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Mechanical wrist

A mechanical wrist, a combined technology, applied in the field of mechanical wrists, can solve the problem of not being a passive wrist, etc.

Inactive Publication Date: 2014-02-05
杨兆奎
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Chinese patent application 201080051475.3 proposes a surgical tool with a compact wrist in two degrees of freedom with a torque transfer mechanism using control cables to actuate and orient end effectors in two degrees of freedom in the wrist There is coupling in the movement of the wrist, and it cannot be used as a passive wrist

Method used

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  • Mechanical wrist
  • Mechanical wrist
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Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0037] Specific implementation mode one: combine figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Figure 6 , Figure 10 , Figure 11 and Figure 12 To describe this embodiment in detail, the mechanical wrist 1 of this embodiment includes: a wrist joint 2 having an actuation / signal output end 3 and an end effector / signal input end 4; an actuation / signal output part 5, It has a distal wrist part 7 and a proximal wrist part 6; the end effector / signal input part of the mechanical wrist 1 is an end effector, which is an openable and closable clip 8 .

[0038] The wrist joint 2 includes: a ball gear frame 9, a ball gear 10 at the end effector / signal input end and a ball gear 11 at the actuation / signal output end, the shaft 12 of the ball gear 10 and the shaft sleeve 13 are mounted together in rotational fit, the wrist joint The cross ring 14 articulates the shaft sleeve 13 and the ball gear frame 9 together in a universal direction, the center of the wrist joint cr...

specific Embodiment approach 2

[0058] Specific implementation mode two: combination figure 1 , image 3 and Figure 8 Describe this embodiment in detail. The mechanical wrist 47 of this embodiment removes the connecting rod 25, flower hole sleeve 26, wobble plate Oldham ring 23 on the basis of the mechanical wrist 1, and shortens the ball gear shaft sleeve 16 and the ball gear shaft 17 shafts. , the wobble plate 22 is directly fixed on the ball gear frame 9, and the midpoint of the diameter of the slip ring 24 where the two universal joints 56 are hinged origins coincides with the spherical center of the ball gear 11 at the actuating / signal output end.

[0059] The mechanical wrist 47 is used for occasions that do not require a slender rod mechanical wrist.

[0060] The working principle of the mechanical wrist 47 is basically the same as that of the mechanical wrist 1 .

specific Embodiment approach 3

[0061] Specific implementation mode three: combination figure 1 , image 3 and Figure 7 To describe this embodiment in detail, the end effector / signal input component of the mechanical wrist in this embodiment is an end effector, a clip 48 . The pivot 49 of the clip 48 is fixed together with the end effector / signal input end ball gear shaft bushing (not shown in the figure), and a cam 50 is fixed at the end of the shaft 12, and the shaft bushing is turned clockwise to actuate / signal The output wheel 21 drives the ball gear 11, the ball gear 10 and the cam 50 to rotate, the drive clip 48 is closed, and the shaft sleeve actuating / signal output wheel 21 is rotated counterclockwise, driving the ball gear 11, the ball gear 10 and the cam 50 rotate in reverse, The clip 48 is reset and opened under the action of the spring 51 .

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Abstract

A mechanical wrist comprises a wrist joint, an actuator or signal output component and an end effector or a signal input component. The core component is an 'involute ball gear transmission pair'. A link, a swing plate and a swing plate actuating mechanism are utilized to drive the end effector to perform yaw and pitch motions, a shaft sleeve effector or a signal output wheel is utilized to drive the end effector to perform rolling motion, a shaft effector or a the signal output wheel is utilized to drive the end effector to open and close or a drill bit and a screwdriver to rotate. The mechanical wrist has four freedom degrees of yawing, pitching, rolling and rotating around the axis, and the motion of each freedom degree is decoupled completely; the mechanical wrist can serve as an active wrist, a passive wrist, a manipulator, a signal input device or particularly a minimally invasive surgical tool.

Description

technical field [0001] The invention relates to a minimally invasive surgical tool, an industrial robot and a mechanical wrist used in a control mechanism. Background technique [0002] Chinese patent application 201310312888.8 proposes an involute ball gear transmission pair, which includes two ball gears, and each ball gear has multiple gear rings from high weft to low weft. Cutting the spherical gear through the axis, the outer contour of the ring gear section constitutes the outer contour of the involute gear teeth along the meridian in the tooth thickness direction. The outer contours of the ring gear section are divided into two groups, and the odd and even groups are respectively related to A spur gear with staggered gear teeth has the same tooth shape on the end face. The two intermeshed ball gears in the involute ball gear transmission pair can perform relative pure rolling on two pitch spherical surfaces in any direction. Transmit pitch, roll, and rotation aroun...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02A61B19/00
Inventor 杨兆奎杨阔李凯
Owner 杨兆奎