A passive and compliant wrist of a b-ultrasound detection robot

Abstract

The invention discloses a passive flexible wrist of a B-ultrasonic detection robot. The passive flexible wrist comprises a mounting seat, a clamping seat and at least three groups of flexible chains which make connection between the mounting seat and the clamping seat; the mounting seat is mounted at the tail end of a mechanical arm of the B-ultrasonic detection robot; the clamping seat is used for clamping a B-ultrasonic probe; the mounting seat comprises an upper platform, a lower platform and a connecting column connecting the upper platform and the lower platform; each flexible chain comprise a plate spring, a connecting rod, a spherical pair and a guide rail slide block structure; a guide rail of each guide rail slide block is fixedly mounted at the bottom of the upper platform; one end of each plate spring is fixed on the lower platform, and the other end of the plate spring is connected with a slide block of one corresponding guide rail slide block structure through a sliding pair; and one end of each connecting rod is hinged with one sliding block, and the other end of the connecting rod is connected with the clamping seat through one corresponding spherical pair. The passive flexible wrist provided by the invention has axial flexibility and radial flexibility, and can adapt to the shape of a contact curved surface, so that passive flexibility is realized, and safety and reliability are achieved.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a robot passive compliance technology, in particular to a passive compliance wrist of a B-ultrasound detection robot. Background technique [0002] Robot-related technologies are constantly developing, and its application fields are constantly expanding and deepening. Especially in the medical field, robots are playing an increasingly important role. Especially in the field of B-ultrasound detection, due to the shortcomings of inaccurate detection positions, low efficiency, and repetitive labor losses for doctors when using manual detection, medical institutions have gradually adopted B-ultrasound detection robots to replace manual detection. During the detection process, it is particularly important to control and limit the contact force at the end of the robot to make it suitable for the patient's body. Insufficient force can result in poor quality images; excessive force can make the pati...

AI Technical Summary

Problems solved by technology

However, traditional flexible wrists mostly use rubber-metal laminated rod materials, which are difficult to process, the rubber layer is easy to tear and damage, and have low flexibility; a few parts use spring-type structures, which occupy a large space and have low stability. , and the springs used in some structures need to bear the force in all directions, which is easy to have a destructive effect on the mechanism, and the safety is low

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