CN106175937A - A kind of operating robot being provided with rotary cutter clamping dish - Google Patents
A kind of operating robot being provided with rotary cutter clamping dish Download PDFInfo
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- CN106175937A CN106175937A CN201610841120.3A CN201610841120A CN106175937A CN 106175937 A CN106175937 A CN 106175937A CN 201610841120 A CN201610841120 A CN 201610841120A CN 106175937 A CN106175937 A CN 106175937A
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- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000003534 oscillatory effect Effects 0.000 abstract 1
- 238000005452 bending Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 235000012364 Peperomia pellucida Nutrition 0.000 description 2
- 240000007711 Peperomia pellucida Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 108010022579 ATP dependent 26S protease Proteins 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention discloses a kind of operating robot being provided with rotary cutter clamping dish, including the waist rotation member that can rotate around trunnion axis, the large arm that can rotate around vertical axes, can the swing arm of relatively small arm swing, can the tool changing device that rotates of opposing oscillatory arm.Wherein, described tool changing device includes cutter clamping dish, drives the drive mechanism of cutter clamping disc spins, and drive mechanism includes basal disc, the rotating seat being articulated on basal disc, is provided with the internal gear of one section of tooth.During normality, one section of tooth of internal gear is contactless with the gear on rotating seat, brake(-holder) block braking rotating seat；During operation, the internal gear of rotation drives rotating seat to rotate predetermined angular by one section of tooth, and when rotating seat rotates, the tripper on internal gear releases the brake(-holder) block braking to rotating seat.The cutter being arranged on cutter clamping dish rotates respective angles along with rotary components, make need to operation tool be in operating position.
Description
Technical field
The present invention relates to medical apparatus and instruments, in particular to a kind of operating robot being provided with rotary cutter clamping dish.
Background technology
Traditional operation, sufferer is operated by the hand-held surgical knife tool of operative doctor, fixture, other operation tools.
Summary of the invention
Technical problem solved by the invention: in traditional operation, the hand-held surgical knife tool of operative doctor, fixture, other operations
Sufferer is operated by instrument, and labor intensity is big, inefficiency, sufferer susceptible.
For solving above-mentioned technical problem, the present invention provides following technical scheme: a kind of hands being provided with rotary cutter clamping dish
Art robot, the waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, be arranged on big
Manipulator on arm, the forearm being fixed in large arm, it is articulated in the swing arm of forearm front end, drives what swing arm swung first to drive
Moving cell, be arranged on swing arm front end tool changing device, drive tool changing device rotate the second driver element；Described swing arm is put
Central axis time dynamic rotates around base body in the rotation centerline of tool changing device, waist rotation member, and large arm turns around waist rotation member
Dynamic；
Described tool changing device includes cutter clamping dish, drives the drive mechanism of cutter clamping disc spins；Described drive mechanism
Including rotary components, latch components, driving assembly；
Described rotary components includes that rotating seat, fixed cover are located at the peripheral brake disc of rotating seat and the 6th gear；Described cutter
Tool clamping dish is fixing connects rotating seat；
Described latch components includes the basal disc being fixedly installed in housing, be arranged on basal disc a pair brake(-holder) block, slip
The solution lock slide being arranged on basal disc；The pair of brake(-holder) block is symmetrical set the periphery in brake disc, a pair brake(-holder) block
One end is hinged and other end elasticity connects；Described solution lock slide elasticity is connected on basal disc, and solution lock slide is provided with a pair and slides
Bar, one end that a pair brake(-holder) block elasticity connects offers a pair slide slot, and slide slot is bending, and a pair slide slot is symmetrical to be set
Put, slide bar for a pair and be slidably fitted in a pair slide slot；
The annulus that described driving assembly includes being driven by driving means and rotates, the centrage deviation rotating seat that annulus rotates
The centrage rotated, the medial wall of annulus is provided with tooth section and unlocked state, and tooth Duan Keyu the 6th gear engages；Work as unlocked state
Starting to promote solution lock slide when basal disc center translation, the 6th gear starts to engage with tooth section；
The rotation centerline of described rotating seat is perpendicular to the rotation centerline of tool changing device.
By technique scheme, the operation principle of a kind of operating robot being provided with rotary cutter clamping dish of the present invention
As follows:
First, operative doctor holds manipulation hands, rotates large arm or waist rotation member, makes the tool changing device on swing arm be in and treat
At operation.
Second, in tool changing device, driving means in drive mechanism drives annulus to rotate, annulus drive tooth section thereon and
Unlocked state rotates.When the unlocked state being fixedly installed comes into contact with and promote the solution lock slide center to basal disc arranged of sliding
During translation, the bar that slides for a pair solved on lock slide translates in a pair slide slot in man-to-man mode, owing to slide slot is curved
Folding shape, therefore, sliding bar for a pair and can order about one end that a pair brake(-holder) block elasticity connects and open to the translation of basal disc central line, as
This, rotating seat is changed into rotatable state by the initial state by a pair brake(-holder) block frictional damping.With a pair braking
Sheet no longer brakes rotating seat synchronously, one section of tooth in the tooth section on annulus medial wall, i.e. annulus medial wall, opens with the 6th gear
Beginning to engage, and drive the 6th gear and be secured to the rotating seat rotation connected, rotating seat drives cutter clamping disc spins；Work as rotation
Swivel base rotates to an angle, and during such as 90 degree, tooth Duan Yu six gear disengages, and meanwhile, unlocked state takes off with solving lock slide
From contact, so, the solution lock slide that elasticity is connected on basal disc resets, and slides bar a pair and resets therewith, and a pair brake(-holder) block is elastic
The one end connected resets the most therewith, a pair brake(-holder) block frictional damping brake disc again, and then braking rotating seat.So far, cutter dress
Chuck rotates a certain angle along with the rotation of rotating seat, and clamping rotates with certain at the operation tool of cutter clamping dish
Angle, operative doctor need to operation tool be in operating position.
3rd, under the turning effort of swing, the rotation of whole tool changing device, large arm and the waist rotation member of swing arm, hands
Art doctor be operated sufferer.
By technique scheme, cutter clamping dish is provided with the instrument of some operations, such as cutter, fixture, operation
When doctor need to use corresponding operation tool, operation tool can automatically be changed by tool changing device so that it is be in operating position, and,
In order to improve the accuracy of operation, it is to avoid the generation of error, during each tool changing of tool changing device, the angle of cutter clamping disc spins is
Certain, the angle that i.e. operation tool on cutter clamping dish rotates every time is certain.
As the present invention a kind of explanation to tool changing device, described tool changing device includes the connection installed on a swing arm
Arm, described housing is arranged on the connecting arm；Housing upper cover has cover plate, described drive mechanism to be arranged in housing, drive mechanism
In rotating seat through cover plate, cutter clamping dish is positioned at outside housing.As described above, the second drive unit drives linking arm rotation
Turning, linking arm drives whole tool changing device to rotate.
As the present invention a kind of explanation to rotary components, described rotating seat is articulated on basal disc, and rotating seat is provided with one
To location bar, described cutter clamping dish is by a pair location bar fixing connection rotating seat.Wherein, described basal disc is solid by support column
Being scheduled in housing, described support column is positioned at annulus and is positioned at the side of rotating seat.
As the present invention a kind of explanation to latch components, described basal disc is provided with a pillar, and pillar is provided with swivel pin；
The pair of brake(-holder) block includes the first brake(-holder) block being positioned at left side and is positioned at second brake(-holder) block on right side, the left end of the first brake(-holder) block
Being hinged on swivel pin with the left end of the second brake(-holder) block, the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block are stretched by first
Contracting spring connects；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with the second fore-set, and first
Fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are positioned at the first coil tension spring；Described first brake(-holder) block and
The second equal semicircular in shape of brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc.As described above, the first coil tension spring
Having the trend making the first brake(-holder) block and the second brake(-holder) block close up, the setting of the first fore-set and the second fore-set then has stop should
The effect of the trend of kind.
As the present invention a kind of explanation to latch components, the pair of slide slot includes that the first slide slot and second slides
Groove, the first slide slot is opened in the right-hand member of the first brake(-holder) block, and the second slide slot is opened in the right-hand member of the second brake(-holder) block, and first slides
Groove and the second slide slot are symmetrical set, and wherein, the first slide slot includes the first linear type slide slot of connection and second straight
Line style slide slot, angle circle between the first linear type slide slot and the second linear type slide slot is in 90 degree and 180 degree
Between.As described above, when solving lock slide and translating to the central line of basal disc, slide for a pair slided in a pair slide slot
Bar has the trend making the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block separate.
As the present invention a kind of explanation to latch components, described solution lock slide is provided with a pair alignment pin, the pair of
Alignment pin includes the first alignment pin and the second alignment pin being symmetrical set, and it is fixed that the right-hand member of described first brake(-holder) block is provided with first
Hole, position, the right-hand member of the second brake(-holder) block is provided with the second hole, location, under the elastic force of the first coil tension spring, when the first fore-set and the second top
When post offsets, first alignment pin solved on lock slide of translation and the second alignment pin can correspondingly insert the first hole, location and second
In hole, location；The pair of bar that slides includes that first slides bar and second and slide bar, and first slides bar, and to be fixedly installed on first fixed
The top of position pin, second slides bar is fixedly installed on the top of the second alignment pin, and first slides centrage and first location of bar
The central axis of pin.As described above, when unlocked state promotes and solves lock slide to the center translation of basal disc, first slides bar
First translate in the first linear type slide slot, when the first alignment pin and the second alignment pin depart from the first hole, location and the second location
Kong Shi, second slides bar just enters the second linear type slide slot, slides bar for a pair and is braked by the right-hand member and second of the first brake(-holder) block
The right-hand member of sheet opens；After unlocked state is left away along with the rotation of annulus, solve lock slide and reset, slide bar for a pair multiple therewith
Position, the first alignment pin and the second alignment pin correspondingly insert the first hole, location and the second hole, location, to lock a pair brake(-holder) block.
As the present invention a kind of explanation to latch components, described basal disc is provided with setting block, erects block and is provided with second
Coil tension spring, one end of the second coil tension spring connects erects block, and the other end of the second coil tension spring connects solution lock slide.
As the present invention to driving a kind of of assembly to illustrate, described annulus is articulated in housing, and described driving means includes
The 7th gear and the 7th gear that the ring gear that fixed cover is located on annulus medial wall engages with ring gear couple and are arranged on housing
The 3rd interior motor.As described above, the 3rd motor drives the 7th gear to rotate, and the 7th gear drives circle by driving ring gear
Ring rotates.
As the present invention to driving a kind of of assembly to illustrate, described unlocked state includes the footpath being fixed on annulus medial wall
Inwardly projection, be fixed on radially on projection and point to the radial bars in the annulus center of circle, be articulated in the eighth gear of radial bars end；
Fixing one section of arc-shaped rack that can engage with eighth gear on described solution lock slide, the center of circle of arc-shaped rack is positioned at the center of annulus
On line.As described above, when eighth gear starts to contact with arc-shaped rack, eighth gear i.e. promotes solution lock slide to basal disc
Central line translates, owing to the center of circle of radial bars end sensing annulus and the center of circle of arc-shaped rack are positioned on the centrage of annulus,
Therefore, eighth gear contact with arc-shaped rack and engage after rotary course, make the centre distance of solution lock slide and annulus keep
Constant, and then, solving lock slide and keep constant with the distance at basal disc center, a pair brake(-holder) block keeps open configuration, makes rotating seat certainly
By rotating；Departing from after the contacting of the 6th gear in tooth section, eighth gear i.e. departs from and the contacting of arc-shaped rack, afterwards, and unblock
Slide block resets, and a pair brake(-holder) block resets, again the brake disc on braking rotating seat.Wherein, the length of arc-shaped rack is by with lower section
Formula determines: when rotating seat rotates to an angle and tooth Duan Yu six gear disengages, and arc-shaped rack departs from eighth gear
Contact.
As the present invention a kind of explanation to swing arm, a spill gap, described swing arm are offered in the front end of described forearm
It is articulated in spill gap.Described first driver element includes the first motor being arranged on forearm, couples the first motor and pendulum
First gear unit of swing arm；Described first gear unit includes the second gear and the 3rd being articulated on forearm and being coaxially disposed
Gear, the 4th gear being articulated on forearm and being coaxially disposed and the first synchronous pulley, the 3rd axle being articulated on forearm, fixing
It is arranged on the second synchronous pulley on the 3rd axle；First gear is installed on the output shaft of described first motor, the first gear with
Second gear engagement, the 3rd gear and the engagement of the 4th gear, the first synchronous pulley is coupled by Timing Belt and the second synchronous pulley,
3rd axle is fixing with swing arm to be connected.Described second driver element includes installing the second motor on a swing arm, the second transmission
Unit；Described second gear unit includes the rotation that the decelerator coupled with the second motor output shaft is connected with decelerator outfan
Rotating disk, tool changing device is installed on the rotating pan.
As the present invention a kind of explanation to base body, described base body be provided with symmetrical first horizontal guide rail and
Second horizontal guide rail, the first horizontal guide rail is sliding combined with the first cross sliding clock, and the second horizontal guide rail is sliding combined with
Two cross sliding clocks, described waist rotation member horizontal cross is arranged, and the two ends, left and right of waist rotation member are cylindrical, the left end of waist rotation member
Being articulated in the first cross sliding clock, the right-hand member of waist rotation member is articulated in the second cross sliding clock；Described large arm is vertically arranged, large arm
Bottom be articulated in the middle part of waist rotation member, described manipulator is arranged on the top of large arm, and described forearm is fixed in large arm
Portion, described swing arm is arranged on the top of forearm.As described above, waist rotation member can be led along the first horizontal guide rail and the second level
Rail moves, to increase the space of mechanical claw hand.
As the present invention a kind of explanation to base body, described base body is provided with brake structure, and brake structure includes solid
The brake rotation being connected is fixed in a pair support plate being scheduled on base body, the brake lever being articulated on a pair support plate, one end with brake lever
Turn the brake hinged with the brake rotary components other end of assembly, one end to be connected assembly to be connected the assembly other end with brake hinged
Lever assembly, the middle part of lever assembly is hinged on support plate, and the cross section of described brake lever is regular hexagon；Described second level
Slide block is provided with keep plate, keep plate and the second cross sliding clock and is connected by spring, and keep plate is positioned at waist rotation member right side
Side, described brake lever is close to keep plate.As described above, one end of operative doctor presses lever assembly, lever assembly around
It is with support plate hinged place tilting, and lever assembly connects assembly by brake and drives brake rotary components to rotate, and brake rotary components
Driving brake bar rotates, and the crest line of brake lever is against on keep plate towards a left side, and then, it is right that the left side of keep plate is against waist rotation member
On end face, waist rotation member is braked；When making lever assembly reset when the other end of staff's presses lever assembly, thick stick
Bar assembly connects assembly by brake and drives brake rotary components to reversely rotate, and brake rotary components driving brake bar reversely revolves
Turning, the crest line of brake lever leaves keep plate and no longer orders about keep plate and be moved to the left and brake waist rotation member.
In above-mentioned brake structure, described brake rotary components includes fixing with brake lever the brake rotating seat that is connected and stops
Car rotating seat fixes the brake swingle of connection；Described brake connects assembly and includes second brake hinged with brake swingle even
Extension bar and the second brake connecting rod fix the first brake connecting rod of connection；Described lever assembly includes being connected with first brake
Bar hinged brake bearing with brake bearing fix the brake liner plate being connected, described brake bearing is hinged on support plate.
Described base body is provided with the second brake structure, and the second brake structure includes a pair second be fixed on base body
Support plate, the second brake lever being articulated on a pair second support plates, one end are fixed the second brake being connected and are rotated with the second brake lever
Assembly, one end with second brake the rotary components other end hinged second brake is connected assembly and second brake connection assembly another
The second lever assembly that one end is hinged, the middle part of the second lever assembly is hinged on the second support plate, the horizontal stroke of described second brake lever
Cross section is regular hexagon；Described first cross sliding clock is provided with the second keep plate, the second keep plate and the first cross sliding clock to be passed through
Second spring connects, and the second keep plate is positioned at the side of waist rotation member left side, and described second brake lever is close to the second keep plate；
Described base body is provided with vertical rod, and the top of vertical rod is provided with the 3rd sliding pin, and the 3rd sliding pin is combined with lever, and the middle part of lever is opened
If the bar shaped chute being slidably matched with the 3rd sliding pin, the left end of lever is hinged with the lever assembly in brake structure, the right side of lever
Hold hinged with the second lever assembly in the second brake structure.As described above, brake structure and the second brake structure left and right are right
Claiming to arrange, both 26S Proteasome Structure and Functions are identical, and in operation, operative doctor presses lever assembly, can be by lever actuated second
Lever assembly links, and in like manner, operative doctor presses the second lever assembly, can be linked by lever actuated lever assembly.Linkage
Brake structure and the second brake structure right-hand member and left end to waist rotation member simultaneously be braked.
As the present invention to a kind of explanation of relation between waist rotation member and large arm, described waist rotation member is provided with large arm and stops
Bassinet structure, described large arm brake structure include the annular solid being fixedly installed on waist rotation member, a pair be arranged on annular solid
Brake hoop, second be slidably arranged on annular solid solve lock slide；The second brake disc, a pair brake hoop it is fixed with in described large arm
Being symmetrical set the periphery in the second brake disc, one end of a pair brake hoop is hinged and other end elasticity connects；Described second
Solve lock slide elasticity to be connected on annular solid, second solve lock slide be provided with translatable enter a pair brake hoop elasticity connect one end with
Open the second wedge of a pair brake hoop.As described above, in operation, four finger gripping in operative doctor proficiency live operation
Hands, residue one finger can press the second wedge, promotes the second solution lock slide center translation to annular solid, the second wedge translation
Entering one end that a pair brake hoop elasticity connects to open a pair brake hoop, so, large arm is rubbed by a pair brake hoop by initial
The state of braking is changed into rotatable state.
About above-mentioned large arm brake structure, described annular solid is fixed on waist rotation member by a bracer；Prop up and set on bracer
There is the second swivel pin；The pair of brake hoop includes the first brake hoop being positioned at left side and is positioned at second brake hoop on right side, the
The left end of one brake hoop and the left end of the second brake hoop are hinged on the second swivel pin, the right-hand member of the first brake hoop and the second braking
The right-hand member of ring is connected by the 3rd coil tension spring elasticity；The right-hand member of the first brake hoop is provided with the 3rd fore-set, the right side of the second brake hoop
End is provided with the 4th fore-set, and the 3rd fore-set and the 4th fore-set are oppositely arranged, and the 3rd fore-set and the 4th fore-set are positioned at the 3rd coil tension spring
In；Described first brake hoop and the equal semicircular in shape of the second brake hoop, the first brake hoop and the second brake hoop surround the second brake disc.
As described above, the 3rd coil tension spring has the trend making the first brake hoop and the second brake hoop close up, and the 3rd fore-set and
The setting of four fore-sets then has the effect stopping this kind of trend.
Described second solves lock slide is provided with a pair alignment pin, and a pair alignment pin is arranged on before and after the second wedge
Second solves on lock slide；The pair of alignment pin includes the first alignment pin and the second alignment pin being symmetrical set,
The right-hand member of described first brake hoop is provided with the 3rd hole, location, and the right-hand member of the second brake hoop is provided with the 4th hole, location, stretches the 3rd
Under the elastic force of spring, when the 3rd fore-set and the 4th fore-set offset, translation second solution lock slide on the first alignment pin and
Second alignment pin can correspondingly be inserted in the 3rd hole, location and the 4th hole, location.As described above, the is promoted when operative doctor
Two solution lock slides are when the center translation of annular solid, and the first alignment pin and the second alignment pin depart from the 3rd hole and the 4th, location
Hole, location, meanwhile, the second wedge stretches between the first brake hoop right-hand member and the second brake hoop right-hand member, and is opened；At hands
After art doctor discharges the second solution lock slide, second solves lock slide resets, and the second wedge leaves the first brake hoop right-hand member and second
Brake hoop right-hand member, meanwhile, the first alignment pin and the second alignment pin correspondingly insert the 3rd hole, location and the 4th hole, location, with
Lock a pair brake hoop.
About above-mentioned large arm brake structure, described annular solid is provided with the second setting block, and second erects block is provided with the 4th
Coil tension spring, one end of the 4th coil tension spring connects the second setting block, and it is sliding that the other end of the 4th coil tension spring connects the second unblock
Block.
Accompanying drawing explanation
The present invention is described further below in conjunction with the accompanying drawings:
Fig. 1 is the structural representation of a kind of operating robot being provided with rotary cutter clamping dish of the present invention；
Fig. 2 is the combinative structure schematic diagram of forearm 24 in Fig. 1, swing arm 80, tool changing device 30；
Fig. 3 is the structural representation after tool changing device 30 conceals cutter clamping dish 300 in Fig. 2；
Fig. 4 is the structural representation after tool changing device 30 conceals cover plate 64 in Fig. 3；
Fig. 5 is the structural representation of drive mechanism 60 in Fig. 4；
Fig. 6 is the combinative structure schematic diagram of rotary components 61 and latch components 62 in Fig. 5；
Fig. 7 is the structural representation solving lock slide 623 in Fig. 6；
Fig. 8 is the structural representation of brake(-holder) block 622 in Fig. 6；
Fig. 9 is the structural representation driving assembly 63 in Fig. 5；
Figure 10 is the combinative structure schematic diagram of brake structure the 70, second brake structure 700 in Fig. 1；
Figure 11 is the structural representation of brake structure 70 in Figure 10；
Figure 12 is the structural representation of large arm brake structure 90 in Fig. 1；
Figure 13 is the second structural representation solving lock slide 923 in Figure 12.
Symbol description in figure:
10, base body；11, the first horizontal guide rail；12, the second horizontal guide rail；13, the first cross sliding clock；130, the second system
Dynamic plate；14, the second cross sliding clock；140, keep plate；
21, waist rotation member；22, large arm；23, manipulator；24, forearm；
30, tool changing device；300, cutter clamping dish；
51, linking arm；52, housing；
60, drive mechanism；61, rotary components；611, rotating seat；612, brake disc；613, the 6th gear；614, location
Bar；62, latch components；621, basal disc；622, brake(-holder) block；6221, the first coil tension spring；6222, hole, location；623, unblock is sliding
Block；6230, arc-shaped rack；624, bar is slided；625, support column；626, pillar；627, alignment pin；628, block is erect；6281,
Two coil tension springs；629, slide slot；6291, the first linear type slide slot；6292, the second linear type slide slot；63, driving group
Part；631, annulus；632, tooth section；633, unlocked state；635, ring gear；636, the 7th gear；637, interior projection；638, footpath
To bar；639, eighth gear；64, cover plate；
70, brake structure；701, support plate；71, brake lever；72, brake rotary components；721, brake rotating seat；722, stop
Car swingle；73, brake connects assembly；731, first brake connecting rod；732, the second brake connecting rod；74, lever assembly；
741, brake bearing；742, brake liner plate；700, the second brake structure；75, vertical rod；76, the 3rd sliding pin；77, lever；
80, swing arm；81, the first gear；82, the second gear；84, the 4th gear；85, the first synchronous pulley；86, the 3rd
Axle；87, the second synchronous pulley；88, Timing Belt；89, rotating disk；
90, large arm brake structure；912, the second brake disc；921, annular solid；922, brake hoop；9221, the 3rd stretches bullet
Spring；9222, the 3rd hole, location；923, second lock slide is solved；924, the second wedge；925, bracer is propped up；927, alignment pin；
928, second block is erect；9281, the 4th coil tension spring.
Detailed description of the invention
In conjunction with Fig. 1, Fig. 2, a kind of operating robot being provided with rotary cutter clamping dish, including base body 10, it is articulated in the end
Waist rotation member 21 on pedestal, the large arm 22 being articulated on waist rotation member, the manipulator 23 being arranged in large arm, it is fixed on large arm
On forearm 24, be articulated in forearm front end swing arm 80, drive swing arm swing the first driver element, be arranged on swing arm
The second driver element that the tool changing device 30 of front end, driving tool changing device rotate；Central axis when described swing arm swings
In the rotation centerline of tool changing device, waist rotation member rotates around base body, and large arm rotates around waist rotation member.
In conjunction with Fig. 2 to Fig. 9, described tool changing device includes cutter clamping dish 300, drives the driving machine of cutter clamping disc spins
Structure 60；Described drive mechanism includes rotary components 61, latch components 62, drives assembly 63.Described rotary components includes rotating seat
611, fixed cover is located at the peripheral brake disc 612 of rotating seat and the 6th gear 613；Described cutter clamping dish fixing connection rotates
Seat.Described latch components includes the basal disc 621 being fixedly installed in housing, be arranged on basal disc a pair brake(-holder) block 622, slide
The solution lock slide 623 being arranged on basal disc；The pair of brake(-holder) block is symmetrical set the periphery in brake disc, a pair brake(-holder) block
One end is hinged and other end elasticity connects；Described solution lock slide elasticity is connected on basal disc, solves lock slide and is provided with a pair cunning
Row bar 624, one end that a pair brake(-holder) block elasticity connects offers a pair slide slot 629, and slide slot is bending, and a pair slide slot is left
The right side is symmetrical arranged, and slides bar for a pair and is slidably fitted in a pair slide slot.Described driving assembly include being driven by driving means and
The annulus 631 rotated, the centrage that the centrage deviation rotating seat that annulus rotates rotates, the medial wall of annulus is provided with tooth section
632 and unlocked state 633, tooth Duan Keyu the 6th gear engages；When unlocked state starts to promote solution lock slide flat to basal disc center
During shifting, the 6th gear starts to engage with tooth section.
Tool changing device 30, described tool changing device 30 includes the linking arm 51 being arranged on swing arm 80, and described housing 52 sets
Put on the connecting arm；Housing upper cover has cover plate 64, described drive mechanism 60 to be arranged in housing, the rotating seat in drive mechanism
611 pass cover plate, and cutter clamping dish 300 is positioned at outside housing.
Tool changing device 30, in rotary components 61, described rotating seat 611 is articulated on basal disc 621, and rotating seat is provided with a pair
Location bar 614, described cutter clamping dish 300 is by a pair location bar fixing connection rotating seat.
Tool changing device 30, in latch components 62, described basal disc 621 is fixed in housing 52 by support column 625, described
Dagger is positioned at annulus 631 and is positioned at the side of rotating seat 611.
Tool changing device 30, in latch components 62, described basal disc 621 is provided with a pillar 626, and pillar is provided with swivel pin；
The pair of brake(-holder) block 622 includes the first brake(-holder) block being positioned at left side and is positioned at second brake(-holder) block on right side, the first brake(-holder) block
The left end of left end and the second brake(-holder) block is hinged on swivel pin, and the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block are by the
One coil tension spring elastic 6221 connects；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with second
Fore-set, the first fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are positioned at the first coil tension spring；Described first
Brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc 612.
Tool changing device 30, in latch components 62, the pair of slide slot 629 includes the first slide slot and the second slide slot,
First slide slot is opened in the right-hand member of the first brake(-holder) block, and the second slide slot is opened in the right-hand member of the second brake(-holder) block, the first slide slot
Being symmetrical set with the second slide slot, wherein, the first slide slot includes the first linear type slide slot 6291 and second of connection
Linear type slide slot 6292, angle circle between the first linear type slide slot and the second linear type slide slot is in 90 degree and 100
Between 80 degree.
Tool changing device 30, in latch components 62, described solution lock slide 623 is provided with a pair alignment pin 627, the pair of fixed
Position pin includes the first alignment pin and the second alignment pin being symmetrical set, and the right-hand member of described first brake(-holder) block is provided with the first location
Hole 6222, the right-hand member of the second brake(-holder) block is provided with the second hole, location, under the elastic force of the first coil tension spring 6221, when the first fore-set with
When second fore-set offsets, first alignment pin solved on lock slide of translation and the second alignment pin can correspondingly insert the first hole, location
Position in hole with second；The pair of bar that slides includes that first slides bar and second and slide bar, and first slides bar is fixedly installed on
The top of the first alignment pin, second slides bar is fixedly installed on the top of the second alignment pin, and first slides the centrage and of bar
The central axis of one alignment pin.
Tool changing device 30, in latch components 62, described basal disc 621 is provided with setting block 628, and setting block is provided with second and stretches
Contracting spring 6281, one end of the second coil tension spring connects erects block, and the other end of the second coil tension spring connects solution lock slide 623.
Tool changing device 30, drives in assembly 63, and described annulus 631 is articulated in housing 52, and described driving means includes solid
Surely the 7th gear 636 that the ring gear 635 being set on annulus medial wall engages with ring gear couples with the 7th gear and is arranged on
The 3rd motor in housing.
Tool changing device 30, drives in assembly 63, and described unlocked state 633 includes the footpath being fixed on annulus 631 medial wall
Inwardly projection 637, be fixed on radially on projection and point to the radial bars 638 in the annulus center of circle, be articulated in the of radial bars end
Octadentate wheel 639；One section of arc-shaped rack 6230 that can engage is fixed with eighth gear on described solution lock slide 623, arc-shaped rack
The center of circle is positioned on the centrage of annulus.
Such as Fig. 2, a spill gap is offered in the front end of described forearm 24, and described swing arm 80 is articulated in spill gap.Institute
State the first driver element to include the first motor being arranged on forearm 24, couple first motor the first transmission list with swing arm
Unit；Described first gear unit include the second gear 82 being articulated on forearm and being coaxially disposed and the 3rd gear, be articulated in little
On arm and be coaxially disposed the 4th gear 84 and the first synchronous pulley 85, the 3rd axle 86 being articulated on forearm, be fixedly mounted on
The second synchronous pulley 87 on 3rd axle；First gear 81, the first gear and are installed on the output shaft of described first motor
Two gear engagements, the 3rd gear and the engagement of the 4th gear, the first synchronous pulley is coupled with the second synchronous pulley by Timing Belt 88,
3rd axle is fixing with swing arm to be connected.Described second driver element includes installing the second motor on a swing arm, the second transmission
Unit；Described second gear unit includes the rotation that the decelerator coupled with the second motor output shaft is connected with decelerator outfan
Rotating disk 89, tool changing device 30 is installed on the rotating pan.
In conjunction with Fig. 1, Figure 10, Figure 11, described base body 10 is provided with symmetrical first horizontal guide rail 11 and the second water
Level gauge 12, the first horizontal guide rail is sliding combined with the first cross sliding clock 13, the second horizontal guide rail is sliding combined with second
Cross sliding clock 14, described waist rotation member 21 horizontal cross is arranged, and the two ends, left and right of waist rotation member are cylindrical, a left side for waist rotation member
End is articulated in the first cross sliding clock, and the right-hand member of waist rotation member is articulated in the second cross sliding clock；Described large arm 22 is vertically arranged,
The bottom of large arm is articulated in the middle part of waist rotation member, and described manipulator 23 is arranged on the top of large arm, and described forearm 24 is fixed on
The middle part of large arm, described swing arm 80 is arranged on the top of forearm.
Described base body 10 is provided with brake structure 70, a pair support plate 701 that brake structure includes being fixed on base body,
Brake rotary components 72, one end and the brake rotation being connected is fixed in brake lever 71, one end of being articulated on a pair support plate with brake lever
The brake connection assembly 73 turning the assembly other end hinged is connected the hinged lever assembly of the assembly other end 74, lever group with brake
The middle part of part is hinged on support plate, and the cross section of described brake lever is regular hexagon；Described second cross sliding clock 14 is provided with system
Moving plate 140, keep plate and the second cross sliding clock are connected by spring, and keep plate is positioned at the side of waist rotation member 21 right side, institute
State brake lever and be close to keep plate.Described brake rotary components 72 include the brake rotating seat 721 that be connected fixing with brake lever 71 and
Brake rotating seat fixes the brake swingle 722 of connection；Described brake connects assembly 73 and includes the hinged with the swingle that brakes
Two brake connecting rods 732 fix, with the second brake connecting rod, the first brake connecting rod 731 being connected；Described lever assembly 74 wraps
Include the brake bearing 741 hinged with first brake connecting rod and fix the brake liner plate 742 being connected, described brake with brake bearing
Bearing is hinged on support plate 701.
Described base body 10 is provided with the second brake structure 700, and the second brake structure includes being fixed on base body 10
Second be connected is fixed, with the second brake lever, in a pair second support plates, the second brake lever being articulated on a pair second support plates, one end
Brake rotary components, one end with second brake the rotary components other end hinged second brake is connected assembly and second brake company
The second lever assembly that the connected components other end is hinged, the middle part of the second lever assembly is hinged on the second support plate, and described second stops
The cross section of car bar is regular hexagon；Described first cross sliding clock 13 is provided with the second keep plate 130, the second keep plate and first
Cross sliding clock is connected by the second spring, and the second keep plate is positioned at the side of waist rotation member 21 left side, described second brake lever
It is close to the second keep plate.Described base body is provided with vertical rod 75, and the top of vertical rod is provided with the 3rd sliding pin 76, and the 3rd sliding pin coordinates
Having lever 77, the bar shaped chute being slidably matched with the 3rd sliding pin is offered at the middle part of lever, in the left end of lever and brake structure 70
Lever assembly 74 hinged, the second lever assembly in the right-hand member of lever and the second brake structure 700 is hinged.
In conjunction with Fig. 1, Figure 12, Figure 13, described waist rotation member 21 is provided with large arm brake structure 90, described large arm brake structure
Including the annular solid 921 being fixedly installed on waist rotation member, a pair brake hoop 922 being arranged on annular solid, it is slidably arranged in
The second solution lock slide 923 on annular solid；Being fixed with the second brake disc 912 in described large arm, a pair brake hoop is symmetrical to be set
Putting the periphery in the second brake disc, one end of a pair brake hoop is hinged and other end elasticity connects；Described second solves lock slide bullet
Property be connected on annular solid, second solve lock slide be provided with translatable enter a pair brake hoop elasticity connect one end to open a pair system
Second wedge 924 of rotating ring.
In large arm brake structure 90, described annular solid is fixed on waist rotation member by a bracer 925；Prop up bracer to be provided with
Second swivel pin；The pair of brake hoop includes the first brake hoop being positioned at left side and is positioned at second brake hoop on right side, first
The left end of brake hoop and the left end of the second brake hoop are hinged on the second swivel pin, the right-hand member of the first brake hoop and the second brake hoop
Right-hand member connected by the 3rd coil tension spring elastic 9221；The right-hand member of the first brake hoop is provided with the 3rd fore-set, the second brake hoop
Right-hand member is provided with the 4th fore-set, and the 3rd fore-set and the 4th fore-set are oppositely arranged, and the 3rd fore-set and the 4th fore-set are positioned at the 3rd and stretch bullet
In spring；Described first brake hoop and the equal semicircular in shape of the second brake hoop, the first brake hoop and the second brake hoop surround the second braking
Dish 912.
In large arm brake structure 90, described second solves lock slide is provided with a pair alignment pin 927, a pair alignment pin with
It is arranged on before and after second wedge on the second solution lock slide；The pair of alignment pin includes the first location being symmetrical set
Bearing pin and the second alignment pin, the right-hand member of described first brake hoop is provided with the 3rd hole 9222, location, and the right-hand member of the second brake hoop sets
There is the 4th hole, location, under the elastic force of the 3rd coil tension spring, when the 3rd fore-set and the 4th fore-set offset, the second unblock of translation
The first alignment pin and the second alignment pin on slide block can correspondingly be inserted in the 3rd hole, location and the 4th hole, location.
In large arm brake structure 90, described annular solid is provided with the second setting block 928, and the second setting block is provided with the 4th and stretches
Contracting spring 9281, one end of the 4th coil tension spring connects the second setting block, and the other end of the 4th coil tension spring connects the second unblock
Slide block.
In practical operation, the workflow of a kind of operating robot being provided with rotary cutter clamping dish of the present invention is such as
Under:
First, operative doctor holds manipulation hands 23, rotates large arm 22 or waist rotation member 21, or makes waist rotation member 21 along the
One horizontal guide rail 11 and the second horizontal guide rail 12 translate, and make the tool changing device 30 on swing arm 80 close to treating at operation.
Second, under the driving of the first driver element, the swing of swing arm 80 can drive tool changing device 30 thereon to swing,
Under the driving of the second driver element, tool changing device 30 is rotatable.
3rd, in tool changing device 30, the driving means in drive mechanism 60 drives annulus 631 to rotate, and annulus drives on it
Tooth section 632 and unlocked state 633 rotate.When the unlocked state 633 being fixedly installed comes into contact with and promote the solution arranged of sliding
Lock slide 623, when the center translation of basal disc 621, solves and slides bar 624 for a pair in man-to-man mode at a pair on lock slide
Translation in slide slot 629, owing to slide slot is bending, therefore, slides bar 624 for a pair to what basal disc 621 central line translated
Can order about a pair elastic one end connected of brake(-holder) block 622 to open, so, rotating seat 611 is rubbed by a pair brake(-holder) block by initial
The state of braking is changed into rotatable state.No longer rotating seat 611 is braked synchronously, annulus with a pair brake(-holder) block 622
One section of tooth in tooth section 632 on 631 medial walls, i.e. annulus medial wall, starts to engage with the 6th gear 613, and drives the 6th
Gear and the rotating seat 611 being secured to connect rotate, and rotating seat drives cutter clamping dish 300 to rotate；When rotating seat 611 rotates
When 90 degree, tooth section 632 disengages with the 6th gear 613, and meanwhile, unlocked state 633 disengages with solving lock slide 623,
So, the solution lock slide 623 that elasticity is connected on basal disc 621 resets, and slides bar 624 for a pair and resets therewith, a pair brake(-holder) block 622
Elastic one end connected resets the most therewith, a pair brake(-holder) block frictional damping brake disc 612 again, and then braking rotating seat 611.Extremely
This, cutter clamping dish 300 horizontally rotates predetermined angular along with the rotation of rotating seat 611.Clamping is at the hands of cutter clamping dish 300
Art instrument rotates with certain angle, operative doctor need to operation tool be in operating position.
4th, the rotation at swing, the rotation of whole tool changing device 30, large arm 22 and the waist rotation member 21 of swing arm 80 is made
Under with, sufferer is operated by operative doctor.
Above content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, the most all will change, this specification content should not be construed as this
Bright restriction.
Claims (10)
1. it is provided with an operating robot for rotary cutter clamping dish, turns including base body (10), the waist that is articulated on base body
Parts (21), the large arm (22) being articulated on waist rotation member, the manipulator (23) being arranged in large arm, be fixed in large arm little
Arm (24), be articulated in forearm front end swing arm (80), drive swing arm swing the first driver element, be arranged on swing arm before
The second driver element that the tool changing device (30) of end, driving tool changing device rotate；Central axis when described swing arm swings
In the rotation centerline of tool changing device, waist rotation member rotates around base body, and large arm rotates around waist rotation member；It is characterized in that:
Described tool changing device includes cutter clamping dish (300), drives the drive mechanism (60) of cutter clamping disc spins；Described driving
Mechanism includes rotary components (61), latch components (62), drives assembly (63)；
Described rotary components includes that rotating seat (611), fixed cover are located at the peripheral brake disc (612) of rotating seat and the 6th gear
(613)；Described cutter clamping dish is fixing connects rotating seat；
Described latch components includes the basal disc (621) being fixedly installed in housing, a pair brake(-holder) block being arranged on basal disc
(622) the solution lock slide (623), being slidably arranged on basal disc；The pair of brake(-holder) block is symmetrical set outside brake disc
Enclosing, one end of a pair brake(-holder) block is hinged and other end elasticity connects；Described solution lock slide elasticity is connected on basal disc, solves lock slide
Being provided with a pair and slide bar (624), a pair slide slot (629) is offered in one end of a pair brake(-holder) block elasticity connection, and slide slot is curved
Folding shape, a pair slide slot is symmetrical set, and slides bar for a pair and is slidably fitted in a pair slide slot；
The annulus (631) that described driving assembly includes being driven by driving means and rotates, the centrage deviation that annulus rotates rotates
The centrage that seat rotates, the medial wall of annulus is provided with tooth section (632) and unlocked state (633), and tooth Duan Keyu the 6th gear is nibbled
Close；When unlocked state starts to promote and solves lock slide to basal disc center translation, the 6th gear starts to engage with tooth section.
A kind of operating robot being provided with rotary cutter clamping dish, it is characterised in that:
Described tool changing device (30) includes the linking arm (51) being arranged on swing arm (80), and described housing (52) is arranged on connection
On arm；Housing upper cover has cover plate (64), described drive mechanism (60) to be arranged in housing, the rotating seat in drive mechanism
(611) through cover plate, cutter clamping dish (300) is positioned at outside housing.
A kind of operating robot being provided with rotary cutter clamping dish, it is characterised in that: rotary components
(61) in, described rotating seat (611) is articulated on basal disc (621), and rotating seat is provided with a pair location bar (614), described cutter
Clamping dish (300) is by a pair location bar fixing connection rotating seat.
A kind of operating robot being provided with rotary cutter clamping dish, it is characterised in that: latch components
(62), in, described basal disc (621) is fixed in housing (52) by support column (625), and described support column is positioned at annulus (631)
And it is positioned at the side of rotating seat (611)；
In latch components (62), described basal disc (621) is provided with a pillar (626), and pillar is provided with swivel pin；The pair of system
Moving plate (622) includes being positioned at first brake(-holder) block in left side and is positioned at second brake(-holder) block on right side, the left end of the first brake(-holder) block and the
The left end of two brake(-holder) blocks is hinged on swivel pin, and the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block stretch bullet by first
Spring elastic (6221) connects；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with the second fore-set, the
One fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are positioned at the first coil tension spring；Described first brake(-holder) block
Brake disc (612) is surrounded with the second equal semicircular in shape of brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block；
In latch components (62), the pair of slide slot (629) includes the first slide slot and the second slide slot, and the first slide slot is opened
Being located at the right-hand member of the first brake(-holder) block, the second slide slot is opened in the right-hand member of the second brake(-holder) block, the first slide slot and the second slide slot
Being symmetrical set, wherein, the first slide slot includes that the first linear type slide slot (6291) of connection and the second linear type slide
Groove (6292), angle circle between the first linear type slide slot and the second linear type slide slot in 90 degree and 180 degree it
Between；
In latch components (62), described solution lock slide (623) is provided with a pair alignment pin (627), and the pair of alignment pin includes
The first alignment pin being symmetrical set and the second alignment pin, the right-hand member of described first brake(-holder) block is provided with the first hole, location
(6222), the right-hand member of the second brake(-holder) block is provided with the second hole, location, under the elastic force of the first coil tension spring (6221), when the first fore-set
When offseting with the second fore-set, first alignment pin solved on lock slide of translation and the second alignment pin can correspondingly insert the first location
In hole and the second hole, location；The pair of bar that slides includes that first slides bar and second and slide bar, and first slides bar is fixedly installed
Above the first alignment pin, second slides bar is fixedly installed on the top of the second alignment pin, first slide the centrage of bar with
The central axis of the first alignment pin；
In latch components (62), described basal disc (621) is provided with setting block (628), erects block and is provided with the second coil tension spring
(6281), one end of the second coil tension spring connects erects block, and the other end of the second coil tension spring connects solution lock slide (623).
A kind of operating robot being provided with rotary cutter clamping dish, it is characterised in that: drive assembly
(63), in, described annulus (631) is articulated in housing (52), and described driving means includes that fixed cover is located on annulus medial wall
The 3rd motor that the 7th gear (636) that ring gear (635) engages with ring gear couples with the 7th gear and is arranged in housing；
Driving in assembly (63), described unlocked state (633) includes being fixed on projection in the radial direction on annulus (631) medial wall
(637), it is fixed on interior projection and points to the radial bars (638) in the annulus center of circle, be articulated in the octadentate of radial bars end
Wheel (639)；One section of arc-shaped rack (6230) that can engage, arc-shaped rack is fixed with eighth gear on described solution lock slide (623)
The center of circle be positioned on the centrage of annulus.
A kind of operating robot being provided with rotary cutter clamping dish, it is characterised in that: described forearm
(24) a spill gap is offered in front end, and described swing arm (80) is articulated in spill gap；
Described first driver element includes the first motor being arranged on forearm (24), couples the first motor and the first of swing arm
Gear unit；Described first gear unit include the second gear (82) of being articulated on forearm and being coaxially disposed and the 3rd gear,
The 4th gear (84) being articulated on forearm and being coaxially disposed and the first synchronous pulley (85), the 3rd axle being articulated on forearm
(86) the second synchronous pulley (87), being fixedly mounted on the 3rd axle；On the output shaft of described first motor, the first tooth is installed
Wheel (81), the first gear and the engagement of the second gear, the 3rd gear and the engagement of the 4th gear, the first synchronous pulley passes through Timing Belt
(88) coupling with the second synchronous pulley, the 3rd axle is fixing with swing arm to be connected；
Described second driver element includes installing the second motor on a swing arm, the second gear unit；Described second transmission list
Unit includes the rotating disk (89) that the decelerator coupled with the second motor output shaft is connected, tool changing device with decelerator outfan
(30) install on the rotating pan.
A kind of operating robot being provided with rotary cutter clamping dish, it is characterised in that: described base
Body (10) is provided with symmetrical first horizontal guide rail (11) and the second horizontal guide rail (12), the first horizontal guide rail slides and joins
Conjunction has the first cross sliding clock (13), and the second horizontal guide rail is sliding combined with the second cross sliding clock (14), described waist rotation member
(21) horizontal cross is arranged, and the two ends, left and right of waist rotation member are cylindrical, and the left end of waist rotation member is articulated in the first cross sliding clock
In, the right-hand member of waist rotation member is articulated in the second cross sliding clock；Described large arm (22) is vertically arranged, and the bottom of large arm is articulated in waist
The middle part of rotation member, described manipulator (23) is arranged on the top of large arm, and described forearm (24) is fixed on the middle part of large arm, described
Swing arm (80) is arranged on the top of forearm.
A kind of operating robot being provided with rotary cutter clamping dish, it is characterised in that: described base
Body (10) is provided with brake structure (70), and brake structure includes a pair support plate (701) being fixed on base body, is articulated in a pair
Brake lever (71) on support plate, one end fix brake rotary components (72), one end and the brake rotary components being connected with brake lever
The hinged brake of the other end connects assembly (73) and is connected the hinged lever assembly of the assembly other end (74), lever assembly with brake
Middle part be hinged on support plate, the cross section of described brake lever is regular hexagon；Described second cross sliding clock (14) is provided with system
Moving plate (140), keep plate and the second cross sliding clock are connected by spring, and keep plate is positioned at the side of waist rotation member (21) right side
Side, described brake lever is close to keep plate；
Described brake rotary components (72) includes that the brake rotating seat (721) that be connected fixing with brake lever (71) and brake rotate
The fixing brake swingle (722) connected of seat；Described brake connects assembly (73) and includes that second hinged with brake swingle is stopped
Car connecting rod (732) fixes, with the second brake connecting rod, the first brake connecting rod (731) being connected；Described lever assembly (74)
The brake liner plate (742) being connected, institute is fixed with brake bearing including brake bearing (741) hinged with first brake connecting rod
State brake bearing to be hinged on support plate (701).
A kind of operating robot being provided with rotary cutter clamping dish, it is characterised in that: described base
Body (10) is provided with the second brake structure (700), the second brake structure include being fixed on base body (10) a pair second
The the second brake rotation group being connected is fixed in plate, the second brake lever being articulated on a pair second support plates, one end with the second brake lever
Part, one end with second brake the rotary components other end hinged second brake is connected assembly and second brake connection assembly another
Holding the second hinged lever assembly, the middle part of the second lever assembly is hinged on the second support plate, described second brake lever transversal
Face is regular hexagon；It is sliding that described first cross sliding clock (13) is provided with the second keep plate (130), the second keep plate and the first level
Block is connected by the second spring, and the second keep plate is positioned at the side of waist rotation member (21) left side, and described second brake lever is close to
Second keep plate；
Described base body is provided with vertical rod (75), and the top of vertical rod is provided with the 3rd sliding pin (76), and the 3rd sliding pin is combined with lever
(77), the bar shaped chute being slidably matched with the 3rd sliding pin is offered at the middle part of lever, in the left end of lever and brake structure (70)
Lever assembly (74) is hinged, and the second lever assembly in the right-hand member of lever and the second brake structure (700) is hinged.
A kind of operating robot being provided with rotary cutter clamping dish, it is characterised in that: described waist
Rotation member (21) is provided with large arm brake structure (90), and described large arm brake structure includes the ring being fixedly installed on waist rotation member
Body (921), a pair brake hoop (922) being arranged on annular solid, be slidably arranged on annular solid second solution lock slide
(923)；Being fixed with the second brake disc (912) in described large arm, a pair brake hoop is symmetrical set outside the second brake disc
Enclosing, one end of a pair brake hoop is hinged and other end elasticity connects；Described second solves lock slide elasticity is connected on annular solid, the
Two solve lock slides be provided with translatable enter a pair brake hoop elasticity connect one end to open the second wedge of a pair brake hoop
(924)；
Described annular solid is fixed on waist rotation member by a bracer (925)；Prop up bracer and be provided with the second swivel pin；The pair of
Brake hoop includes the first brake hoop being positioned at left side and is positioned at second brake hoop on right side, the left end of the first brake hoop and the second system
The left end of rotating ring is hinged on the second swivel pin, and the right-hand member of the first brake hoop and the right-hand member of the second brake hoop stretch bullet by the 3rd
Spring elastic (9221) connects；The right-hand member of the first brake hoop is provided with the 3rd fore-set, and the right-hand member of the second brake hoop is provided with the 4th fore-set, the
Three fore-sets and the 4th fore-set are oppositely arranged, and the 3rd fore-set and the 4th fore-set are positioned at the 3rd coil tension spring；Described first brake hoop
With the second equal semicircular in shape of brake hoop, the first brake hoop and the second brake hoop surround the second brake disc (912)；
Described second solves lock slide is provided with a pair alignment pin (927), and a pair alignment pin is arranged before and after the second wedge
Solve on lock slide second；The pair of alignment pin includes the first alignment pin and the second alignment pin being symmetrical set
Axle, the right-hand member of described first brake hoop is provided with the 3rd hole, location (9222), and the right-hand member of the second brake hoop is provided with the 4th hole, location,
Under the elastic force of the 3rd coil tension spring, when the 3rd fore-set and the 4th fore-set offset, first on the second solution lock slide of translation is fixed
Position bearing pin and the second alignment pin can correspondingly be inserted in the 3rd hole, location and the 4th hole, location；
Described annular solid is provided with the second setting block (928), and second erects block is provided with the 4th coil tension spring (9281), and the 4th stretches
One end of contracting spring connects the second setting block, and the other end of the 4th coil tension spring connects the second solution lock slide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610841120.3A CN106175937B (en) | 2016-09-21 | 2016-09-21 | A kind of operating robot equipped with rotary cutter clamping disk |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610841120.3A CN106175937B (en) | 2016-09-21 | 2016-09-21 | A kind of operating robot equipped with rotary cutter clamping disk |
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| Publication Number | Publication Date |
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| CN106175937A true CN106175937A (en) | 2016-12-07 |
| CN106175937B CN106175937B (en) | 2018-12-21 |
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| CN201610841120.3A Expired - Fee Related CN106175937B (en) | 2016-09-21 | 2016-09-21 | A kind of operating robot equipped with rotary cutter clamping disk |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113262018A (en) * | 2021-07-07 | 2021-08-17 | 孔德杰 | Rotary mechanism and medical paranasal sinus suction cutter |
| CN113509257A (en) * | 2021-04-21 | 2021-10-19 | 曹敏 | Needle type electric knife pen with smoke suction device |
| CN113796966A (en) * | 2021-10-13 | 2021-12-17 | 中南大学 | Compact large-torque brake mechanism |
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Cited By (6)
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| CN113509257A (en) * | 2021-04-21 | 2021-10-19 | 曹敏 | Needle type electric knife pen with smoke suction device |
| CN113509257B (en) * | 2021-04-21 | 2022-08-05 | 曹敏 | Needle type electric knife pen with smoke suction device |
| CN113262018A (en) * | 2021-07-07 | 2021-08-17 | 孔德杰 | Rotary mechanism and medical paranasal sinus suction cutter |
| CN113262018B (en) * | 2021-07-07 | 2022-10-25 | 徐相宏 | Rotary mechanism and medical paranasal sinus suction cutter |
| CN113796966A (en) * | 2021-10-13 | 2021-12-17 | 中南大学 | Compact large-torque brake mechanism |
| CN113796966B (en) * | 2021-10-13 | 2023-05-12 | 中南大学 | Compact large-moment brake mechanism |
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| CN106175937B (en) | 2018-12-21 |
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