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A Continuum Robot Driven by Leaf Springs

A technology of leaf springs and robots, applied in the field of continuum robots, can solve the problems of large size, insufficient end load capacity, and complicated driving devices

Active Publication Date: 2021-09-14
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the shortcomings of minimally invasive surgical instruments such as complex structure, complex and bulky driving device, and insufficient end load capacity, the purpose of the present invention is to provide a continuum robot driven by a leaf spring

Method used

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  • A Continuum Robot Driven by Leaf Springs
  • A Continuum Robot Driven by Leaf Springs
  • A Continuum Robot Driven by Leaf Springs

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Embodiment Construction

[0031] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0032] like Figure 1~4 , 11-13, the present invention includes a primary framework 1 and a hollow secondary framework 2, and the primary framework 1 runs through the interior of the secondary framework 2.

[0033] The primary framework 1 is divided into at least two curved sections, and each curved section is provided with at least three disks 4, wherein a leaf spring A3 is passed between the disks 4 in one curved section, and a leaf spring A3 is inserted in the other curved section. A leaf spring B5 is threaded between each disk body 4 of the two bending sections, and a leaf spring C6 and a leaf spring D7 are respectively threaded between each disk body 4 in the two bending sections. The leaf spring A3 and the last disk body in a bending section 4 connected, the leaf spring B5 is connected with the first and last disk 4 in another bending section, the leaf...

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Abstract

The present invention relates to a continuum robot, specifically a continuum robot driven by a leaf spring, comprising a primary skeleton, a secondary skeleton, a leaf spring and a disc body, the primary skeleton runs through the interior of the secondary skeleton and is connected by fixed pins, The shape change of the robot is generated by the displacement change of the leaf springs. The secondary skeleton area is divided into a first bending section and a second bending section, wherein the primary skeleton includes four leaf springs and two bending sections, and each bending section has at least three discs body, the leaf springs are fixed to the disc body and the secondary skeleton in accordance with the rules in the two bending sections, so as to ensure that the displacement changes of the driving leaf springs produce corresponding shape changes. The invention can realize the S-bend shape, the end can bear a relatively large load, and the structure and drive of the robot are relatively simple.

Description

technical field [0001] The invention relates to a continuum robot, in particular to a continuum robot driven by a leaf spring. Background technique [0002] Minimally invasive surgery occupies an increasingly important position in the field of medical surgery. Minimally invasive surgery has the advantages of small trauma, fast recovery, light pain and beautiful appearance after surgery. Due to the narrow and closed operation space of minimally invasive surgery and the delicate and complicated operation process, the surgical instruments used in minimally invasive surgery are very different from traditional surgical operations. Minimally invasive surgical instruments are more dexterous and are used to avoid obstacles The target point; at the same time, the minimally invasive surgical instrument should have a certain end load capacity under the premise of ensuring dexterity, and can complete surgical tasks such as pulling and shearing. [0003] The current minimally invasive s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J9/00
Inventor 刘浩周圆圆纪竹青李庆利王重阳
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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