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Manipulator based on rope tension transmission

A technology of manipulator and rope body, which is applied in the field of surgical robots, can solve problems such as slipping, and achieve the effects of reducing wear, reducing volume, and compact mechanism

Inactive Publication Date: 2016-07-20
SICHUAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The Chinese patent with the application number CN201410848341.4 discloses a "main operator for a minimally invasive surgical robot based on wire rope transmission". The first three joints of the main operator are wire rope transmission, but the rope transmission is friction transmission. Large preload to provide sufficient friction, and may cause slipping and other hazards under high load

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  • Manipulator based on rope tension transmission
  • Manipulator based on rope tension transmission
  • Manipulator based on rope tension transmission

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Embodiment Construction

[0030] In describing the present invention, it is to be understood that the terms "radial", "axial", "upper", "lower", "top", "bottom", "inner", "outer" etc. indicate orientation Or the positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation , and therefore cannot be construed as a limitation of the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0031] In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "setting", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detac...

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Abstract

The invention relates to the technical field of surgical robots, in particular to a manipulator based on rope tension transmission. The manipulator based on rope tension transmission comprises a base, a waist joint assembly rotationally installed on the base, a large arm hinged to the waist joint assembly, a middle arm hinged to the large arm, a small arm hinged to the middle arm and a grasping mechanism installed at the outer end of the small arm. A driving device used for driving the waist joint assembly to rotate is arranged in the base of the manipulator based on rope tension transmission and arranged in the front of the base, the layout structure can greatly reduce the mass of all parts of the manipulator and further reduce the rotation inertia of the manipulator, and the rigidity of a mechanism is improved.

Description

technical field [0001] The invention relates to a manipulator based on rope body tension transmission, which belongs to the technical field of surgical robots. Background technique [0002] Medical care robots are specially designed for the disabled, seriously ill and the elderly with inconvenient hands and feet. In the research of medical care robots, Europe and the United States started earlier. Today, there is a daily nursing robot system in the world. This system can help people with limited mobility to pick up objects through the nursing device installed beside the bed when the disabled are in a bedridden state and cannot move freely. Diet care. [0003] The Chinese patent application number CN201410848341.4 discloses a "main operator for a minimally invasive surgical robot based on wire rope transmission". The first three joints of the main operator are wire rope transmission, but the rope transmission is a friction transmission, which requires Larger preload to pro...

Claims

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Application Information

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IPC IPC(8): B25J9/10
CPCB25J9/1045
Inventor 刁燕陈敏王荣彪唐健蒲廷燕都健
Owner SICHUAN UNIV