CN106175937B - A kind of operating robot equipped with rotary cutter clamping disk - Google Patents
A kind of operating robot equipped with rotary cutter clamping disk Download PDFInfo
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- CN106175937B CN106175937B CN201610841120.3A CN201610841120A CN106175937B CN 106175937 B CN106175937 B CN 106175937B CN 201610841120 A CN201610841120 A CN 201610841120A CN 106175937 B CN106175937 B CN 106175937B
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- 210000000245 forearm Anatomy 0.000 claims description 27
- 239000007787 solid Substances 0.000 claims description 24
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 238000005452 bending Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 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 claims description 2
- 238000010586 diagram Methods 0.000 description 13
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000926 separation method Methods 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 equipped with rotary cutter clamping disk, the waist rotation member including trunnion axis rotation can be surrounded, can around the large arm of vertical axes rotation, can relatively small arm swing swing arm, can swing relatively the tool changing device of arm rotation.Wherein, the tool changing device includes cutter clamping disk, the driving mechanism for driving cutter clamping disc spins, and driving mechanism includes basal disc, the rotating seat being articulated on basal disc, the internal gear equipped with one section of tooth.Under normal conditions, one section of tooth of internal gear and the gear on rotating seat are contactless, and brake(-holder) block brakes rotating seat；When operation, the internal gear of rotation drives rotating seat to rotate predetermined angular by one section of tooth, and in rotating seat rotation, the tripper on internal gear releases braking of the brake(-holder) block to rotating seat.Cutter on cutter clamping disk is mounted on as rotary components rotate respective angles, make need to operation tool be in operating position.
Description
Technical field
The present invention relates to medical instruments, in particular to a kind of operating robot equipped with rotary cutter clamping disk.
Background technique
Traditional operation, operative doctor hold surgical knife tool, fixture, other operation tools and are operated to sufferer.
Summary of the invention
Technical problem solved by the invention: in traditional operation, operative doctor holds surgical knife tool, fixture, other operations
Tool is operated sufferer, and large labor intensity, working efficiency is low, sufferer susceptible.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of hand equipped with rotary cutter clamping disk
Art robot including base body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, is mounted on greatly
Manipulator on arm, the forearm being fixed in large arm, the swing arm for being articulated in forearm front end, driving swing the first of arm swing and drive
The second driving unit that moving cell, the tool changing device for being mounted on swing arm front end, driving tool changing device rotate；The swing arm pendulum
Central axis when dynamic is in the rotation centerline of tool changing device, and waist rotation member is rotated around base body, and large arm turns around waist rotation member
It is dynamic；
The tool changing device includes cutter clamping disk, the driving mechanism for driving cutter clamping disc spins；The driving mechanism
Including rotary components, latch components, driving assembly；
The rotary components include rotating seat, the fixed brake disc and the 6th gear for being set in rotating seat periphery；The knife
Tool clamping disk is fixedly connected with rotating seat；
The latch components include being fixed at the intracorporal basal disc of shell, a pair of of the brake(-holder) block being mounted on basal disc, sliding
Solution lock slide on basal disc is set；The pair of brake(-holder) block is symmetrical set in the periphery of brake disc, a pair of of brake(-holder) block
One end is hinged and other end elastic connection；On basal disc, solution lock slide slides the solution lock slide elastic connection equipped with a pair
Bar, one end of a pair of of brake(-holder) block elastic connection open up a pair of of slide slot, and slide slot is in bending, and a pair of of slide slot bilateral symmetry is set
It sets, a pair slides bar and is slidably fitted in a pair of of slide slot；
The driving component includes the annulus for being driven by driving device and being rotated, and the center line of annulus rotation deviates rotating seat
The center line of rotation, the inner sidewall of annulus are equipped with tooth section and unlocked state, the engagement of the 6th gear of tooth Duan Keyu；Work as unlocked state
When starting to push solution lock slide to basal disc center translation, the 6th gear starts to engage with tooth section；
Rotation centerline of the rotation centerline of the rotating seat perpendicular to tool changing device.
According to the above technical scheme, the working principle of a kind of operating robot equipped with rotary cutter clamping disk of the present invention
It is as follows:
First, operative doctor holds manipulation hand, rotates large arm or waist rotation member, make the tool changing device on swing arm be in
At operation.
Second, in tool changing device, driving device driving annulus rotation in driving mechanism, annulus drive tooth section thereon and
Unlocked state rotation.When the unlocked state of fixed setting starts solution center of the lock slide to basal disc for contacting and sliding being pushed to be arranged
When translation, a pair on solution lock slide slides bar and translates in a pair of of slide slot in a manner of one-to-one, since slide slot is in curved
Shape is rolled over, therefore, a pair translated to basal disc central line, which slides bar, can drive one end of a pair of of brake(-holder) block elastic connection to be opened, such as
This, rotating seat is changed into rotatable state by the initial state by a pair of of brake(-holder) block friction catch.It is braked with a pair
Piece no longer brakes rotating seat synchronously, the tooth section on annulus inner sidewall, i.e., one section of tooth on annulus inner sidewall is opened with the 6th gear
Begin to engage, and the 6th gear and the rotating seat being firmly connected with it rotation, rotating seat is driven to drive cutter clamping disc spins；Work as rotation
Swivel base rotates by a certain angle, and when such as 90 degree, six gear of tooth Duan Yu is disengaged, meanwhile, unlocked state and solution lock slide are de-
From contact, in this way, solution lock slide of the elastic connection on basal disc resets, a pair slides bar and resets therewith, a pair of of brake(-holder) block elasticity
One end of connection also resets therewith, a pair of of brake(-holder) block friction catch brake disc, and then braking rotating seat again.So far, cutter fills
Chuck rotates a certain angle with the rotation of rotating seat, and clamping rotates with certain in the operation tool of cutter clamping disk
Angle, operative doctor need to operation tool be in operating position.
Third, under the turning effort of the swing of swing arm, the rotation of entire tool changing device, large arm and waist rotation member, hand
Art doctor is operated sufferer.
Through the above technical solutions, the tool of several operations is equipped on cutter clamping disk, such as cutter, fixture, operation
When doctor need to use corresponding operation tool, tool changing device can automatically replace operation tool, be at operating position, and,
In order to improve the accuracy of operation, the generation of error is avoided, when each tool changing of tool changing device, the angle of cutter clamping disc spins is
Certain, i.e., the angle that the operation tool on cutter clamping disk rotates every time is certain.
As the present invention to a kind of explanation of tool changing device, the tool changing device includes the connection of installation on a swing arm
Arm, the shell setting is on the connecting arm；Capping has cover board on shell, and the driving mechanism is mounted in shell, driving mechanism
In rotating seat pass through cover board, cutter clamping disk is located at outside shell.As described above, the second driving unit is drivingly connected arm rotation
Turn, linking arm drives entire tool changing device rotation.
As the present invention to a kind of explanation of rotary components, the rotating seat is articulated on basal disc, and rotating seat is equipped with one
To locating rod, the cutter clamping disk is fixedly connected with rotating seat by a pair of of locating rod.Wherein, the basal disc is solid by support column
It is scheduled in shell, the support column is located at the side in annulus and being located at rotating seat.
As the present invention to a kind of explanation of latch components, the basal disc is equipped with a pillar, and pillar is equipped with swivel pin；
The pair of brake(-holder) block includes the second brake(-holder) block positioned at first brake(-holder) block in left side and positioned at right side, the left end of the first brake(-holder) block
It is hinged on swivel pin with the left end of the second brake(-holder) block, the right end of the first brake(-holder) block and the right end of the second brake(-holder) block are stretched by first
The connection of contracting spring；The right end of first brake(-holder) block is equipped with the first top pillar, and the right end of the second brake(-holder) block is equipped with the second top pillar, and first
Top pillar and the second top pillar are oppositely arranged, and the first top pillar and the second top pillar are located in the first adjustable spring；First brake(-holder) block and
The equal semicircular in shape of second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc.As described above, the first adjustable spring
With the trend for closing up the first brake(-holder) block and the second brake(-holder) block, and the setting of the first top pillar and the second top pillar then has blocking should
The effect of kind trend.
As the present invention to a kind of explanation of latch components, the pair of slide slot includes that the first slide slot and second slides
Slot, the first slide slot are provided with the right end of the first brake(-holder) block, and the second slide slot is provided with the right end of the second brake(-holder) block, and first slides
Slot and the second slide slot are symmetrical set, wherein the first slide slot includes that the first straight line type slide slot being connected to and second are straight
Line style slide slot, angle circle between first straight line type slide slot and second straight line type slide slot is in 90 degree and 180 degree
Between.As described above, when solving lock slide to when the translation of the central line of basal disc, a pair slided in a pair of of slide slot is slided
Bar has the trend of the right end separation of the right end and the second brake(-holder) block that make the first brake(-holder) block.
As the present invention to a kind of explanation of latch components, the solution lock slide is equipped with a pair of of positioning pin, the pair of
Positioning pin includes the first positioning pin and the second positioning pin being symmetrical set, and it is fixed that the right end of first brake(-holder) block is equipped with first
The right end in position hole, the second brake(-holder) block is equipped with second location hole, under the elastic force of the first adjustable spring, when the first top pillar and second push up
When column offsets, the first positioning pin and the second positioning pin on the solution lock slide of translation can correspondingly be inserted into first positioning hole and second
Positioning hole；The pair of bar that slides includes first sliding bar and second and sliding bar, and first slides bar, and to be fixed at first fixed
The top of position pin, second slides the top that bar is fixed at the second positioning pin, and first slides the center line of bar and the first positioning
The central axis of pin.As described above, when unlocked state pushes the center translation for solving lock slide to basal disc, first slides bar
It is translated in first straight line type slide slot first, when the first positioning pin and the second positioning pin are detached from first positioning hole and the second positioning
Kong Shi, second, which slides bar, just enters second straight line type slide slot, and a pair slides bar and brakes the right end of the first brake(-holder) block and second
The right end of piece opens；After unlocked state is left away with the rotation of annulus, solution lock slide resets, and it is multiple therewith that a pair slides bar
Position, the first positioning pin and the second positioning pin are correspondingly inserted into first positioning hole and second location hole, to lock a pair of of brake(-holder) block.
As the present invention to a kind of explanation of latch components, the basal disc, which is equipped with, erects block, erects block and is equipped with second
Block, the other end connection solution lock slide of the second adjustable spring are erect in adjustable spring, one end connection of the second adjustable spring.
As the present invention to a kind of explanation of driving assembly, the annulus is articulated in shell, and the driving device includes
The fixed ring gear being set on annulus inner sidewall, couples with the 7th gear and is mounted on shell the 7th gear engaged with ring gear
Interior third motor.As described above, the 7th gear of third motor driven rotates, and the 7th gear is by driving ring gear to drive circle
Ring rotation.
As the present invention to a kind of explanation of driving assembly, the unlocked state includes the diameter being fixed on annulus inner sidewall
Inside convex block, the radial bars for being fixed in radial direction on convex block and being directed toward the annulus center of circle, the eighth gear for being articulated in radial boom end；
One section of arc-shaped rack that can be engaged with eighth gear is fixed on the solution lock slide, the center of circle of arc-shaped rack is located at the center of annulus
On line.As described above, when eighth gear starts to contact with arc-shaped rack, eighth gear pushes solution lock slide to basal disc
Central line translation, since the center of circle that radial boom end is directed toward the center of circle of annulus and arc-shaped rack is located on the center line of annulus,
Therefore, the rotary course after eighth gear is contacted and engaged with arc-shaped rack keeps the centre distance for solving lock slide and annulus
Constant, in turn, solution lock slide remains unchanged at a distance from basal disc center, and a pair of of brake(-holder) block keeps open configuration, makes rotating seat certainly
By rotating；It being detached from tooth section with after the contact of the 6th gear, eighth gear is the contact being detached from arc-shaped rack, later, unlock
Sliding block resets, and a pair of of brake(-holder) block resets, and brakes the brake disc on rotating seat again.Wherein, the length of arc-shaped rack is pressed with lower section
Formula determines: when rotating seat rotates by a certain angle and six gear of tooth Duan Yu disengages, arc-shaped rack and eighth gear are detached from
Contact.
As the present invention to a kind of explanation of swing arm, the front end of the forearm opens up a spill gap, the swing arm
It is articulated in spill gap.First driving unit includes the first motor being mounted on forearm, connection first motor and pendulum
First gear unit of swing arm；First gear unit includes the second gear and third for being articulated on forearm and being coaxially disposed
Gear is articulated on forearm and the 4th gear being coaxially disposed and the first synchronous pulley, the third axis being articulated on forearm, fixation
The second synchronous pulley being mounted on third axis；First gear is installed on the output shaft of the first motor, first gear with
Second gear engagement, third gear are engaged with the 4th gear, and the first synchronous pulley is coupled by synchronous belt with the second synchronous pulley,
Third axis is fixedly connected with swing arm.Second driving unit includes installation the second motor on a swing arm, the second transmission
Unit；Second gear unit includes and the retarder of the second motor output shaft connection, the rotation that connect with retarder output end
Turntable, tool changing device are installed on the rotating pan.
As the present invention to a kind of explanation of base body, the base body be equipped with symmetrical first level guide rail and
Second horizontal guide rail is sliding combined with first level sliding block on first level guide rail, is sliding combined on the second horizontal guide rail
Two horizontal sliders, the waist rotation member horizontal cross setting, the left and right ends of waist rotation member are cylindrical, the left end of waist rotation member
It is articulated in first level sliding block, the right end of waist rotation member is articulated in the second horizontal slider；The large arm is vertically arranged, large arm
Bottom end be articulated in the middle part of waist rotation member, the manipulator is mounted on the top of large arm, and the forearm is fixed in large arm
Portion, the swing arm are mounted on the top of forearm.As described above, waist rotation member can be led along first level guide rail and the second level
Rail is mobile, to increase the space of mechanical claw hand.
As the present invention to a kind of explanation of base body, the base body is equipped with brake structure, and brake structure includes solid
The brake rotation that a pair of of supporting plate for being scheduled on base body, the brake lever being articulated on a pair of of supporting plate, one end are fixedly connected with brake lever
Turn component, one end and the hinged brake connection component of the brake rotary components other end, hinged with the brake connection component other end
Lever assembly is hinged on supporting plate in the middle part of lever assembly, and the cross section of the brake lever is in regular hexagon；Described second is horizontal
Sliding block is equipped with brake plate, and brake plate is connect with the second horizontal slider by spring, and brake plate is located at waist rotation member right side
Side, the brake lever are close to brake plate.As described above, one end of operative doctor presses lever component, lever assembly surround
Itself and supporting plate hinged place tilting, lever assembly drive brake rotary components rotation by brake connection component, and brake rotary components
The rotation of driving brake bar, the crest line of brake lever are against on brake plate towards a left side, and it is right to be against waist rotation member in turn, on the left of brake plate
On end face, waist rotation member is braked；When the other end of staff's presses lever component resets lever assembly, thick stick
Bar assembly drives brake rotary components to reversely rotate by brake connection component, and brake rotary components driving brake bar reversely revolves
Turn, the crest line of brake lever leaves brake plate and no longer brake plate driven to be moved to the left and brake waist rotation member.
In above-mentioned brake structure, the brake rotary components include the brake rotating seat being fixedly connected with brake lever and stop
The brake swingle that vehicle rotating seat is fixedly connected；The brake connection component includes that second brake hinged with brake swingle connects
Extension bar, the first brake connecting rod being fixedly connected with the second brake connecting rod；The lever assembly includes connecting with first brake
The hinged brake support of bar, the brake liner plate being fixedly connected with brake support, the brake support are hinged on supporting plate.
The base body is equipped with the second brake structure, and the second brake structure includes a pair second being fixed on base body
The second brake rotation that supporting plate, the second brake lever being articulated on a pair of second supporting plate, one end are fixedly connected with the second brake lever
Component, one end second brake connection component hinged with the second brake rotary components other end, the connection component that brakes with second are another
The second hinged lever assembly of one end is hinged on the second supporting plate in the middle part of the second lever assembly, the cross of second brake lever
Section is in regular hexagon；The first level sliding block is equipped with the second brake plate, and the second brake plate passes through with first level sliding block
Second spring connection, the second brake plate are located at the side of waist rotation member left side, and second brake lever is close to the second brake plate；
The base body is equipped with upright bar, and the top of upright bar is equipped with third sliding pin, is combined with lever on third sliding pin, opens in the middle part of lever
If the bar shaped sliding slot being slidably matched with third sliding pin, the lever assembly in the left end and brake structure of lever is hinged, the right side of lever
It holds hinged with the second lever assembly in the second brake structure.As described above, brake structure and the second brake structure or so pair
Claim setting, the structure and function of the two is identical, and in operation, operative doctor presses lever assembly, can drive second by lever
Lever assembly linkage, similarly, operative doctor presses the second lever assembly, can be linked by lever activation lever component.Linkage
Brake structure and the second brake structure simultaneously the right end of waist rotation member and left end are braked.
As the present invention to a kind of explanation of relationship between waist rotation member and large arm, the waist rotation member is stopped equipped with large arm
Bassinet structure, the large arm brake structure includes the annular solid being fixed on waist rotation member, a pair for being mounted on annular solid
Brake hoop, second be slidably arranged on annular solid solve lock slide；The second brake disc, a pair of of brake hoop are fixed in the large arm
It is symmetrical set in the periphery of the second brake disc, one end of a pair of of brake hoop is hinged and other end elastic connection；Described second
Solve lock slide elastic connection on annular solid, second solution lock slide be equipped with it is translatable enter a pair of of brake hoop elastic connection one end with
Open the second wedge block of a pair of of brake hoop.As described above, in operation, four finger grippings in operative doctor proficiency live to operate
Hand, residue one refer to the second wedge block of pressable, push the second solution center translation of the lock slide to annular solid, the translation of the second wedge block
Enter one end of a pair of of brake hoop elastic connection to open a pair of of brake hoop, in this way, large arm is rubbed by initial by a pair of of brake hoop
The state of braking is changed into rotatable state.
About above-mentioned large arm brake structure, the annular solid is fixed on waist rotation member by supporting block；It is set in supporting block
There is the second swivel pin；The pair of brake hoop includes the second brake hoop positioned at first brake hoop in left side and positioned at 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 end of the first brake hoop and the second braking
The right end of ring passes through third adjustable spring elastic connection；The right end of first brake hoop is equipped with third top pillar, the right side of the second brake hoop
End is equipped with the 4th top pillar, and third top pillar and the 4th top pillar are oppositely arranged, and third top pillar and the 4th top pillar are located at third adjustable spring
It is interior；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, third adjustable spring has the trend for closing up the first brake hoop and the second brake hoop, and third top pillar and the
The setting of four top pillars then has the function of stopping this kind of trend.
The second solution lock slide is equipped with a pair of of alignment pin, and setting exists before and after a pair of of alignment pin and the second wedge block
On second solution lock slide；The pair of alignment pin includes the first alignment pin and the second alignment pin being symmetrical set,
The right end of first brake hoop is equipped with third location hole, and the right end of the second brake hoop is equipped with the 4th location hole, flexible in third
Under the elastic force of spring, when third top pillar and the 4th top pillar offset, the first alignment pin on the second solution lock slide of translation and
Second alignment pin can correspondingly be inserted into third location hole and the 4th positioning hole.As described above, when operative doctor pushes the
Center translation from two solution lock slides to annular solid when, the first alignment pin and the second alignment pin are detached from third location hole and the 4th
Location hole, meanwhile, the second wedge block protrudes between the first brake hoop right end and the second brake hoop right end, and is opened；In hand
After art doctor release the second solution lock slide, the second solution lock slide resets, and the second wedge block leaves the first brake hoop right end and second
Brake hoop right end, meanwhile, the first alignment pin and the second alignment pin are correspondingly inserted into third location hole and the 4th location hole, with
Lock a pair of of brake hoop.
About above-mentioned large arm brake structure, the annular solid is equipped with second and erects block, and second, which erects block, is equipped with the 4th
Block is erect in adjustable spring, one end connection second of the 4th adjustable spring, and the second unlock of other end connection of the 4th adjustable spring is slided
Block.
Detailed description of the invention
Following further describes the present invention with reference to the drawings:
Fig. 1 is a kind of structural schematic diagram of the operating robot equipped with rotary cutter clamping disk of the present invention；
Fig. 2 is the combining structure schematic diagram of forearm 24, swing arm 80, tool changing device 30 in Fig. 1；
Fig. 3 is that tool changing device 30 conceals the structural schematic diagram after cutter clamping disk 300 in Fig. 2；
Fig. 4 is that tool changing device 30 conceals the structural schematic diagram after cover board 64 in Fig. 3；
Fig. 5 is the structural schematic diagram of driving mechanism 60 in Fig. 4；
Fig. 6 is the combining structure schematic diagram of rotary components 61 and latch components 62 in Fig. 5；
Fig. 7 is the structural schematic diagram that lock slide 623 is solved in Fig. 6；
Fig. 8 is the structural schematic diagram of brake(-holder) block 622 in Fig. 6；
Fig. 9 is the structural schematic diagram of driving assembly 63 in Fig. 5；
Figure 10 is the combining structure schematic diagram of brake structure 70, the second brake structure 700 in Fig. 1；
Figure 11 is the structural schematic diagram of brake structure 70 in Figure 10；
Figure 12 is the structural schematic diagram of large arm brake structure 90 in Fig. 1；
Figure 13 is the structural schematic diagram of the second solution lock slide 923 in Figure 12.
Symbol description in figure:
10, base body；11, first level guide rail；12, the second horizontal guide rail；13, first level sliding block；130, the second system
Movable plate；14, the second horizontal slider；140, brake plate；
21, waist rotation member；22, large arm；23, manipulator；24, forearm；
30, tool changing device；300, cutter clamping disk；
51, linking arm；52, shell；
60, driving mechanism；61, rotary components；611, rotating seat；612, brake disc；613, the 6th gear；614, it positions
Bar；62, latch components；621, basal disc；622, brake(-holder) block；6221, the first adjustable spring；6222, location hole；623, unlock is slided
Block；6230, arc-shaped rack；624, bar is slided；625, support column；626, pillar；627, positioning pin；628, block is erect；6281,
Two adjustable springs；629, slide slot；6291, first straight line type slide slot；6292, second straight line type slide slot；63, driving group
Part；631, annulus；632, tooth section；633, unlocked state；635, ring gear；636, the 7th gear；637, convex block in radial direction；638, diameter
To bar；639, eighth gear；64, cover board；
70, brake structure；701, supporting plate；71, brake lever；72, brake rotary components；721, brake rotating seat；722, it stops
Vehicle swingle；73, brake connection component；731, first brake connecting rod；732, the second brake connecting rod；74, lever assembly；
741, brake support；742, brake liner plate；700, the second brake structure；75, upright bar；76, third sliding pin；77, lever；
80, swing arm；81, first gear；82, second gear；84, the 4th gear；85, the first synchronous pulley；86, third
Axis；87, the second synchronous pulley；88, synchronous belt；89, rotating disk；
90, large arm brake structure；912, the second brake disc；921, annular solid；922, brake hoop；9221, the flexible bullet of third
Spring；9222, third location hole；923, the second solution lock slide；924, the second wedge block；925, supporting block；927, alignment pin；
928, second block is erect；9281, the 4th adjustable spring.
Specific embodiment
In conjunction with Fig. 1, Fig. 2, a kind of operating robot equipped with rotary cutter clamping disk, including base body 10, it is articulated in bottom
Waist rotation member 21 on pedestal, the manipulator 23 being mounted in large arm, is fixed on large arm at the large arm 22 being articulated on waist rotation member
On forearm 24, be articulated in forearm front end swing arm 80, driving swing arm swing the first driving unit, be mounted on swing arm
The second driving unit that tool changing device 30, the driving tool changing device of front end rotate；Central axis when the swing arm swing
In the rotation centerline of tool changing device, waist rotation member is rotated around base body, and large arm is rotated around waist rotation member.
In conjunction with Fig. 2 to Fig. 9, the tool changing device includes cutter clamping disk 300, the driving machine for driving cutter clamping disc spins
Structure 60；The driving mechanism includes rotary components 61, latch components 62, driving assembly 63.The rotary components include rotating seat
611, the fixed brake disc 612 and the 6th gear 613 for being set in rotating seat periphery；The cutter clamping disk is fixedly connected with rotation
Seat.The latch components include being fixed at the intracorporal basal disc 621 of shell, a pair of of the brake(-holder) block 622 being mounted on basal disc, sliding
Solution lock slide 623 on basal disc is set；The pair of brake(-holder) block is symmetrical set in the periphery of brake disc, a pair of of brake(-holder) block
One end is hinged and other end elastic connection；On basal disc, solution lock slide is equipped with a pair of sliding the solution lock slide elastic connection
Row bar 624, one end of a pair of of brake(-holder) block elastic connection open up a pair of of slide slot 629, and slide slot is in bending, and a pair of of slide slot is left
The right side is symmetrical arranged, and a pair slides bar and is slidably fitted in a pair of of slide slot.The driving component include by driving device driving and
The annulus 631 of rotation, the center line of annulus rotation deviate the center line of rotating seat rotation, and the inner sidewall of annulus is equipped with tooth section
632 and unlocked state 633, the engagement of the 6th gear of tooth Duan Keyu；When unlocked state starts to push solution lock slide flat to basal disc center
When shifting, the 6th gear starts to engage with tooth section.
Tool changing device 30, the tool changing device 30 include the linking arm 51 being mounted on swing arm 80, and the shell 52 is set
It sets on the connecting arm；Capping has cover board 64 on shell, and the driving mechanism 60 is mounted in shell, the rotating seat in driving mechanism
611 pass through cover board, and cutter clamping disk 300 is located at outside shell.
Tool changing device 30, in rotary components 61, the rotating seat 611 is articulated on basal disc 621, and rotating seat is equipped with a pair
Locating rod 614, the cutter clamping disk 300 are fixedly connected with rotating seat by a pair of of locating rod.
Tool changing device 30, in latch components 62, the basal disc 621 is fixed in shell 52 by support column 625, the branch
Dagger is located at the side in annulus 631 and being located at rotating seat 611.
Tool changing device 30, in latch components 62, the basal disc 621 is equipped with a pillar 626, and pillar is equipped with swivel pin；
The pair of brake(-holder) block 622 includes the second brake(-holder) block positioned at first brake(-holder) block in left side and positioned at 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 end of the right end of the first brake(-holder) block and the second brake(-holder) block passes through the
One adjustable spring elasticity 6221 connects；The right end of first brake(-holder) block is equipped with the first top pillar, and the right end of the second brake(-holder) block is equipped with second
Top pillar, the first top pillar and the second top pillar are oppositely arranged, and the first top pillar and the second top pillar are located in the first adjustable 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 provided with the right end of the first brake(-holder) block, and the second slide slot is provided with the right end of the second brake(-holder) block, the first slide slot
It is symmetrical set with the second slide slot, wherein the first slide slot includes the first straight line type slide slot 6291 and second of connection
Linear type slide slot 6292, angle circle between first straight line type slide slot and second straight line type slide slot is in 90 degree and 100
Between 80 degree.
Tool changing device 30, in latch components 62, the solution lock slide 623 is equipped with a pair of of positioning pin 627, the pair of fixed
Position pin includes the first positioning pin and the second positioning pin being symmetrical set, and the right end of first brake(-holder) block is equipped with the first positioning
Hole 6222, the right end of the second brake(-holder) block is equipped with second location hole, under the elastic force of the first adjustable spring 6221, when the first top pillar with
When second top pillar offsets, the first positioning pin and the second positioning pin on the solution lock slide of translation can correspondingly be inserted into first positioning hole
In second location hole；The pair of bar that slides includes first sliding bar and second and sliding bar, and first, which slides bar, is fixed at
The top of first positioning pin, second slides the top that bar is fixed at the second positioning pin, and first slides the center line of bar and
The central axis of one positioning pin.
Tool changing device 30, in latch components 62, the basal disc 621, which is equipped with, erects block 628, erects block and is equipped with second and stretches
Block, the other end connection solution lock slide 623 of the second adjustable spring are erect in contracting spring 6281, one end connection of the second adjustable spring.
Tool changing device 30, in driving assembly 63, the annulus 631 is articulated in shell 52, and the driving device includes solid
Surely the ring gear 635 that is set on annulus inner sidewall, the 7th gear 636 engaged with ring gear couple and are mounted on the 7th gear
The intracorporal third motor of shell.
Tool changing device 30, in driving assembly 63, the unlocked state 633 includes the diameter being fixed on 631 inner sidewall of annulus
Inside convex block 637, the radial bars 638 for being fixed in radial direction on convex block and being directed toward the annulus center of circle, be articulated in radial boom end the
Octadentate wheel 639；One section of arc-shaped rack 6230 that can be engaged with eighth gear is fixed on the solution lock slide 623, arc-shaped rack
The center of circle is located on the center line of annulus.
Such as Fig. 2, the front end of the forearm 24 opens up a spill gap, and the swing arm 80 is articulated in spill gap.Institute
State the first transmission list that the first driving unit includes the first motor being mounted on forearm 24, connection first motor and swing arm
Member；First gear unit include be articulated on forearm and be coaxially disposed second gear 82 and third gear, be articulated in it is small
On arm and coaxial arrangement the 4th gear 84 and the first synchronous pulley 85, be articulated on forearm third axis 86, be fixedly mounted on
The second synchronous pulley 87 on third axis；First gear 81 is installed, first gear and the on the output shaft of the first motor
The engagement of two gears, third gear are engaged with the 4th gear, and the first synchronous pulley is coupled by synchronous belt 88 with the second synchronous pulley,
Third axis is fixedly connected with swing arm.Second driving unit includes installation the second motor on a swing arm, the second transmission
Unit；Second gear unit includes and the retarder of the second motor output shaft connection, the rotation that connect with retarder output end
Turntable 89, tool changing device 30 are installed on the rotating pan.
In conjunction with Fig. 1, Figure 10, Figure 11, the base body 10 is equipped with symmetrical first level guide rail 11 and the second water
Level gauge 12 is sliding combined with first level sliding block 13 on first level guide rail, is sliding combined with second on the second horizontal guide rail
Horizontal slider 14,21 horizontal cross of the waist rotation member setting, the left and right ends of waist rotation member are cylindrical, a left side for waist rotation member
End is articulated in first level sliding block, and the right end of waist rotation member is articulated in the second horizontal slider；The large arm 22 is vertically arranged,
The bottom end of large arm is articulated in the middle part of waist rotation member, and the manipulator 23 is mounted on the top of large arm, and the forearm 24 is fixed on
The middle part of large arm, the swing arm 80 are mounted on the top of forearm.
The base body 10 be equipped with brake structure 70, brake structure include a pair of of the supporting plate 701 being fixed on base body,
Brake rotary components 72, one end and the brake that the brake lever 71 that is articulated on a pair of of supporting plate, one end are fixedly connected with brake lever are revolved
Turn the hinged brake connection component 73 of the component other end, the lever assembly 74 hinged with the brake connection component other end, lever group
It is hinged on supporting plate in the middle part of part, the cross section of the brake lever is in regular hexagon；Second horizontal slider 14 is equipped with system
Movable plate 140, brake plate are connect with the second horizontal slider by spring, and brake plate is located at the side of 21 right side of waist rotation member, institute
It states brake lever and is close to brake plate.The brake rotary components 72 include the brake rotating seat 721 being fixedly connected with brake lever 71, with
The brake swingle 722 that brake rotating seat is fixedly connected；The brake connection component 73 includes hinged with brake swingle the
Two brake connecting rods 732, the first brake connecting rod 731 being fixedly connected with the second brake connecting rod；The lever assembly 74 wraps
The brake liner plate 742 for including the brake support 741 hinged with first brake connecting rod, being fixedly connected with brake support, the brake
Support is hinged on supporting plate 701.
The base body 10 is equipped with the second brake structure 700, and the second brake structure includes being fixed on base body 10
A pair of second supporting plate, the second brake lever being articulated on a pair of second supporting plate, one end be fixedly connected with the second brake lever second
Brake rotary components, one end second brake connection component hinged with the second brake rotary components other end and the second brake connect
The second hinged lever assembly of the connected components other end is hinged on the second supporting plate in the middle part of the second lever assembly, and described second stops
The cross section of vehicle bar is in regular hexagon；The first level sliding block 13 is equipped with the second brake plate 130, the second brake plate and first
Horizontal slider is connected by second spring, and the second brake plate is located at the side of 21 left side of waist rotation member, second brake lever
It is close to the second brake plate.The base body is equipped with upright bar 75, and the top of upright bar is equipped with third sliding pin 76, cooperates on third sliding pin
There is lever 77, open up the bar shaped sliding slot being slidably matched with third sliding pin in the middle part of lever, in the left end of lever and brake structure 70
Lever assembly 74 it is hinged, the right end of lever and the second lever assembly in the second brake structure 700 are hinged.
In conjunction with Fig. 1, Figure 12, Figure 13, the waist rotation member 21 is equipped with large arm brake structure 90, the large arm brake structure
Including the annular solid 921 being fixed on waist rotation member, a pair of of the brake hoop 922 being mounted on annular solid, it is slidably arranged in
The second solution lock slide 923 on annular solid；The second brake disc 912 is fixed in the large arm, a pair of of brake hoop bilateral symmetry is set
It sets in the periphery of the second brake disc, one end of a pair of of brake hoop is hinged and other end elastic connection；The second solution lock slide bullet
Property be connected on annular solid, second solution lock slide be equipped with it is translatable enter a pair of of brake hoop elastic connection one end to open a pair of of system
Second wedge block 924 of rotating ring.
In large arm brake structure 90, the annular solid is fixed on waist rotation member by supporting block 925；Supporting block is equipped with
Second swivel pin；The pair of brake hoop includes the first brake hoop positioned at left side and the second brake hoop positioned at right side, and 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 end of the first brake hoop and the second brake hoop
Right end by third adjustable spring elasticity 9221 connect；The right end of first brake hoop is equipped with third top pillar, the second brake hoop
Right end is equipped with the 4th top pillar, and third top pillar and the 4th top pillar are oppositely arranged, and third top pillar and the 4th top pillar are located at the flexible bullet of third
In spring；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
Disk 912.
In large arm brake structure 90, the second solution lock slide is equipped with a pair of of alignment pin 927, a pair of of alignment pin with
Setting is on the second solution lock slide before and after second wedge block；The pair of alignment pin includes the first positioning being symmetrical set
The right end of pin shaft and the second alignment pin, first brake hoop is equipped with third location hole 9222, and the right end of the second brake hoop is set
There is the 4th location hole, under the elastic force of third adjustable spring, when third top pillar and the 4th top pillar offset, the second unlock of translation
The first alignment pin and the second alignment pin on sliding block can correspondingly be inserted into third location hole and the 4th positioning hole.
In large arm brake structure 90, the annular solid is equipped with second and erects block 928, and the second setting block is equipped with the 4th and stretches
Block, the second unlock of other end connection of the 4th adjustable spring are erect in contracting spring 9281, one end connection second of the 4th adjustable spring
Sliding block.
In practical operation, a kind of workflow of the operating robot equipped with rotary cutter clamping disk of the present invention is such as
Under:
First, operative doctor holds manipulation hand 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 translation of the second horizontal guide rail 12 make the tool changing device 30 on swing arm 80 close to wait the place that performs the operation.
Second, under the driving of the first driving unit, the swing of swing arm 80 can drive tool changing device 30 thereon to swing,
Under the driving of the second driving unit, tool changing device 30 is rotatable.
Third, in tool changing device 30, the driving device driving annulus 631 in driving mechanism 60 rotates, and annulus drives thereon
Tooth section 632 and unlocked state 633 rotate.When the unlocked state 633 of fixed setting starts the solution for contacting and sliding being pushed to be arranged
Center translation from lock slide 623 to basal disc 621 when, solve lock slide on a pair slide bar 624 in a manner of one-to-one in a pair
Translation in slide slot 629, since slide slot is in bending, a pair translated to 621 central line of basal disc slides bar 624
One end of a pair of of 622 elastic connection of brake(-holder) block can be driven to open, in this way, rotating seat 611 is rubbed by initial by a pair of of brake(-holder) block
The state of braking is changed into rotatable state.No longer rotating seat 611 is braked synchronously with a pair of of brake(-holder) block 622, annulus
Tooth section 632 on 631 inner sidewalls, i.e., one section of tooth on annulus inner sidewall, starts to engage with the 6th gear 613, and drives the 6th
Gear and the rotating seat 611 being firmly connected with it rotation, rotating seat drive cutter clamping disk 300 to rotate；When rotating seat 611 rotates
At 90 degree, tooth section 632 is disengaged with the 6th gear 613, meanwhile, unlocked state 633 is disengaged with solution lock slide 623,
In this way, solution lock slide 623 of the elastic connection on basal disc 621 resets, a pair slides bar 624 and resets therewith, a pair of of brake(-holder) block 622
One end of elastic connection also resets therewith, a pair of of brake(-holder) block friction catch brake disc 612, and then braking rotating seat 611 again.Extremely
This, cutter clamping disk 300 rotates horizontally predetermined angular with the rotation of rotating seat 611.Hand of the clamping in cutter clamping disk 300
Art tool rotates with certain angle, operative doctor need to operation tool be in operating position.
4th, make in the rotation of the swing of swing arm 80, the rotation of entire tool changing device 30, large arm 22 and waist rotation member 21
Under, operative doctor is operated sufferer.
The above content is only better embodiment of the invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to this hair
Bright limitation.
Claims (8)
1. a kind of operating robot equipped with rotary cutter clamping disk turns including base body (10), the waist being articulated on base body
Component (21), the large arm (22) being articulated on waist rotation member, the manipulator (23) being mounted in large arm, be fixed on it is small in large arm
Before arm (24), the swing arm (80) for being articulated in forearm front end, driving swing the first driving unit of arm swing, are mounted on swing arm
The second driving unit that tool changing device (30), the driving tool changing device at end rotate；Central axis when the swing arm swing
In the rotation centerline of tool changing device, waist rotation member is rotated around base body, and large arm is rotated around waist rotation member；It is characterized by:
The tool changing device includes cutter clamping disk (300), the driving mechanism (60) for driving cutter clamping disc spins；The driving
Mechanism includes rotary components (61), latch components (62), driving assembly (63)；
The rotary components include rotating seat (611), the fixed brake disc (612) and the 6th gear for being set in rotating seat periphery
(613)；The cutter clamping disk is fixedly connected with rotating seat；
The latch components include a pair of of the brake(-holder) block for being fixed at the intracorporal basal disc of shell (621), being mounted on basal disc
(622), the first solution lock slide (623) being slidably arranged on basal disc；The pair of brake(-holder) block is symmetrical set in brake disc
Periphery, one end of a pair of of brake(-holder) block is hinged and other end elastic connection；Described first solves lock slide elastic connection on basal disc,
First solution lock slide is equipped with a pair and slides bar (624), and one end of a pair of of brake(-holder) block elastic connection opens up a pair of of slide slot
(629), each slide slot is in bending, and a pair of of slide slot is symmetrical set, and a pair, which slides bar and is slidably fitted in a pair, to slide
In slot；
The driving component includes the annulus (631) for being driven by driving device and being rotated, and the center line of annulus rotation deviates rotation
The inner sidewall of the center line of seat rotation, annulus is equipped with tooth section (632) and unlocked state (633), and tooth section can be with the 6th gear
Engagement；When unlocked state starts to push the first solution lock slide to basal disc center translation, the 6th gear starts to engage with tooth section；
The base body (10) is equipped with symmetrical first level guide rail (11) and the second horizontal guide rail (12), first level
It is sliding combined on guide rail first level sliding block (13), the second horizontal slider (14), institute is sliding combined on the second horizontal guide rail
The setting of waist rotation member (21) horizontal cross is stated, the left and right ends of waist rotation member are cylindrical, and the left end of waist rotation member is articulated in the
In one horizontal slider, the right end of waist rotation member is articulated in the second horizontal slider；The large arm (22) is vertically arranged, the bottom of large arm
End is articulated in the middle part of waist rotation member, and the manipulator (23) is mounted on the top of large arm, and the forearm (24) is fixed on large arm
Middle part, the swing arm (80) is mounted on the top of forearm；
The base body (10) is equipped with first brake structure (70), and first brake structure includes a pair being fixed on base body
First supporting plate (701), the first brake bar (71) being articulated on a pair of first supporting plate, one end are fixedly connected with first brake bar
First brake rotary components (72), one end and the hinged first brake connection component (73) of the first brake rotary components other end,
Hinged the first lever assembly (74) with the first brake connection component other end is hinged on first in the middle part of the first lever assembly
On plate, the cross section of the first brake bar is in regular hexagon；Second horizontal slider (14) is equipped with the first brake plate
(140), the first brake plate is connect with the second horizontal slider by the first spring, and the first brake plate is located at waist rotation member (21) right end
The side in face, the first brake bar are close to the first brake plate；
The first brake rotary components (72) include the brake rotating seat (721) being fixedly connected with first brake bar (71), with
The brake swingle (722) that brake rotating seat is fixedly connected；The first brake connection component (73) include and brake swingle
The first brake connecting rod (731) that hinged second brakes connecting rod (732), is fixedly connected with the second brake connecting rod；It is described
First lever assembly (74) includes the brake support (741) hinged with first brake connecting rod, support is fixedly connected with braking
It brakes liner plate (742), the brake support is hinged on the first supporting plate (701).
2. a kind of operating robot equipped with rotary cutter clamping disk as described in claim 1, it is characterised in that:
The tool changing device (30) includes the linking arm (51) being mounted on swing arm (80), and shell (52) setting is connecting
On arm；There is cover board (64) capping on shell, the driving mechanism (60) is mounted in shell, the rotating seat in driving mechanism
(611) cover board is passed through, cutter clamping disk (300) is located at outside shell.
3. a kind of operating robot equipped with rotary cutter clamping disk as described in claim 1, it is characterised in that: rotary components
(61) in, the rotating seat (611) is articulated on basal disc (621), and rotating seat is equipped with a pair of of locating rod (614), the cutter
Clamping disk (300) is fixedly connected with rotating seat by a pair of of locating rod.
4. a kind of operating robot equipped with rotary cutter clamping disk as described in claim 1, it is characterised in that: latch components
(62) in, the basal disc (621) is fixed in shell (52) by support column (625), and the support column is located in annulus (631)
And it is located at the side of rotating seat (611)；
In latch components (62), the basal disc (621) is equipped with a pillar (626), and pillar is equipped with the first swivel pin；Described one
It include positioned at first brake(-holder) block in left side and positioned at second brake(-holder) block on right side, the left end of the first brake(-holder) block to brake(-holder) block (622)
It is hinged on the first swivel pin with the left end of the second brake(-holder) block, the right end of the right end of the first brake(-holder) block and the second brake(-holder) block passes through the
One adjustable spring (6221) elastic connection；The right end of first brake(-holder) block is equipped with the first top pillar, and the right end of the second brake(-holder) block is equipped with the
Two top pillars, the first top pillar and the second top pillar are oppositely arranged, and the first top pillar and the second top pillar are located in the first adjustable spring；Described
One 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)；
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
It is located at the right end of the first brake(-holder) block, the second slide slot is provided with the right end of the second brake(-holder) block, the first slide slot and the second slide slot
It is symmetrical set, wherein the first slide slot includes that the first straight line type slide slot (6291) of connection and second straight line type slide
Slot (6292), angle circle between first straight line type slide slot and second straight line type slide slot in 90 degree and 180 degree it
Between；
In latch components (62), first solution lock slide (623) is equipped with a pair of of positioning pin (627), the pair of positioning pin
Including the first positioning pin and the second positioning pin being symmetrical set, the right end of first brake(-holder) block is equipped with first positioning hole
(6222), the right end of the second brake(-holder) block is equipped with second location hole, under the elastic force of the first adjustable spring (6221), when the first top pillar
When offseting with the second top pillar, the first positioning pin and the second positioning pin on the first solution lock slide of translation can correspondingly be inserted into the
In a positioning hole and second location hole；The pair of bar that slides includes first sliding bar and second and sliding bar, and first to slide bar solid
The top of first positioning pin is set calmly, and second slides the top that bar is fixed at the second positioning pin, and first slides in bar
The central axis of heart line and the first positioning pin；
In latch components (62), the basal disc (621), which is equipped with, erects block (628), erects block and is equipped with the second adjustable spring
(6281), block, other end connection the first solution lock slide of the second adjustable spring are erect in one end connection of the second adjustable spring
(623)。
5. a kind of operating robot equipped with rotary cutter clamping disk as described in claim 1, it is characterised in that: driving assembly
(63) in, the annulus (631) is articulated in shell (52), and the driving device includes that fixation is set on annulus inner sidewall
Ring gear (635), couples with the 7th gear and is mounted on the intracorporal third motor of shell the 7th gear (636) engaged with ring gear；
In driving assembly (63), the unlocked state (633) includes being fixed on convex block in the radial direction on annulus (631) inner sidewall
(637), it is fixed in radial direction on convex block and is directed toward the radial bars (638) in the annulus center of circle, be articulated in the octadentate of radial boom end
It takes turns (639)；One section of arc-shaped rack (6230) that can be engaged with eighth gear, arc are fixed in first solution lock slide (623)
The center of circle of shape rack gear is located on the center line of annulus.
6. a kind of operating robot equipped with rotary cutter clamping disk as described in claim 1, it is characterised in that: the forearm
(24) front end opens up a spill gap, and the swing arm (80) is articulated in spill gap；
First driving unit includes the first of the first motor being mounted on forearm (24), connection first motor and swing arm
Gear unit；First gear unit include be articulated on forearm and be coaxially disposed second gear (82) and third gear,
It is articulated in the 4th gear (84) and the first synchronous pulley (85) that on forearm and are coaxially disposed, the third axis being articulated on forearm
(86), the second synchronous pulley (87) being fixedly mounted on third axis；First tooth is installed on the output shaft of the first motor
It takes turns (81), first gear is engaged with second gear, and third gear is engaged with the 4th gear, and the first synchronous pulley passes through synchronous belt
(88) couple with the second synchronous pulley, third axis is fixedly connected with swing arm；
Second driving unit includes the second motor, the second gear unit of installation on a swing arm；Second transmission is single
Member includes and the retarder of the second motor output shaft connection, the rotating disk (89) that connect with retarder output end tool changing device
(30) it installs on the rotating pan.
7. a kind of operating robot equipped with rotary cutter clamping disk as described in claim 1, it is characterised in that: the pedestal
Body (10) is equipped with the second brake structure (700), and the second brake structure includes a pair second be fixed on base body (10)
The second brake rotation group that plate, the second brake lever being articulated on a pair of second supporting plate, one end are fixedly connected with the second brake lever
Part, one end second brake connection component hinged with the second brake rotary components other end, the connection component that brakes with second are another
The second hinged lever assembly of end is hinged on the second supporting plate in the middle part of the second lever assembly, second brake lever it is transversal
Face is in regular hexagon；The first level sliding block (13) is equipped with the second brake plate (130), and the second brake plate and first level are sliding
Block is connected by second spring, and the second brake plate is located at the side of waist rotation member (21) left side, and second brake lever is close to
Second brake plate；
The base body is equipped with upright bar (75), and the top of upright bar is equipped with third sliding pin (76), is combined with lever on third sliding pin
(77), the bar shaped sliding slot being slidably matched with third sliding pin, the left end and first brake structure (70) of lever are opened up in the middle part of lever
In the first lever assembly (74) hingedly, the right end of lever and the second lever assembly in the second brake structure (700) are hinged.
8. a kind of operating robot equipped with rotary cutter clamping disk as described in claim 1, it is characterised in that: the waist turns
Component (21) is equipped with large arm brake structure (90), and the large arm brake structure includes the annular being fixed on waist rotation member
Body (921), a pair of of the brake hoop (922) being mounted on annular solid, the second solution lock slide being slidably arranged on annular solid
(923)；It is fixed in the large arm the second brake disc (912), a pair of of brake hoop is symmetrical set in the outer of the second brake disc
It encloses, one end of a pair of of brake hoop is hinged and other end elastic connection；Described second solves lock slide elastic connection on annular solid, the
Two solution lock slides, which are equipped with, can travel in a pair of of brake hoop elastic connection one end to open the second wedge block of a pair of of brake hoop
(924)；
The annular solid is fixed on waist rotation member by supporting block (925)；Supporting block is equipped with the second swivel pin；It is the pair of
Brake hoop includes the second brake hoop positioned at first brake hoop in left side and positioned at 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 end of the right end of the first brake hoop and the second brake hoop passes through the flexible bullet of third
Spring (9221) elastic connection；The right end of first brake hoop is equipped with third top pillar, and the right end of the second brake hoop is equipped with the 4th top pillar, the
Three top pillars and the 4th top pillar are oppositely arranged, and third top pillar and the 4th top pillar are located in third adjustable spring；First brake hoop
With the equal semicircular in shape of the second brake hoop, the first brake hoop and the second brake hoop surround the second brake disc (912)；
The second solution lock slide is equipped with a pair of of alignment pin (927), is arranged before and after a pair of of alignment pin and the second wedge block
On the second solution lock slide；The pair of alignment pin includes the first alignment pin being symmetrical set and the second positioning pin
The right end of axis, first brake hoop is equipped with third location hole (9222), and the right end of the second brake hoop is equipped with the 4th location hole,
Under the elastic force of third adjustable spring, when third top pillar and the 4th top pillar offset, first on the second solution lock slide of translation is fixed
Position pin shaft and the second alignment pin can correspondingly be inserted into third location hole and the 4th positioning hole；
The annular solid is equipped with second and erects block (928), and second, which erects block, is equipped with the 4th adjustable spring (9281), and the 4th stretches
Block, other end connection the second solution lock slide of the 4th adjustable spring are erect in one end connection second of contracting spring.
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 |
Publications (2)
| Publication Number | Publication Date |
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| CN106175937A CN106175937A (en) | 2016-12-07 |
| CN106175937B true 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113509257B (en) * | 2021-04-21 | 2022-08-05 | 曹敏 | Needle type electric knife pen with smoke suction device |
| CN113262018B (en) * | 2021-07-07 | 2022-10-25 | 徐相宏 | Rotary mechanism and medical paranasal sinus suction cutter |
| CN113796966B (en) * | 2021-10-13 | 2023-05-12 | 中南大学 | Compact large-moment brake mechanism |
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| US8303576B2 (en) * | 1998-02-24 | 2012-11-06 | Hansen Medical, Inc. | Interchangeable surgical instrument |
| US20040243147A1 (en) * | 2001-07-03 | 2004-12-02 | Lipow Kenneth I. | Surgical robot and robotic controller |
| US9002518B2 (en) * | 2003-06-30 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
| US7979157B2 (en) * | 2004-07-23 | 2011-07-12 | Mcmaster University | Multi-purpose robotic operating system and method |
| WO2010068004A2 (en) * | 2008-12-12 | 2010-06-17 | Rebo | Surgical instrument |
| CN102058436B (en) * | 2011-01-10 | 2012-05-09 | 天津大学 | Locking device for surgical robot quick replacement mechanism |
| KR20130015440A (en) * | 2011-08-03 | 2013-02-14 | 주식회사 이턴 | Master gripper of surgical robot |
| US8911429B2 (en) * | 2011-11-04 | 2014-12-16 | The Johns Hopkins University | Steady hand micromanipulation robot |
| DE102014116103A1 (en) * | 2014-11-05 | 2016-05-12 | Aktormed Gmbh | Operations Assistance System |
| CN105881513B (en) * | 2016-05-28 | 2017-11-21 | 苏州工业园区明源金属股份有限公司 | A pair of forearms are provided with the robot of mechanical claw hand |
| CN105922251B (en) * | 2016-05-28 | 2017-12-22 | 徐州市柯瑞斯电机制造有限公司 | A kind of forearm is provided with the six-joint robot of mechanical arm assembly |
| CN105936043B (en) * | 2016-05-28 | 2017-11-03 | 马鞍山远荣机器人智能装备有限公司 | A kind of six-joint robot for being used to capture material |
| CN105919670A (en) * | 2016-07-11 | 2016-09-07 | 哈尔滨理工大学 | Minimally-invasive surgery assistant robot |
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