) is connected to the base (1) through a rotating shaft and a pair of bearings; the sliding seat (3) is connected to the sliding support seat (2) through a rotating shaft and a pair of bearings; the first pulley (8) is connected to one end of a pulley connecting plate (7) through a rotating shaft and a pair of bearings; the second pulley (9) is connected to the other end of the pulley connecting plate (7) through a rotating shaft and a pair of bearings; the main hand clamp (13) is connected to a first joint (14) through a rotating shaft and a pair of bearings; the second joint (17) is connected to the first link (15) through a rotating shaft and a pair of bearings.
7. A fully passive master manipulator according to claim 4, further comprising: first connecting rod (15) connect gradually integrated into one piece by first festival pole (151), second festival pole (152) and third festival pole (153) and set up and form, first festival pole (151) second festival pole (152) with third festival pole (153) mutually perpendicular, first festival pole (151) with the plane that second festival pole (152) formed with second festival pole (152) with the plane mutually perpendicular that third festival pole (153) formed, the shape of second festival pole (152) is the L type.
8. A fully passive master manipulator according to claim 2, further comprising: the spline shaft (4) runs through the part of sliding seat (3) is cup jointed with rotary spline (21), just rotary spline (21) is fixed to be set up the tip of sliding seat (3), urceolus (22) have been cup jointed in the outside of slide bar (5), the tip of urceolus (22) with rotary spline (21) fixed connection.
9. A fully passive master manipulator according to claim 4, further comprising: the first joint (14) is fixed at one end of the first connecting rod (15) through a screw; the second joint (17) is fixed at one end of a second connecting rod (18) through a screw; one end of the flange (20) is fixed at one end of the sliding rod (5) through a screw; the other end of the flange (20) is fixed on the second connecting rod (18) through a screw, the first connecting rod counterweight block (16) is fixed at one end of the first connecting rod (15) through a screw, and the second connecting rod counterweight block (19) is fixed at one end of the second connecting rod (18) through a screw.
10. A fully passive master manipulator according to claim 2, further comprising: the upper end of sliding seat (3) is provided with bracing wire encoder (23), the bracing wire fixed connection of bracing wire encoder (23) is in on traction plate (6), the lower extreme of base (1) is provided with rotary encoder (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822259179.9U CN209734152U (en) | 2018-12-29 | 2018-12-29 | full passive type main operation hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822259179.9U CN209734152U (en) | 2018-12-29 | 2018-12-29 | full passive type main operation hand |
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| Publication Number | Publication Date |
|---|---|
| CN209734152U true CN209734152U (en) | 2019-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822259179.9U Active CN209734152U (en) | 2018-12-29 | 2018-12-29 | full passive type main operation hand |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109394343A (en) * | 2018-12-29 | 2019-03-01 | 苏州康多机器人有限公司 | A kind of full passive-type main manipulator |
| JPWO2022102073A1 (en) * | 2020-11-13 | 2022-05-19 |
-
2018
- 2018-12-29 CN CN201822259179.9U patent/CN209734152U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109394343A (en) * | 2018-12-29 | 2019-03-01 | 苏州康多机器人有限公司 | A kind of full passive-type main manipulator |
| CN109394343B (en) * | 2018-12-29 | 2024-05-24 | 苏州康多机器人有限公司 | Full passive main manipulator |
| JPWO2022102073A1 (en) * | 2020-11-13 | 2022-05-19 | ||
| WO2022102073A1 (en) * | 2020-11-13 | 2022-05-19 | リバーフィールド株式会社 | Operation device |
| JP7289578B2 (en) | 2020-11-13 | 2023-06-12 | リバーフィールド株式会社 | Operating device |
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