CN106236274A - A kind of operating robot being provided with swing arm - Google Patents
A kind of operating robot being provided with swing arm Download PDFInfo
- Publication number
- CN106236274A CN106236274A CN201610838376.9A CN201610838376A CN106236274A CN 106236274 A CN106236274 A CN 106236274A CN 201610838376 A CN201610838376 A CN 201610838376A CN 106236274 A CN106236274 A CN 106236274A
- Authority
- CN
- China
- Prior art keywords
- brake
- block
- hand
- cleft
- pair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000078 claw Anatomy 0.000 claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 230000009471 action Effects 0.000 claims abstract description 10
- 210000000245 forearm Anatomy 0.000 claims description 30
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 235000012364 Peperomia pellucida Nutrition 0.000 claims description 4
- 240000007711 Peperomia pellucida Species 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 241000237858 Gastropoda Species 0.000 claims 1
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000008450 motivation Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract 1
- 230000007423 decrease Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 108010022579 ATP dependent 26S protease Proteins 0.000 description 1
- 235000009161 Espostoa lanata Nutrition 0.000 description 1
- 240000001624 Espostoa lanata Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of operating robot being provided with swing arm, the brake structure including robot body, robot body being braked, the swing arm being arranged on robot body, installation mechanical claw hand on a swing arm.Described mechanical claw hand includes cleft hand frame, be hinged in cleft hand frame two pairs of cleft hands, it is arranged in cleft hand frame for driving the two cleft hand drive mechanisms to cleft hand action；Under the driving of cleft hand drive mechanism, two pairs of cleft hands draw in and expansion action.In operation, medical worker action robot body and swing arm, make mechanical claw hand be at object to be taken；Afterwards, the fifth wheel in patient is taken out by mechanical claw hand, simple to operation.
Description
Technical field
The present invention relates to medical apparatus and instruments, in particular to a kind of operating robot being provided with swing arm.
Background technology
In operation, medical worker takes object in doctors and patients' body, such as cotton balls, gauze, other internal fifth wheels, conventional hands,
Tweezers, shears, this type of instrument is difficult to and internal fifth wheel is exhausted by inconvenience completely, or, internal fifth wheel is exhausted ratio completely
Cumbersome.
Summary of the invention
Technical problem solved by the invention: the medical worker in operation is difficult to or inconvenience is by complete for fifth wheel in patient
Exhaust.
For solving above-mentioned technical problem, the present invention provides following technical scheme: a kind of operating robot being provided with swing arm,
The waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, the operation that is arranged in large arm
Hands, the forearm being fixed in large arm, be articulated in forearm front end swing arm, drive swing arm swing the first driver element, peace
The mechanical claw hand being contained in swing arm front end, the second driver element driving mechanical claw hand to rotate；In when described swing arm swings
Heart line is perpendicular to the rotation centerline of mechanical claw hand, and waist rotation member rotates around base body, and large arm rotates around waist rotation member；
Described mechanical claw hand includes cleft hand frame, be hinged in cleft hand frame two pairs of cleft hands, it is arranged in cleft hand frame
For driving the two cleft hand drive mechanisms to cleft hand action；Described cleft hand drive mechanism include stake body, the first locking body, second
Locking body；Vertically be provided with on described stake body head and the tail couple left hand thread bar and right-handed thread bar, for driving left hand thread
The power set that bar and right-handed thread bar rotate；Described first locking body is spirally connected with left hand thread bar, the second locking body and dextrorotation
Threaded rod is spirally connected, and stake body is provided with the guide post that the lifting to the first locking body and the second locking body guides；Described two
Two cleft hands in first pair of cleft hand in cleft hand are symmetrical set, two pawls in second pair of cleft hand in two pairs of cleft hands
Being symmetrical arranged before and after hands, the first slide slot being obliquely installed, second pair of pawl are offered in the bottom of two cleft hands in first pair of cleft hand
The second slide slot being obliquely installed is offered in the bottom of two cleft hands in hands, and the top of described first locking body is provided with sliding with first
The first sliding pin that row groove is slidably matched, the top of the second locking body is provided with the second sliding pin being slidably matched with the second slide slot.
By technique scheme, the operation principle of a kind of operating robot being provided with swing arm of the present invention is as follows: the
One, medical worker holds manipulation hands, rotates large arm or waist rotation member, makes the mechanical claw hand on swing arm be at object to be taken；
Second, the left hand thread bar being linked together and right-handed thread bar head and the tail are fixed together, left hand thread bar and right-handed thread bar
Being coaxially disposed, left hand thread bar and right-handed thread bar rotate simultaneously, and left hand thread bar drives the first locking body to decline, right-handed thread
Bar drives the second locking body to rise, and the first locking body drives the first sliding pin to decline, owing to the first slide slot is obliquely installed, therefore,
The first sliding pin being vertically lowered can order about arbitrary cleft hand in first pair of cleft hand and rotate with the hinged place of cleft hand frame around it, as
This, first pair of cleft hand swings in opposite directions；Meanwhile, the second locking body drives the second sliding pin to rise, owing to the second slide slot tilts to set
Putting (direction that the second slide slot tilts is in opposite direction with what the first slide slot tilted), therefore, the second sliding pin vertically risen drives
Making arbitrary cleft hand in second pair of cleft hand rotate around it with the hinged place of cleft hand frame, so, second pair of cleft hand swings in opposite directions；
So far, two pairs of cleft hands, in drawing shape in, are used for capturing object；3rd, under the driving of the first driver element, the swing of swing arm can
Driving mechanical claw hand thereon to swing, under the driving of the second driver element, mechanical claw hand is rotatable.
By technique scheme, first pair of cleft hand connects the first locking body, and second pair of cleft hand connects the second locking body, and
The left hand thread bar being spirally connected with the first locking body and the right-handed thread bar being spirally connected with the second locking body are linked together, and are integrated knot
Structure, so, the present invention can make the action simultaneously of first pair of cleft hand and motion amplitude identical, can make the action simultaneously of second pair of cleft hand and fortune
Dynamic amplitude is identical, first pair of cleft hand and second pair of cleft hand action simultaneously and motion amplitude can be made identical, in order to mechanical claw hand is accurate
Fully capture sufferer intrabody object.Above-mentioned mechanical claw hand coordinates rotating waist rotation member and large arm, and swing arm, side
Just medical worker takes thing in patient.
As the present invention a kind of explanation to mechanical claw hand, described cleft hand frame includes the cleft hand being arranged on swing arm front end
Framework soleplate, the cleft hand frame support bar being vertically arranged on cleft hand framework soleplate, it is fixed on cleft hand frame support bar top
Cleft hand frame top board；Described cleft hand drive mechanism is arranged on cleft hand framework soleplate and is positioned at the lower section of cleft hand frame top board, institute
Stating and offer four hinge holes on cleft hand frame top board, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.
As described above, being fixed with swivel pin in each hinge hole, four cleft hands are hinged on four in man-to-man mode by swivel pin
In individual hinge hole.The bottom of arbitrary cleft hand is positioned at the lower section of hinge hole, i.e. the first slide slot of inclination and the equal position of the second slide slot
Lower section in hinge hole.Described cleft hand frame is provided with integrated photographic head and illuminator, described integrated photographic head and photograph
Bright device is between two pairs of cleft hands.Described photographic head electrically connects with display, and under the illumination of illuminator, medical worker can
The object being positioned at mechanical claw hand front is observed from display.
As the present invention a kind of explanation to mechanical claw hand, described stake body includes base, support plate；Described base is fixing to be set
Putting in cleft hand frame, described guide post is fixed on base, and described support plate is horizontally fixed on the top of guide post；Described first
Locking body includes the first lifting chassis, a pair first leads, the first latch segment, the first spill blocks；Described first lifting chassis
Being screwed onto on left hand thread bar, the first guiding slot port is offered on the first lifting chassis, and described first guiding slot port slides with guide post
Coordinate；The pair of first lead is vertically arranged on the first lifting chassis, and described support plate is offered a pair first pilot holes,
A pair first leads coordinate in a pair first pilot holes in man-to-man mode, and described first latch segment is arranged on first and leads
To the top of post, described first spill block is arranged on the top of the first latch segment, and described first sliding pin is arranged on the first spill block
Top；Described second locking body includes the second lifting chassis, the second lead, locking plate, the second spill block；Described second liter
Fall chassis is screwed onto on right-handed thread bar, and the second guiding slot port, described second guiding slot port and guiding are offered in the second lifting chassis
Bar is slidably matched；Described second lead is vertically arranged on the second lifting chassis, and the second lifting chassis is positioned at the bottom of the first lifting
The lower section of dish；The second pilot hole is offered on described first lifting chassis, and described support plate is offered the 3rd pilot hole, and described second guides
Post is upward through the second pilot hole and the 3rd pilot hole；Described locking plate is horizontally arranged at the top of the second lead, and described
Two spill blocks are arranged on locking plate, and described second sliding pin is arranged on the top of the second spill block；Is offered on described locking plate
Four pilot holes, described first lead passes the 4th pilot hole, and described first latch segment is positioned at the top of locking plate.
As described above, the left hand thread bar being linked together rotates with right-handed thread bar simultaneously, and left hand thread bar drives
First lifting chassis lifting, right-handed thread bar drives the second lifting chassis lifting, the lifting on the first lifting chassis to guide first
Carrying out under the guiding of notch and guide post, the lifting on the second lifting chassis is entered under the guiding of the second guiding slot port and guide post
OK.
As the present invention a kind of explanation to mechanical claw hand, described right-handed thread bar is positioned at the lower section of left hand thread bar, right
The bottom of rotation threaded rod is articulated on base, and the top of left hand thread bar is articulated on support plate, and the bottom of right-handed thread bar is installed
Having worm gear, worm gear to be engaged with worm screw, worm screw is horizontally disposed with, and worm screw is articulated on base, and worm screw couples with the first servomotor, the
One servomotor is arranged on base.As described above, the rotation of left hand thread bar and right-handed thread bar is by the first servomotor
The worm and gear driven drives, and owing to worm and gear has good auto-lock function, therefore, two pairs of cleft hands of the present invention exist
Swing process can stably rest on the optional position in space.
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 coil tension spring, and keep plate is positioned at waist rotation member right-hand member
The side in face, described brake lever is close to keep plate.As described above, one end of medical worker's presses lever assembly, lever assembly
Around it with support plate hinged place tilting, lever assembly connects assembly by brake and drives brake rotary components to rotate, and brake rotates
Component driver brake lever rotates, and the crest line of brake lever is against on keep plate towards a left side, and then, the left side of keep plate is against waist transfer part
On part right side, waist rotation member is braked；Lever assembly is made to reset when the other end of staff's presses lever assembly
Time, lever assembly connects assembly by brake and drives brake rotary components to reversely rotate, and brake rotary components driving brake bar is anti-
To rotation, 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 coil tension 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 system
Dynamic 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, lever
The bar shaped chute being slidably matched with the 3rd sliding pin is offered at middle part, and the left end of lever is hinged with the lever assembly in brake structure, thick stick
The second lever assembly in the right-hand member of bar and the second brake structure is hinged.As described above, brake structure and the second brake structure
Being symmetrical set, both 26S Proteasome Structure and Functions are identical, and in operation, medical worker presses lever assembly, can be driven by lever
Dynamic second lever assembly linkage, in like manner, medical worker presses the second lever assembly, can be joined by lever actuated lever assembly
Dynamic.The brake structure of linkage and the second brake structure right-hand member and left end to waist rotation member simultaneously is braked.
As the present invention a kind of explanation to forearm with swing arm annexation, the front end of described forearm is offered a spill and is slitted
Mouthful, described swing arm is articulated in spill gap.As described above, described swing arm swings in the spill gap of forearm.
As the present invention a kind of explanation to the first driver element, described first driver element includes being arranged on forearm
First motor, couple the first gear unit of the first motor and swing arm；Described first gear unit includes being articulated on forearm
And the second gear of being coaxially disposed and the 3rd gear, the 4th gear being articulated on forearm and being coaxially disposed and the first Timing Belt
The 3rd axle take turns, being articulated on forearm, the second synchronous pulley being fixedly mounted on the 3rd axle；The output shaft of described first motor
On the first gear is installed, the first gear and the engagement of the second gear, the 3rd gear engages with the 4th gear, and the first synchronous pulley is logical
Crossing Timing Belt and the second synchronous pulley couples, the 3rd axle is fixing with swing arm to be connected.As described above, power is depended on by the first motor
Secondary pass to the 3rd axle through the first gear, the second gear, the 3rd gear, the 4th gear, the first Timing Belt, the second Timing Belt,
Three-axis drive swing arm swings.
As the present invention a kind of explanation to the second driver element, described second driver element includes installing on a swing arm
The second motor, couple the second gear unit of the second motor and mechanical claw hand；Described second gear unit includes and the second electricity
The rotating disk that the decelerator that machine output shaft couples is connected with decelerator outfan, mechanical claw hand is installed on the rotating pan.
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 includes the basal disc being fixedly installed on waist rotation member, a pair braking being arranged on basal disc
Sheet, the solution lock slide being slidably arranged on basal disc；Being fixed with brake disc in described large arm, a pair brake(-holder) block is symmetrical set
The periphery of brake disc, one end of a pair brake(-holder) block is hinged and other end elasticity connects；Described solution lock slide elasticity is connected to basal disc
On, solve lock slide be provided with translatable enter a pair brake(-holder) block elasticity connect one end to open the wedge of a pair brake(-holder) block.By upper
Stating bright, in operation, four finger gripping in medical worker's proficiency live in manipulator, and residue one finger can press wedge, promote and unlock
Slide block to the center translation of basal disc, travel in one end that a pair brake(-holder) block elasticity connects of wedge to open a pair brake(-holder) block, as
This, large arm is changed into rotatable state by the initial state by a pair brake(-holder) block frictional damping.
About above-mentioned large arm brake structure, described basal disc is fixed on waist rotation member by support column；On described support column
It 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, first
The left end of brake(-holder) block and the left end of the second brake(-holder) block are hinged on swivel pin, the right-hand member of the first brake(-holder) block and the right side of the second brake(-holder) block
Hold and connected by the first coil tension spring elasticity；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.As described above,
First coil tension spring has the trend making the first brake(-holder) block and the second brake(-holder) block close up, and the first fore-set and the setting of the second fore-set
Then there is the effect stopping this kind of trend.
About above-mentioned large arm brake structure, described solution lock slide is provided with a pair alignment pin, a pair alignment pin and wedge
Front and back it is arranged on solution 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(-holder) block is provided with the first hole, location, and the right-hand member of the second brake(-holder) block is provided with the second hole, location, stretches first
Under the elastic force of spring, when the first fore-set and the second fore-set offset, first alignment pin solved on lock slide of translation and second is determined
Position pin can correspondingly insert in the first hole, location and the second hole, location.As described above, when medical worker promote solution lock slide to
During the center translation of basal disc, the first alignment pin and the second alignment pin depart from the first hole, location and the second hole, location, meanwhile, wedge
Stretch between the first brake(-holder) block right-hand member and the second brake(-holder) block right-hand member, and opened；After medical worker discharges solution lock slide, solve
Lock slide resets, and wedge leaves the first brake(-holder) block right-hand member and the second brake(-holder) block right-hand member, meanwhile, the first alignment pin and the second location
Pin correspondingly inserts the first hole, location and the second hole, location, to lock a pair brake(-holder) block.
About above-mentioned large arm brake structure, described basal disc is provided with setting block, erects block and is provided with the second coil tension spring, the
One end of two coil tension springs connects erects block, and the other end of the second coil tension spring connects solution lock slide.
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 swing arm of the present invention；
Fig. 2 is the combinative structure schematic diagram of brake structure the 70, second brake structure 700 in Fig. 1；
Fig. 3 is the structural representation of brake structure 70 in Fig. 2；
Fig. 4 is the combinative structure schematic diagram of forearm 24 in Fig. 1, swing arm 80, mechanical claw hand 30；
Fig. 5 is the structural representation of mechanical claw hand 30 in Fig. 4；
Fig. 6 is the structural representation of arbitrary cleft hand in first pair of cleft hand 51 in Fig. 5；
Fig. 7 is the structural representation of arbitrary cleft hand in second pair of cleft hand 52 in Fig. 5；
Fig. 8 is the structural representation of the first spill block 625 in Fig. 5；
Fig. 9 is the structural representation of large arm brake structure 90 in Fig. 1；
Figure 10 is the structural representation solving lock slide 923 in Fig. 9.
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, mechanical claw hand；
40, cleft hand frame；41, cleft hand framework soleplate；42, cleft hand frame support bar；43, cleft hand frame top board；44, integrated
Photographic head and illuminator；
50, two pairs of cleft hands；51, first pair of cleft hand；511, the first slide slot；512, the first hinge hole；52, second pair of pawl
Hands；521, the second slide slot；522, the second hinge hole；
60, cleft hand drive mechanism；611, left hand thread bar；612, right-handed thread bar；613, guide post；614, base；
615, support plate；616, worm gear；617, worm screw；618, the first servomotor；621, the first sliding pin；622, the first lifting chassis；
623, the first lead；624, the first latch segment；625, the first spill block；626, the first guiding slot port；632, the second lifting end
Dish；633, the second lead；634, locking plate；635, the second spill block；636, the second guiding slot port；
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, brake disc；921, basal disc；922, brake(-holder) block；9221, the first coil tension spring；
9222, hole, location；923, lock slide is solved；924, wedge；925, support column；927, alignment pin；928, block is erect；9281,
Two coil tension springs.
Detailed description of the invention
Such as Fig. 1, a kind of operating robot being provided with swing arm, including base body 10, the waist transfer part that is articulated on base body
Part 21, the large arm 22 being articulated on waist rotation member, the manipulator 23 being arranged in large arm, the forearm 24 being fixed in large arm, pivot
It is connected on the swing arm 80 of forearm front end, the first driver element driving swing arm to swing, is arranged on the gripper of swing arm front end
The second driver element that hands 30, driving mechanical claw hand rotate；Central axis when described swing arm swings is in mechanical claw hand
Rotation centerline, waist rotation member rotates around base body, and large arm rotates around waist rotation member.
Such as Fig. 4, 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, mechanical claw hand 30 is installed on the rotating pan.
In conjunction with Fig. 5 to Fig. 8, described mechanical claw hand includes cleft hand frame 40, two pairs of cleft hands 50 being hinged in cleft hand frame,
It is arranged in cleft hand frame for driving the two cleft hand drive mechanisms 60 to cleft hand action.Described cleft hand drive mechanism includes support
Body, the first locking body, the second locking body；Left hand thread bar 611 and dextrorotation spiral shell that head and the tail couple vertically it is provided with on described stake body
Rasp bar 612, for the power set driving left hand thread bar and right-handed thread bar to rotate；Described first locking body and left hand thread
Bar is spirally connected, and the second locking body is spirally connected with right-handed thread bar, and stake body is provided with the first locking body and the lifting of the second locking body
Carry out the guide post 613 guided.Two cleft hands in first pair of cleft hand 51 in described two pairs of cleft hands are symmetrical set, and two is right
Being symmetrical arranged before and after two cleft hands in second pair of cleft hand 52 in cleft hand, the bottom of two cleft hands in first pair of cleft hand is offered
The first slide slot 511 being obliquely installed, the second slide slot being obliquely installed is offered in the bottom of two cleft hands in second pair of cleft hand
521, the top of described first locking body is provided with the first sliding pin 621 being slidably matched with the first slide slot, the top of the second locking body
Portion is provided with the second sliding pin being slidably matched with the second slide slot.
In mechanical claw hand 30, described cleft hand frame 40 includes being arranged on the cleft hand framework soleplate 41, vertically of swing arm front end
The cleft hand frame support bar 42 being arranged on cleft hand framework soleplate, the cleft hand frame top board being fixed on cleft hand frame support bar top
43；Described cleft hand drive mechanism 60 is arranged on cleft hand framework soleplate and is positioned at the lower section of cleft hand frame top board, described cleft hand machine
Offering four hinge holes on frame top board, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.Described cleft hand
Frame is provided with integrated photographic head and illuminator 44, described integrated photographic head and illuminator be positioned at two pairs of cleft hands it
Between.
In mechanical claw hand 30, described stake body includes base 614, support plate 615；Described base is fixedly installed on cleft hand frame
On 40, described guide post 613 is fixed on base, and described support plate is horizontally fixed on the top of guide post.Described first locking body
Including the first lifting chassis 622, a pair first lead the 623, first latch segment the 624, first spill blocks 625；Described first liter
Fall chassis is screwed onto on left hand thread bar 611, and the first guiding slot port 626, described first guiding slot port are offered in the first lifting chassis
It is slidably matched with guide post；The pair of first lead is vertically arranged on the first lifting chassis, and described support plate offers one
To the first pilot hole, a pair first leads coordinate in a pair first pilot holes in man-to-man mode, described first locking
Block is arranged on the top of the first lead, and described first spill block is arranged on the top of the first latch segment, described first sliding pin 621
It is arranged on the top of the first spill block.Described second locking body includes second lifting chassis the 632, second lead 633, locking plate
634, the second spill block 635；Described second lifting chassis is screwed onto on right-handed thread bar 612, and the second lifting chassis offers second
Guiding slot port 636, described second guiding slot port is slidably matched with guide post；Described second lead is vertically arranged in the second lifting
On chassis, the second lifting chassis is positioned at the lower section on the first lifting chassis；The second pilot hole is offered on described first lifting chassis, described
Offering the 3rd pilot hole on support plate, described second lead is upward through the second pilot hole and the 3rd pilot hole；Described locking plate
Being horizontally arranged at the top of the second lead, described second spill block is arranged on locking plate, and described second sliding pin is arranged on
The top of two spill blocks；Offering the 4th pilot hole on described locking plate, described first lead passes the 4th pilot hole, and described the
One latch segment is positioned at the top of locking plate.
In mechanical claw hand 30, described right-handed thread bar 612 is positioned at the lower section of left hand thread bar 611, the end of right-handed thread bar
End is articulated on base 614, and the top of left hand thread bar is articulated on support plate 615, and described power set include being arranged on dextrorotation
The first servomotor 618 that the worm screw 617 that worm gear 616 bottom threaded rod engages with worm gear couples with worm screw, worm screw level
Arranging, worm screw is articulated on base, and the first servomotor is arranged on base.
Such as Fig. 1, described base body 10 is provided with symmetrical first horizontal guide rail 11 and the second horizontal guide rail 12, and first
It is sliding combined with the first cross sliding clock 13 on horizontal guide rail, the second horizontal guide rail is sliding combined with the second cross sliding clock 14, institute
Stating waist rotation member 21 horizontal cross to arrange, the two ends, left and right of waist rotation member are cylindrical, and the left end of waist rotation member is articulated in first
In cross sliding clock, 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 pivot of large arm
Being connected on the middle part of waist 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, institute
State swing arm 80 and be arranged on the top of forearm.
In conjunction with Fig. 2, Fig. 3, described base body 10 is provided with brake structure 70, and brake structure includes being fixed on base body
Brake rotary components 72 that a pair support plate 701, the brake lever 71 being articulated on a pair support plate, one end are fixed with brake lever to be connected,
One end is connected assembly 73 with the brake hinged brake of the rotary components other end and is connected, with braking, the lever group that the assembly other end is hinged
Part 74, the middle part of lever assembly is hinged on support plate, and the cross section of described brake lever is regular hexagon；Described second cross sliding clock
14 are provided with keep plate 140, keep plate and the second cross sliding clock is connected by coil tension spring, and it is right that keep plate is positioned at waist rotation member 21
The side of end face, described brake lever is close to keep plate.
In above-mentioned brake structure, described brake rotary components 72 includes the brake rotating seat that be connected fixing with brake lever 71
721 fix, with brake rotating seat, the brake swingle 722 being connected；Described brake connects assembly 73 and includes and brake swingle hinge
The the second brake connecting rod 732 connect fixes, with the second brake connecting rod, the first brake connecting rod 731 being connected；Described lever group
Part 74 includes that the brake bearing 741 hinged with first brake connecting rod fixes the brake liner plate 742 being connected, institute with brake bearing
State brake bearing to be hinged on support plate 701.
Above-mentioned 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 coil tension spring, and the second keep plate is positioned at the side of waist rotation member 21 left side, and described second stops
The second keep plate is close to by car bar.Described base body is provided with vertical rod 75, and the top of vertical rod is provided with the 3rd sliding pin 76, on the 3rd sliding pin
Being combined with lever 77, the bar shaped chute being slidably matched with the 3rd sliding pin is offered at the middle part of lever, the left end of lever and brake structure
Lever assembly 74 in 70 is hinged, and the second lever assembly in the right-hand member of lever and the second brake structure 700 is hinged.
In conjunction with Fig. 1, Fig. 9, Figure 10, described waist rotation member 21 is provided with large arm brake structure 90, described large arm brake structure
Including the basal disc 921 being fixedly installed on waist rotation member, a pair brake(-holder) block 922 being arranged on basal disc, it is slidably arranged in basal disc
On solution lock slide 923；Being fixed with brake disc in described large arm, a pair brake(-holder) block is symmetrical set the periphery in brake disc,
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 on lock slide
Be provided with translatable enter a pair brake(-holder) block elasticity connect one end to open the wedge 924 of a pair brake(-holder) block.
In above-mentioned large arm brake structure 90, described basal disc is fixed on waist rotation member by support column 925；Set on support column
There is 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 first system
The left end of moving plate and the left end of the second brake(-holder) block are hinged on swivel pin, the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block
Connected by the first coil tension spring elastic 9221；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 sets
Having the second fore-set, the first fore-set and the second fore-set to be oppositely arranged, the first fore-set and the second fore-set are positioned at the first coil tension spring；Institute
State the 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 and surround brake disc 912.
In above-mentioned large arm brake structure 90, described solution lock slide is provided with a pair alignment pin 927, a pair alignment pin and wedge shape
It is arranged on before and after block on solution lock slide；The pair of alignment pin includes the first alignment pin and the second location being symmetrical set
Pin, the right-hand member of described first brake(-holder) block is provided with the first hole, location 9222, and the right-hand member of the second brake(-holder) block is provided with the second hole, location, the
Under the elastic force of one coil tension spring, when the first fore-set and the second fore-set offset, first alignment pin solved on lock slide of translation and
Second alignment pin can correspondingly insert in the first hole, location and the second hole, location.
In above-mentioned large arm brake structure 90, described basal disc is provided with setting block 928, erects block and is provided with the second coil tension spring
9281, 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.
In practical operation, the workflow of a kind of operating robot being provided with swing arm of the present invention is as follows:
First, medical worker holds manipulation hands 23, unties the large arm brake structure 90 locking to large arm 22, and brake knot
Structure 70 and second brake structure 700 locking to waist rotation member 21, rotate large arm 22 or waist rotation member 21, or make waist rotation member
21 translate along the first horizontal guide rail 11 and the second horizontal guide rail 12, make the mechanical claw hand 30 on swing arm 80 close to object to be taken
Place.
Second, under the driving of the first driver element, the swing of swing arm 80 can drive mechanical claw hand 30 thereon to swing,
Under the driving of the second driver element, mechanical claw hand 30 is rotatable.
3rd, in mechanical claw hand 30, the first servomotor 618 drives worm gear 616 worm screw 617 action, and worm and gear drives
The left hand thread bar 611 and the right-handed thread bar 612 that are fixedly connected rotate；Left hand thread bar drives the first lifting in the first locking body
Chassis 622 declines, and the first lifting chassis drives the first latch segment 624 to decline, and the first latch segment drives the first sliding pin 621 to decline,
Owing to the first slide slot 511 is obliquely installed, the first sliding pin being vertically lowered can order about the cleft hand in first pair of cleft hand 51 around it
Rotate with the hinged place of cleft hand frame 40, make first pair of cleft hand swing in opposite directions；Right-handed thread bar 612 drives in the second locking body
Second lifting chassis 632 rise, second lifting chassis drive locking plate 634 rises, locking plate drive second sliding pin rise, by
It is obliquely installed (direction that the second slide slot tilts is in opposite direction with what the first slide slot tilted) in the second slide slot 521, therefore,
The cleft hand that the second sliding pin vertically risen orders about in second pair of cleft hand 52 rotates around it with the hinged place of cleft hand frame 40, makes the
Two pairs of cleft hands swing in opposite directions；So, two pairs of cleft hands 50, in drawing shape in, are used for capturing object.
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 swing arm, the waist rotation member (21) that including base body (10), is articulated on base body,
The manipulator (23) be articulated in the large arm on waist rotation member (22), being arranged in large arm, the forearm (24) being fixed in large arm, pivot
It is connected on the swing arm (80) of forearm front end, the first driver element driving swing arm to swing, is arranged on the machinery of swing arm front end
The second driver element that cleft hand (30), driving mechanical claw hand rotate；Central axis when described swing arm swings is in gripper
The rotation centerline of hands, waist rotation member rotates around base body, and large arm rotates around waist rotation member；It is characterized in that:
Described mechanical claw hand includes cleft hand frame (40), be hinged in cleft hand frame two pairs of cleft hands (50), it is arranged on cleft hand machine
For driving the two cleft hand drive mechanisms (60) to cleft hand action on frame；
Described cleft hand drive mechanism includes stake body, the first locking body, the second locking body；Head and the tail vertically it are provided with on described stake body
The left hand thread bar (611) coupled and right-handed thread bar (612), for driving what left hand thread bar and right-handed thread bar rotated to move
Power apparatus；Described first locking body is spirally connected with left hand thread bar, and the second locking body is spirally connected with right-handed thread bar, and stake body is provided with
The guide post (613) that the lifting of the first locking body and the second locking body is guided；
Two cleft hands in first pair of cleft hand (51) in described two pairs of cleft hands are symmetrical set, the second couple in two pairs of cleft hands
Being symmetrical arranged before and after two cleft hands in cleft hand (52), be obliquely installed is offered in the bottom of two cleft hands in first pair of cleft hand
One slide slot (511), the second slide slot (521) being obliquely installed is offered in the bottom of two cleft hands in second pair of cleft hand, described
The top of the first locking body is provided with the first sliding pin (621) being slidably matched with the first slide slot, and the top of the second locking body is provided with
The second sliding pin being slidably matched with the second slide slot.
A kind of operating robot being provided with swing arm, it is characterised in that: in mechanical claw hand (30),
Described cleft hand frame (40) includes being arranged on the cleft hand framework soleplate (41) of swing arm front end, being vertically arranged in cleft hand framework soleplate
On cleft hand frame support bar (42), be fixed on cleft hand frame top board (43) of cleft hand frame support bar top；Described cleft hand drives
Motivation structure (60) is arranged on cleft hand framework soleplate and is positioned at the lower section of cleft hand frame top board, and described cleft hand frame top board is offered
Four hinge holes, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes；
Described cleft hand frame is provided with integrated photographic head and illuminator (44), described integrated photographic head and illuminator position
Between two pairs of cleft hands.
A kind of operating robot being provided with swing arm, it is characterised in that: in mechanical claw hand (30),
Described stake body includes base (614), support plate (615)；Described base is fixedly installed in cleft hand frame (40), described guide post
(613) being fixed on base, described support plate is horizontally fixed on the top of guide post；
Described first locking body include the first lifting chassis (622), a pair first leads (623), the first latch segment (624),
First spill block (625)；Described first lifting chassis is screwed onto on left hand thread bar (611), and the first lifting chassis offers first
Guiding slot port (626), described first guiding slot port is slidably matched with guide post；The pair of first lead is vertically arranged in
On one lifting chassis, described support plate being offered a pair first pilot holes, a pair first leads coordinate in man-to-man mode
In a pair first pilot holes, described first latch segment is arranged on the top of the first lead, and described first spill block is arranged on
The top of one latch segment, described first sliding pin (621) is arranged on the top of the first spill block；
Described second locking body includes the second lifting chassis (632), the second lead (633), locking plate (634), the second spill
Block (635)；Described second lifting chassis is screwed onto on right-handed thread bar (612), and the second guiding slot port is offered on the second lifting chassis
(636), described second guiding slot port is slidably matched with guide post；Described second lead is vertically arranged in the second lifting chassis
On, the second lifting chassis is positioned at the lower section on the first lifting chassis；The second pilot hole, described support plate are offered in described first lifting chassis
On offer the 3rd pilot hole, described second lead is upward through the second pilot hole and the 3rd pilot hole；Described locking plate level
Being arranged on the top of the second lead, described second spill block is arranged on locking plate, and it is recessed that described second sliding pin is arranged on second
The top of shape block；Offering the 4th pilot hole on described locking plate, described first lead passes the 4th pilot hole, described first lock
Tight block is positioned at the top of locking plate.
A kind of operating robot being provided with swing arm, it is characterised in that: in mechanical claw hand (30),
Described right-handed thread bar (612) is positioned at the lower section of left hand thread bar (611), and the bottom of right-handed thread bar is articulated in base (614)
On, the top of left hand thread bar is articulated on support plate (615), and described power set include being arranged on the snail bottom right-handed thread bar
The first servomotor (618) that the worm screw (617) that wheel (616) engages with worm gear couples with worm screw, worm screw is horizontally disposed with, worm screw
Being articulated on base, the first servomotor is arranged on base.
A kind of operating robot being provided with swing arm, it is characterised in that: on described base body (10)
It is provided with symmetrical first horizontal guide rail (11) and the second horizontal guide rail (12), the first horizontal guide rail is sliding combined with first
Cross sliding clock (13), the second horizontal guide rail is sliding combined with the second cross sliding clock (14), and described waist rotation member (21) level is horizontal
To setting, 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, waist rotation member
Right-hand member be articulated in the second cross sliding clock；Described large arm (22) is vertically arranged, and the bottom of large arm is articulated in waist rotation member
Portion, 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)
It is arranged on the top of forearm.
A kind of operating robot being provided with swing arm, it is characterised in that: on described base body (10)
Being provided with brake structure (70), brake structure includes a pair support plate (701) being fixed on base body, is articulated on a pair support plate
Brake rotary components (72), one end and the brake rotary components other end hinge being connected is fixed in brake lever (71), one end with brake lever
The brake connect connects assembly (73) and is connected the hinged lever assembly of the assembly other end (74) with brake, the middle part hinge of lever assembly
Being connected on support plate, the cross section of described brake lever is regular hexagon；Described second cross sliding clock (14) is provided with keep plate
(140), keep plate and the second cross sliding clock are connected by coil tension 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.
A kind of operating robot being provided with swing arm, it is characterised in that: in brake structure, described
Brake rotary components (72) includes that the brake rotating seat (721) that be connected fixing with brake lever (71) and brake rotating seat are fixing even
The brake swingle (722) connect；Described brake connects assembly (73) and includes the second brake connecting rod hinged with brake swingle
(732) fix, with the second brake connecting rod, the first brake connecting rod (731) being connected；Described lever assembly (74) includes and the
The one brake hinged brake bearing (741) of connecting rod fixes, with brake bearing, the brake liner plate (742) being connected, and described brake is propped up
Seat is hinged on support plate (701).
A kind of operating robot being provided with swing arm, it is characterised in that: on described base body (10)
Being provided with the second brake structure (700), the second brake structure includes a pair second support plates being fixed on base body (10), is articulated in
The second brake lever on a pair second support plates, one end fix with the second brake lever be connected second brake rotary components, one end with
Hinged the second brake of the second brake rotary components other end connects assembly and the second brake connects that the assembly other end is hinged the
Two lever assemblies, the middle part of the second lever assembly is hinged on the second support plate, and the cross section of described second brake lever is positive six limits
Shape；Described first cross sliding clock (13) is provided with the second keep plate (130), the second keep plate and the first cross sliding clock by second
Coil tension spring connects, 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 the second system
Dynamic 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 swing arm, it is characterised in that: before described forearm (24)
End offers a spill gap, 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, mechanical claw hand with decelerator outfan
(30) install on the rotating pan.
A kind of operating robot being provided with swing arm, it is characterised in that: described waist rotation member
(21) being provided with large arm brake structure (90), described large arm brake structure includes the basal disc being fixedly installed on waist rotation member
(921) a pair brake(-holder) block (922), being arranged on basal disc, the solution lock slide (923) being slidably arranged on basal disc；Described large arm
On be fixed with brake disc, a pair brake(-holder) block is symmetrical set the periphery in brake disc, and one end of a pair brake(-holder) block is hinged and another
One end elasticity connects；Described solution lock slide elasticity is connected on basal disc, solve lock slide be provided with translatable enter a pair brake(-holder) block bullet
Property connects one end to open the wedge (924) of a pair brake(-holder) block；
Described basal disc is fixed on waist rotation member by support column (925)；Support column is provided with swivel pin；The pair of brake(-holder) block
Including being positioned at first brake(-holder) block in left side and being positioned at second brake(-holder) block on right side, the left end of the first brake(-holder) block and the second brake(-holder) block
Left end 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 elastic by the first coil tension spring
(9221) connect；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 first fore-set
Being oppositely arranged with the second fore-set, the first fore-set and the second fore-set are positioned at the first coil tension spring；Described first brake(-holder) block and second
The equal semicircular in shape of brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc (912)；
Described solution lock slide is provided with a pair alignment pin (927), and a pair alignment pin is arranged on solution lock slide before and after wedge；
The pair of alignment 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 sets
Having the first hole, location (9222), 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
When one fore-set and the second fore-set offset, first alignment pin solved on lock slide of translation and the second alignment pin can correspondingly insert the
In one hole, location and the second hole, location；
Described basal disc is provided with setting block (928), erects block and is provided with the second coil tension spring (9281), the one of the second coil tension spring
End connects erects block, and the other end of the second coil tension spring connects solution lock slide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838376.9A CN106236274B (en) | 2016-09-21 | 2016-09-21 | A kind of operating robot equipped with swing arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838376.9A CN106236274B (en) | 2016-09-21 | 2016-09-21 | A kind of operating robot equipped with swing arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106236274A true CN106236274A (en) | 2016-12-21 |
| CN106236274B CN106236274B (en) | 2018-12-04 |
Family
ID=57600117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610838376.9A Expired - Fee Related CN106236274B (en) | 2016-09-21 | 2016-09-21 | A kind of operating robot equipped with swing arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106236274B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115281588A (en) * | 2022-06-30 | 2022-11-04 | 中国科学院自动化研究所 | Flexible tail end controllable medical instrument motion control system and medical equipment |
| WO2024000940A1 (en) * | 2022-06-30 | 2024-01-04 | 中国科学院自动化研究所 | Flexible end-controllable medical instrument motion control system and medical device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080046122A1 (en) * | 2003-06-30 | 2008-02-21 | Intuitive Surgical, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
| WO2013067535A1 (en) * | 2011-11-04 | 2013-05-10 | The Johns Hopkins University | Steady hand micromanipulation robot |
| CN105881524A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with small arm provided with execution terminal with fixed rotation angle |
| CN105881514A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with manipulator assembly on paired small arms |
| CN105922251A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with manipulator assemblies arranged on small arms |
| CN105922250A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Robot provided with rotation actuation tail end |
-
2016
- 2016-09-21 CN CN201610838376.9A patent/CN106236274B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080046122A1 (en) * | 2003-06-30 | 2008-02-21 | Intuitive Surgical, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
| WO2013067535A1 (en) * | 2011-11-04 | 2013-05-10 | The Johns Hopkins University | Steady hand micromanipulation robot |
| CN105881524A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with small arm provided with execution terminal with fixed rotation angle |
| CN105881514A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Robot with manipulator assembly on paired small arms |
| CN105922251A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with manipulator assemblies arranged on small arms |
| CN105922250A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Robot provided with rotation actuation tail end |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115281588A (en) * | 2022-06-30 | 2022-11-04 | 中国科学院自动化研究所 | Flexible tail end controllable medical instrument motion control system and medical equipment |
| CN115281588B (en) * | 2022-06-30 | 2023-02-03 | 中国科学院自动化研究所 | Flexible tail end controllable medical instrument motion control system and medical equipment |
| WO2024000940A1 (en) * | 2022-06-30 | 2024-01-04 | 中国科学院自动化研究所 | Flexible end-controllable medical instrument motion control system and medical device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106236274B (en) | 2018-12-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203710320U (en) | Shoulder joint rehabilitation trainer | |
| CN106236275A (en) | The operating theater instruments that a kind of cleft hand is swingable | |
| CN106236274A (en) | A kind of operating robot being provided with swing arm | |
| CN202654203U (en) | Automatic traction restorer for forearm fracture | |
| CN106361437B (en) | A kind of fixed operating robot of tool changing angle | |
| CN106344159B (en) | It is a kind of to be equipped with the operating robot for swinging cleft hand | |
| CN109011405A (en) | A kind of multi-trace arm exercises device with auxiliary power | |
| CN106214261A (en) | A kind of suspension type operating robot | |
| CN209701509U (en) | A kind of pharmacy automatic administration equipment | |
| CN107081776A (en) | Bilayer turn back driving two-stage revolution finger mechanism | |
| CN103845182A (en) | Shoulder joint rehabilitation trainer | |
| CN106361435A (en) | Medical auxiliary equipment provided with wrist | |
| CN106264732B (en) | A kind of operating robot equipped with idler wheel | |
| CN106361438A (en) | Surgical robot provided with wrist | |
| CN209207494U (en) | Bionic motor function upper limb | |
| CN112587875A (en) | Can carry out training device for department of rehabilitation that whole body coordinates to take exercise | |
| CN209332538U (en) | A kind of medical nerve internal medicine has the nursing bed of leg exercises function | |
| CN106361418A (en) | Semiautomatic surgical extracting instrument | |
| CN110269616A (en) | A kind of fixed device of nuclear magnetic resonance check | |
| CN106361434B (en) | A kind of cutter can various dimensions movement operating robot | |
| CN106473795B (en) | Pickup robot in a kind of operation | |
| CN106361436A (en) | Operation robot capable of changing scalpel automatically | |
| CN106361439B (en) | A kind of operating robot equipped with tool changing device | |
| CN103720571A (en) | Gantry type upper limb rehabilitation training device | |
| CN106473796A (en) | A kind of actuation end is provided with the operation Zhong Qu thing robot of cleft hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Luan Houqiang Inventor after: Chen Shuxiang Inventor after: Wang Wenqing Inventor before: Wang Wenqing |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181018 Address after: 271500 Department of surgery, Dongping County Hospital of traditional Chinese medicine, Shandong Applicant after: Luan Houqiang Address before: 523000 productivity building 406, high tech Industrial Development Zone, Songshan Lake, Dongguan, Guangdong Applicant before: Dongguan Lianzhou Intellectual Property Operation Management Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181204 |