A wire locking device for a wire-driven passive serpentine arm
A locking device and wire transmission technology, which is used in medical science, surgery, manipulators, etc., can solve the problems of inability to apply in the medical field, complicated control, and large size of the driving part of the serpentine arm, so as to achieve a small space required for the body. , the effect of good operating performance and high load capacity
Active Publication Date: 2021-07-09
SHANGHAI UNIV OF ENG SCI
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Problems solved by technology
Due to its application in the industrial field and the use of motor drive, the size of the driving part of the snake-like arm is too large, and the control is relatively complicated, which makes this type of snake-arm robot unable to be used in the medical field
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[0039] A steel wire locking device for a wire-driven passive serpentine arm, the structure of which is connected to the serpentine arm is as follows figure 1 As shown, the serpentine arm 61 is connected with the wire guiding mechanism 2 of the wire locking device 60 .
[0040] like figure 2 As shown, the wire locking device 60 includes a wire guiding mechanism 2 , a wire locking mechanism 3 and a wire loosening mechanism 4 . The steel wire 1 protrudes from the steel wire locking mechanism 3, and extends to the outside of the entire steel wire locking device through the steel wire guiding mechanism.
[0041] like image 3 As shown, the wire guiding mechanism 2 includes a first godet 5 , a second godet 6 , a third godet 7 and a fourth godet 8 . On the first godet 5 and the second godet 6, a pulley 9 is installed by a pulley shaft 10 and a pulley frame 11, and there are 12 pulleys 9 on the first godet 5 and the second godet 6 respectively , every two as a group, distributed on...
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The invention relates to a steel wire locking device for a wire-driven passive serpentine arm, which includes a steel wire guiding mechanism, a steel wire locking mechanism and a steel wire loosening mechanism. The locking mechanism and the steel wire loosening mechanism are connected to the rear side of the steel wire guiding mechanism, and the ends of the steel wire locking mechanism and the steel wire loosening mechanism are connected to the chassis. Compared with the prior art, the present invention only needs one motor to realize the adjustment and fixation of the posture of the serpentine arm, and requires less space for the machine body. At the same time, the steel wire locking unit uses a 4-stage force amplification mechanism, which makes the whole mechanism have a higher load capacity. Its good passive operation performance can give full play to its advantages in places that require human-machine cooperation, so this invention can be better applied in the medical field to assist doctors in operations.
Description
technical field [0001] The invention relates to a locking device, in particular to a wire locking device for a passive serpentine arm driven by a wire. Background technique [0002] In the modern medical field, the application of robots in laparoscopic surgery has attracted more and more attention, and major companies have also launched many types of medical robots. However, due to the use of traditional drive and transmission systems, the mechanical arms of most robots are limited in size, and it is easy to interfere with the doctor during the operation. The appearance of the snake arm can solve this problem in a large way, but at present the snake arm is mostly used in the industrial field, such as the motor-driven wire-driven snake arm robot developed by OC Robotics in the UK. Because it is used in the industrial field and driven by a motor, the size of the driving part of the serpentine arm is too large, and the control is relatively complicated, which makes this type o...
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IPC IPC(8): B25J19/00A61B34/00
CPCA61B34/70A61B2034/301A61B2034/302B25J19/00
Inventor 胡天宇张帆王琰马保平陈龙凯孙晶潘睿俊郑民华
Owner SHANGHAI UNIV OF ENG SCI