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Full-active seven-freedom-degree posture redundancy type main manipulator

A master operator and degree of freedom technology, applied in the field of robotics, can solve problems such as difficulty in achieving high precision, inability to achieve new positions and postures, and achieve the effect of precise movement

Pending Publication Date: 2018-05-01
HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem that the existing main manipulator is mainly passive, it is difficult to meet the requirements of high precision, the passive main manipulator itself has no power drive, and cannot realize active movement to correspond to the new position and posture, and further proposes a Fully active seven-degree-of-freedom attitude redundant main operator

Method used

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  • Full-active seven-freedom-degree posture redundancy type main manipulator
  • Full-active seven-freedom-degree posture redundancy type main manipulator
  • Full-active seven-freedom-degree posture redundancy type main manipulator

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0018] Specific implementation mode one: combine Figure 1 to Figure 3 Describe this embodiment. The fully active seven-degree-of-freedom posture redundant main operator described in this embodiment includes a fixed seat 1, a shoulder pan motor 2, a shoulder pitch motor 3, a shoulder joint 4, and a boom mechanism. 5. Horizontal link 6, attitude redundant link 7, attitude yaw link 8, attitude pitch link 9, rotary handle 10, shoulder gear box 11, horizontal motor 12, redundant motor 13, yaw motor 14 , the pitch motor 15 and the rotary motor 16, the outer casing of the shoulder swing motor 2 is fixedly connected with the holder 1, the output shaft of the shoulder swing motor 2 is fixedly connected with the rear end of the shoulder joint 4, and the shoulder joint 4 The front end is affixed to the outer casing of the shoulder gear box 11, the input shaft of the shoulder gear box 11 is affixed to the output shaft of the shoulder pitch motor 3, and the output shaft of the shoulder ge...

specific Embodiment approach 2

[0032] Specific implementation mode two: combination figure 1 Describe this embodiment, the output shaft of the shoulder swing motor 2 described in this embodiment is vertically arranged, the output shaft of the shoulder gearbox 11 is horizontally arranged, the output shaft of the horizontal motor 12 is vertically arranged, and the output of the redundant motor 13 Shafts are set horizontally, the output shaft of the yaw motor 14 is set vertically, the output shaft of the pitch motor 15 is set horizontally, and the output shaft of the rotary motor 16 is set vertically. Other compositions and connection methods are the same as those in Embodiment 1.

[0033] So designed to determine the direction of motion in seven degrees of freedom.

specific Embodiment approach 3

[0034] Specific implementation mode three: combination figure 1 and figure 2 Describe this embodiment, the boom mechanism 5 described in this embodiment includes a main arm 5-1, an auxiliary arm 5-2, a front connecting ear 5-3, a rear connecting ear 5-4 and four rotating shafts 5-5, the main arm 5-1 and the auxiliary arm 5-2 are arranged in parallel and the length of the main arm 5-1 is the same as that of the auxiliary arm 5-2. One end of the main arm 5-1 is hinged with the front connecting ear 5-3 through the rotating shaft 5-5, and the main arm The other end of 5-1 is hinged with rear connecting ear 5-4 through rotating shaft 5-5, one end of auxiliary arm 5-2 is hinged with front connecting ear 5-3 through rotating shaft 5-5, and the other end of auxiliary arm 5-2 is through The rotating shaft 5-5 is hinged with the rear connecting ear 5-4, the front connecting ear 5-3 is affixed to the outer casing of the horizontal motor 12, and the rear connecting ear 5-4 is affixed to...

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Abstract

The invention relates to the technical field of robots and provides a full-active seven-freedom-degree posture redundancy type main manipulator. The main manipulator solves the problems that an existing main manipulator mainly adopts the passive form, and cannot meet the requirement for high accuracy easily, and the passive main manipulator has no power drive, and cannot achieve active motion to correspond to the new position and posture. The main manipulator comprises a fixing base, a shoulder horizontal swing motor, a shoulder pitching motor, a shoulder joint, a large arm mechanism, a horizontal connecting rod, a posture redundancy connecting rod, a posture eccentric swing connecting rod, a posture pitching connecting rod and a rotating handle. An outer shell of the shoulder horizontal swing motor is fixedly connected with the fixing base. The front end of the large arm mechanism is fixedly connected with an outer shell of the horizontal motor. The front end of the horizontal connecting rod is fixedly connected with an outer shell of the redundancy motor. The other end of the posture redundancy connecting rod is fixedly connected with an outer shell of the eccentric swing motor.The other end of the posture eccentric swing connecting rod is fixedly connected with an outer shell of the pitching motor. The other end of the posture pitching connecting rod is fixedly connected with an outer shell of the rotating motor. The main manipulator is applied to medical instruments.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a fully active seven-degree-of-freedom attitude redundant main operator. Background technique [0002] Robots are more and more widely used in people's production and life. Most of them are master-slave teleoperation structures. The main operator is operated by personnel, and the movement of the slave mechanism is controlled by remote communication and computer. There is no longer any gap between the operator and the operation target. Geographical restrictions keep operators away from dangerous or inappropriate environments. At the same time, this master-slave teleoperation structure eliminates the vibration caused by the operator's direct operation of the device through software, thereby reducing the doctor's operation error rate and improving accuracy, stability and safety. In addition, the operator can sit at a comfortable and pleasant console, which greatly reduces fatigue. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J3/00B25J3/04B25J9/16
CPCB25J3/00B25J3/04B25J9/1643
Inventor 杨文龙王建国张家兴
Owner HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIP CO LTD
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