CN100522507C - Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand - Google Patents
Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand Download PDFInfo
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- CN100522507C CN100522507C CNB2007101444669A CN200710144466A CN100522507C CN 100522507 C CN100522507 C CN 100522507C CN B2007101444669 A CNB2007101444669 A CN B2007101444669A CN 200710144466 A CN200710144466 A CN 200710144466A CN 100522507 C CN100522507 C CN 100522507C
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- winding displacement
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- circuit board
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- 238000006073 displacement reaction Methods 0.000 claims description 64
- 238000004804 winding Methods 0.000 claims description 64
- 210000001503 joint Anatomy 0.000 claims description 9
- 238000005452 bending Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- LAXBNTIAOJWAOP-UHFFFAOYSA-N 2-chlorobiphenyl Chemical compound ClC1=CC=CC=C1C1=CC=CC=C1 LAXBNTIAOJWAOP-UHFFFAOYSA-N 0.000 description 3
- 101710149812 Pyruvate carboxylase 1 Proteins 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 208000008037 Arthrogryposis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
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Abstract
机器人灵巧手手指内集成电路板之间的柔性连线结构,它涉及一种机器人手指内集成电路板之间的连线结构。本发明解决了现在技术存在电路板布局不合理、连线复杂、走线方式不合理的问题。第二柔性排线(1-3)的一端与第一刚性板(1-2)连接,另一端与第二刚性板(1-4)连接,第四柔性排线(1-7)的一端与第二刚性板(1-4)连接;第四柔性排线(1-7)的另一端与手指刚性电路板(2)连接,基关节柔性连接线束(3)的一端与手指刚性电路板(2)连接,另一端与第四刚性板(4-1)连接;第五柔性排线(4-2)的一端与第四刚性板(4-1)连接,另一端与基关节刚性电路板(5)连接。本发明具有电路板布局合理、走线方式合理、不影响关节的运动、手指连线对转动关节的适应性好的优点。
The invention relates to a flexible connection structure between integrated circuit boards in the fingers of a robot dexterous hand, which relates to a connection structure between integrated circuit boards in the fingers of a robot. The invention solves the problems of unreasonable circuit board layout, complicated connection and unreasonable wiring mode existing in the prior art. One end of the second flexible cable (1-3) is connected to the first rigid board (1-2), the other end is connected to the second rigid board (1-4), and one end of the fourth flexible cable (1-7) Connect with the second rigid board (1-4); the other end of the fourth flexible cable (1-7) is connected with the finger rigid circuit board (2), and one end of the base joint flexible connection harness (3) is connected with the finger rigid circuit board (2) Connection, the other end is connected to the fourth rigid board (4-1); one end of the fifth flexible cable (4-2) is connected to the fourth rigid board (4-1), and the other end is connected to the base joint rigid circuit Plate (5) is connected. The invention has the advantages of reasonable circuit board layout, reasonable routing mode, no influence on the movement of joints, and good adaptability of finger connecting lines to rotating joints.
Description
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNB2007101444669A CN100522507C (en) | 2007-10-19 | 2007-10-19 | Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNB2007101444669A CN100522507C (en) | 2007-10-19 | 2007-10-19 | Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101161426A CN101161426A (en) | 2008-04-16 |
CN100522507C true CN100522507C (en) | 2009-08-05 |
Family
ID=39296450
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNB2007101444669A Expired - Fee Related CN100522507C (en) | 2007-10-19 | 2007-10-19 | Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand |
Country Status (1)
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CN (1) | CN100522507C (en) |
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US20140277334A1 (en) | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
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US9173713B2 (en) | 2013-03-14 | 2015-11-03 | Hansen Medical, Inc. | Torque-based catheter articulation |
US20140276936A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Active drive mechanism for simultaneous rotation and translation |
US9408669B2 (en) | 2013-03-15 | 2016-08-09 | Hansen Medical, Inc. | Active drive mechanism with finite range of motion |
US20140276647A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Vascular remote catheter manipulator |
US10046140B2 (en) | 2014-04-21 | 2018-08-14 | Hansen Medical, Inc. | Devices, systems, and methods for controlling active drive systems |
US10569052B2 (en) | 2014-05-15 | 2020-02-25 | Auris Health, Inc. | Anti-buckling mechanisms for catheters |
US9561083B2 (en) | 2014-07-01 | 2017-02-07 | Auris Surgical Robotics, Inc. | Articulating flexible endoscopic tool with roll capabilities |
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US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
US10231793B2 (en) | 2015-10-30 | 2019-03-19 | Auris Health, Inc. | Object removal through a percutaneous suction tube |
US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
US10454347B2 (en) | 2016-04-29 | 2019-10-22 | Auris Health, Inc. | Compact height torque sensing articulation axis assembly |
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US10244926B2 (en) | 2016-12-28 | 2019-04-02 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
US11026758B2 (en) | 2017-06-28 | 2021-06-08 | Auris Health, Inc. | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints |
US10470830B2 (en) | 2017-12-11 | 2019-11-12 | Auris Health, Inc. | Systems and methods for instrument based insertion architectures |
WO2019118767A1 (en) | 2017-12-14 | 2019-06-20 | Auris Health, Inc. | System and method for estimating instrument location |
CN107866820A (en) * | 2017-12-26 | 2018-04-03 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of bar linkage structure mechanical arm rotates string-passing structure |
KR102846224B1 (en) | 2018-06-27 | 2025-08-18 | 아우리스 헬스, 인코포레이티드 | Alignment and attachment systems for medical instruments |
US10820947B2 (en) | 2018-09-28 | 2020-11-03 | Auris Health, Inc. | Devices, systems, and methods for manually and robotically driving medical instruments |
CN111331576A (en) * | 2018-12-18 | 2020-06-26 | 北京华航无线电测量研究所 | Wiring method of flexible printed board suitable for small servo rotary platform |
US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
WO2021064536A1 (en) | 2019-09-30 | 2021-04-08 | Auris Health, Inc. | Medical instrument with capstan |
WO2021137071A1 (en) | 2019-12-31 | 2021-07-08 | Auris Health, Inc. | Advanced basket drive mode |
US11950872B2 (en) | 2019-12-31 | 2024-04-09 | Auris Health, Inc. | Dynamic pulley system |
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2007
- 2007-10-19 CN CNB2007101444669A patent/CN100522507C/en not_active Expired - Fee Related
Non-Patent Citations (2)
Title |
---|
DLR/HIT仿人机器人灵巧手的设计. 刘伊威,金明河.机械制造,第44卷第507期. 2006 * |
机器人灵巧手手指耦合传动机构的研究. 刘伊威,姜力.机械传动,第28卷第6期. 2004 * |
Also Published As
Publication number | Publication date |
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CN101161426A (en) | 2008-04-16 |
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C14 | Grant of patent or utility model | ||
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C53 | Correction of patent for invention or patent application | ||
CB03 | Change of inventor or designer information |
Inventor after: Liu Hong Inventor after: Liu Yiwei Inventor after: Chen Zhaopi Inventor after: Jin Minghe Inventor after: Fan Shaowei Inventor after: Jiang Li Inventor after: Ni Fenglei Inventor before: Liu Hong Inventor before: Liu Yiwei Inventor before: Chen Zhaopi Inventor before: Jin Minghe Inventor before: Fan Shaowei Inventor before: Jiang Li |
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COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: LIU HONG LIU YIWEI CHEN ZHAOZHAO JIN MINGHE FAN SHAOWEI JIANG LI TO: LIU HONG LIU YIWEI CHEN ZHAOZHAO JIN MINGHE FAN SHAOWEI JIANG LI NI FENGLEI |
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C17 | Cessation of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090805 Termination date: 20101019 |