CN106264735A - A kind of removable operating robot that can stand - Google Patents
A kind of removable operating robot that can stand Download PDFInfo
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- CN106264735A CN106264735A CN201610841483.7A CN201610841483A CN106264735A CN 106264735 A CN106264735 A CN 106264735A CN 201610841483 A CN201610841483 A CN 201610841483A CN 106264735 A CN106264735 A CN 106264735A
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- roller
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- 230000005540 biological transmission Effects 0.000 claims description 4
- 235000012364 Peperomia pellucida Nutrition 0.000 claims description 3
- 240000007711 Peperomia pellucida Species 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000003534 oscillatory effect Effects 0.000 abstract 1
- 238000005452 bending Methods 0.000 description 4
- 238000013016 damping Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 108010022579 ATP dependent 26S protease Proteins 0.000 description 1
- 101100179449 Nicotiana tabacum A622 gene Proteins 0.000 description 1
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of removable operating robot that can stand, including the waist rotation member that can rotate around trunnion axis, the large arm that can rotate around vertical axes, can the swing arm of relatively small arm swing, can the tool changing device that rotates of opposing oscillatory arm.Robot is arranged in roller seat, and roller seat includes two to liftable roller, and descending roller contacts with ground and roller seat held up, and robot can be moved by roller.Described tool changing device includes cutter clamping dish, drives the drive mechanism of cutter clamping disc spins, and drive mechanism includes rotary components, latch components, driving assembly and cover plate, cover plate is offered to the track driving assembly to guide.In operation, the driving assembly that rotates coordinates cover plate that rotary components can be driven to rotate predetermined angular, and the cutter being arranged on cutter clamping dish rotates respective angles with rotary components, make need to operation tool be in operating position.
Description
Technical field
The present invention relates to medical apparatus and instruments, in particular to a kind of removable operating robot that can stand.
Background technology
Medium-and-large-sized operating theater instruments, typically by fixed placement in operating room, it is impossible to mobile.
Summary of the invention
Technical problem solved by the invention: medium-and-large-sized operating theater instruments is fixedly installed in operating room, is not easy to operation
Room layout again.
For solving above-mentioned technical problem, the present invention provides following technical scheme: a kind of removable surgical machine that can stand
People, the waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, is arranged in large arm
Manipulator, the forearm being fixed in large arm, the swing arm being articulated in forearm front end, drive swing arm to swing the first driving single
Unit, be arranged on swing arm front end tool changing device, drive tool changing device rotate the second driver element；When described swing arm swings
Central axis in the rotation centerline of tool changing device, waist rotation member rotates around base body, and large arm rotates around waist rotation member；
Described tool changing device includes cutter clamping dish, drives the drive mechanism of cutter clamping disc spins；Described drive mechanism
Including rotary components, latch components, driving assembly, cover plate；
Described rotary components includes that rotating seat, fixed cover are located at the peripheral brake disc of rotating seat and the 6th gear；Described cutter
Tool clamping dish is fixing connects rotating seat；
Described latch components includes the basal disc being fixedly installed in housing, be arranged on basal disc a pair brake(-holder) block, slip
The solution lock slide being arranged on basal disc；The pair of brake(-holder) block is symmetrical set the periphery in brake disc, a pair brake(-holder) block
One end is hinged and other end elasticity connects；Described solution lock slide elasticity is connected on basal disc, and solution lock slide is provided with a pair and slides
Bar, one end that a pair brake(-holder) block elasticity connects offers a pair slide slot, and slide slot is bending, and a pair slide slot is symmetrical to be set
Put, slide bar for a pair and be slidably fitted in a pair slide slot；
The annulus that described driving assembly includes being driven by driving means and rotates, the centrage deviation rotating seat that annulus rotates
The centrage rotated, the medial wall of annulus is provided with tooth section and multiple push rod, and tooth section is fixedly installed and push rod slides and arranges, tooth section
Can engage with the 6th gear；
Described cover plate is fixedly installed on housing, and cover plate is provided with circular orbit, the centrage of circular orbit and annulus
Centrage overlaps, and described push rod is provided with the slide bar coordinated with circular orbit, and circular orbit is provided with the arc track of one section of indent；When
When slide bar is positioned in arc track, push rod promotes and solves lock slide and make a pair to slide bar translation, and meanwhile, the 6th gear is opened with tooth section
Begin to engage；
The rotation centerline of described rotating seat is perpendicular to the rotation centerline of tool changing device；
Described base body is articulated in roller seat, and roller seat is provided with idler wheel mechanism.
By technique scheme, the operation principle of a kind of removable operating robot that can stand of the present invention is as follows:
First, operative doctor holds manipulation hands, rotates large arm or waist rotation member, makes the tool changing device on swing arm be in and treat
At operation.
Second, in tool changing device, the driving means in drive mechanism drives annulus to rotate, and annulus drives push rod thereon rotation
Turning, the slide bar on push rod moves in circular orbit.When slide bar runs one section of arc track to circular orbit, slide bar orders about
Push rod moves to the center of annulus, and the end continuous action of multiple push rods, in solving on lock slide, promotes and solves lock slide to basal disc
Center translation, the bar that slides for a pair solved on lock slide translates in a pair slide slot in man-to-man mode, due to slide slot in
Bending, therefore, a pair of rectilinear translation slides bar and can order about one end that a pair brake(-holder) block elasticity connects and open, and so, rotates
Seat is changed into rotatable state by the initial state by a pair brake(-holder) block frictional damping.No longer make with a pair brake(-holder) block
Dynamic rotating seat synchronously, one section of tooth in the tooth section on annulus medial wall, i.e. annulus medial wall, start to engage with the 6th gear,
And drive the 6th gear and be secured to the rotating seat rotation connected, rotating seat drives cutter clamping disc spins；When rotating seat revolves
Turning certain angle, during such as 90 degree, tooth Duan Yu six gear disengages, and meanwhile, multiple push rods are all through circular orbit
One section of arc track, so, the solution lock slide that elasticity is connected on basal disc resets, and slides bar a pair and resets therewith, a pair braking
One end that sheet elasticity connects resets the most therewith, a pair brake(-holder) block frictional damping brake disc again, and then braking rotating seat.So far,
Cutter clamping dish rotates a certain angle along with the rotation of rotating seat, and clamping rotates with at the operation tool of cutter clamping dish
Certain angle, operative doctor need to operation tool be in operating position.
3rd, under the turning effort of swing, the rotation of whole tool changing device, large arm and the waist rotation member of swing arm, hands
Art doctor be operated sufferer.
4th, when operating room needs layout again, staff drives operating robot to move by idler wheel mechanism.
By technique scheme, cutter clamping dish is provided with the instrument of some operations, such as cutter, fixture, operation
When doctor need to use corresponding operation tool, operation tool can automatically be changed by tool changing device so that it is be in operating position, and,
In order to improve the accuracy of operation, it is to avoid the generation of error, during each tool changing of tool changing device, the angle of cutter clamping disc spins is
Certain, the angle that i.e. operation tool on cutter clamping dish rotates every time is certain.
As the present invention a kind of explanation to tool changing device, described tool changing device includes the connection installed on a swing arm
Arm, described housing is arranged on the connecting arm；Described cover plate is sealed on housing, and described drive mechanism is arranged in housing, drives
Rotating seat in mechanism passes cover plate, and cutter clamping dish is positioned at outside housing.As described above, the second drive unit drives linking arm
Rotating, linking arm drives whole tool changing device to rotate.
As the present invention a kind of explanation to tool changing device, in rotary components, described rotating seat is articulated on basal disc, rotates
Seat is provided with a pair location bar, and described cutter clamping dish is by a pair location bar fixing connection rotating seat.Wherein, described basal disc leads to
Crossing support column to be fixed in housing, described support column is positioned at annulus and is positioned at the side of rotating seat.
As the present invention a kind of explanation to latch components, described basal disc is provided with a pillar, and pillar is provided with swivel pin；
The pair of brake(-holder) block includes the first brake(-holder) block being positioned at left side and is positioned at second brake(-holder) block on right side, the left end of the first brake(-holder) block
Being hinged on swivel pin with the left end of the second brake(-holder) block, the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block are stretched by first
Contracting spring connects；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with the second fore-set, and first
Fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are positioned at the first coil tension spring；Described first brake(-holder) block and
The second equal semicircular in shape of brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc.As described above, the first coil tension spring
Having the trend making the first brake(-holder) block and the second brake(-holder) block close up, the setting of the first fore-set and the second fore-set then has stop should
The effect of the trend of kind.
As the present invention a kind of explanation to latch components, the pair of slide slot includes that the first slide slot and second slides
Groove, the first slide slot is opened in the right-hand member of the first brake(-holder) block, and the second slide slot is opened in the right-hand member of the second brake(-holder) block, and first slides
Groove and the second slide slot are symmetrical set, and wherein, the first slide slot includes the first linear type slide slot of connection and second straight
Line style slide slot, angle circle between the first linear type slide slot and the second linear type slide slot is in 90 degree and 180 degree
Between.As described above, when solving lock slide and translating to the central line of basal disc, slide for a pair slided in a pair slide slot
Bar has the trend making the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block separate.
As the present invention a kind of explanation to latch components, described solution lock slide is provided with a pair alignment pin, the pair of
Alignment pin includes the first alignment pin and the second alignment pin being symmetrical set, and it is fixed that the right-hand member of described first brake(-holder) block is provided with first
Hole, position, the right-hand member of the second brake(-holder) block is provided with the second hole, location, under the elastic force of the first coil tension spring, when the first fore-set and the second top
When post offsets, first alignment pin solved on lock slide of translation and the second alignment pin can correspondingly insert the first hole, location and second
In hole, location；The pair of bar that slides includes that first slides bar and second and slide bar, and first slides bar, and to be fixedly installed on first fixed
The top of position pin, second slides bar is fixedly installed on the top of the second alignment pin, and first slides centrage and first location of bar
The central axis of pin.As described above, when push rod promotes and solves lock slide to the center translation of basal disc, first first slide bar
Translate in the first linear type slide slot, when the first alignment pin and the second alignment pin depart from the first hole, location and the second hole, location
Time, second slides bar just enters the second linear type slide slot, slides bar for a pair by the right-hand member of the first brake(-holder) block and the second brake(-holder) block
Right-hand member open；After push rod is left away along with the rotation of annulus, solve lock slide and reset, slide bar a pair and reset therewith, first
Alignment pin and the second alignment pin correspondingly insert the first hole, location and the second hole, location, to lock a pair brake(-holder) block.
As the present invention a kind of explanation to latch components, described basal disc is provided with setting block, erects block and is provided with second
Coil tension spring, one end of the second coil tension spring connects erects block, and the other end of the second coil tension spring connects solution lock slide.
As the present invention to driving a kind of of assembly to illustrate, described annulus is articulated in housing, and described driving means includes
The 7th gear and the 7th gear that the ring gear that fixed cover is located on annulus medial wall engages with ring gear couple and are arranged on housing
The 3rd interior motor.As described above, the 3rd motor drives the 7th gear to rotate, and the 7th gear drives circle by driving ring gear
Ring rotates.
As the present invention to driving a kind of of assembly to illustrate, the medial wall of described annulus is provided with interior projection, radially
Interior projection is provided with multiple push rod pedestal, and the quantity of push rod pedestal is same as the quantity of push rod, and multiple push rods are with man-to-man side
Formula is slidably fitted in multiple push rod pedestal, and the end of push rod highlights push rod pedestal and points to the center of annulus.Multiple push rods
Quantity determines in the following manner: when rotating seat rotates predetermined angular and tooth Duan Yu six gear disengages, multiple push rods are complete
Portion no longer acts on solution lock slide through one section of arc track of circular orbit.
As the present invention a kind of explanation to swing arm, a spill gap, described swing arm are offered in the front end of described forearm
It is articulated in spill gap.Described first driver element includes the first motor being arranged on forearm, couples the first motor and pendulum
First gear unit of swing arm；Described first gear unit includes the second gear and the 3rd being articulated on forearm and being coaxially disposed
Gear, the 4th gear being articulated on forearm and being coaxially disposed and the first synchronous pulley, the 3rd axle being articulated on forearm, fixing
It is arranged on the second synchronous pulley on the 3rd axle；First gear is installed on the output shaft of described first motor, the first gear with
Second gear engagement, the 3rd gear and the engagement of the 4th gear, the first synchronous pulley is coupled by Timing Belt and the second synchronous pulley,
3rd axle is fixing with swing arm to be connected.Described second driver element includes installing the second motor on a swing arm, the second transmission
Unit；Described second gear unit includes the rotation that the decelerator coupled with the second motor output shaft is connected with decelerator outfan
Rotating disk, tool changing device is installed on the rotating pan.
As the present invention a kind of explanation to base body, described base body be provided with symmetrical first horizontal guide rail and
Second horizontal guide rail, the first horizontal guide rail is sliding combined with the first cross sliding clock, and the second horizontal guide rail is sliding combined with
Two cross sliding clocks, described waist rotation member horizontal cross is arranged, and the two ends, left and right of waist rotation member are cylindrical, the left end of waist rotation member
Being articulated in the first cross sliding clock, the right-hand member of waist rotation member is articulated in the second cross sliding clock；Described large arm is vertically arranged, large arm
Bottom be articulated in the middle part of waist rotation member, described manipulator is arranged on the top of large arm, and described forearm is fixed in large arm
Portion, described swing arm is arranged on the top of forearm.As described above, waist rotation member can be led along the first horizontal guide rail and the second level
Rail moves, to increase the space of mechanical claw hand.
As the present invention a kind of explanation to base body, described base body is provided with brake structure, and brake structure includes solid
The brake rotation being connected is fixed in a pair support plate being scheduled on base body, the brake lever being articulated on a pair support plate, one end with brake lever
Turn the brake hinged with the brake rotary components other end of assembly, one end to be connected assembly to be connected the assembly other end with brake hinged
Lever assembly, the middle part of lever assembly is hinged on support plate, and the cross section of described brake lever is regular hexagon；Described second level
Slide block is provided with keep plate, keep plate and the second cross sliding clock and is connected by spring, and keep plate is positioned at waist rotation member right side
Side, described brake lever is close to keep plate.As described above, one end of operative doctor presses lever assembly, lever assembly around
It is with support plate hinged place tilting, and lever assembly connects assembly by brake and drives brake rotary components to rotate, and brake rotary components
Driving brake bar rotates, and the crest line of brake lever is against on keep plate towards a left side, and then, it is right that the left side of keep plate is against waist rotation member
On end face, waist rotation member is braked；When making lever assembly reset when the other end of staff's presses lever assembly, thick stick
Bar assembly connects assembly by brake and drives brake rotary components to reversely rotate, and brake rotary components driving brake bar reversely revolves
Turning, the crest line of brake lever leaves keep plate and no longer orders about keep plate and be moved to the left and brake waist rotation member.
In above-mentioned brake structure, described brake rotary components includes fixing with brake lever the brake rotating seat that is connected and stops
Car rotating seat fixes the brake swingle of connection；Described brake connects assembly and includes second brake hinged with brake swingle even
Extension bar and the second brake connecting rod fix the first brake connecting rod of connection；Described lever assembly includes being connected with first brake
Bar hinged brake bearing with brake bearing fix the brake liner plate being connected, described brake bearing is hinged on support plate.
Described base body is provided with the second brake structure, and the second brake structure includes a pair second be fixed on base body
Support plate, the second brake lever being articulated on a pair second support plates, one end are fixed the second brake being connected and are rotated with the second brake lever
Assembly, one end with second brake the rotary components other end hinged second brake is connected assembly and second brake connection assembly another
The second lever assembly that one end is hinged, the middle part of the second lever assembly is hinged on the second support plate, the horizontal stroke of described second brake lever
Cross section is regular hexagon；Described first cross sliding clock is provided with the second keep plate, the second keep plate and the first cross sliding clock to be passed through
Second spring connects, and the second keep plate is positioned at the side of waist rotation member left side, and described second brake lever is close to the second keep plate；
Described base body is provided with vertical rod, and the top of vertical rod is provided with the 3rd sliding pin, and the 3rd sliding pin is combined with lever, and the middle part of lever is opened
If the bar shaped chute being slidably matched with the 3rd sliding pin, the left end of lever is hinged with the lever assembly in brake structure, the right side of lever
Hold hinged with the second lever assembly in the second brake structure.As described above, brake structure and the second brake structure left and right are right
Claiming to arrange, both 26S Proteasome Structure and Functions are identical, and in operation, operative doctor presses lever assembly, can be by lever actuated second
Lever assembly links, and in like manner, operative doctor presses the second lever assembly, can be linked by lever actuated lever assembly.Linkage
Brake structure and the second brake structure right-hand member and left end to waist rotation member simultaneously be braked.
As the present invention to a kind of explanation of relation between waist rotation member and large arm, described waist rotation member is provided with large arm and stops
Bassinet structure, described large arm brake structure include the annular solid being fixedly installed on waist rotation member, a pair be arranged on annular solid
Brake hoop, second be slidably arranged on annular solid solve lock slide；The second brake disc, a pair brake hoop it is fixed with in described large arm
Being symmetrical set the periphery in the second brake disc, one end of a pair brake hoop is hinged and other end elasticity connects；Described second
Solve lock slide elasticity to be connected on annular solid, second solve lock slide be provided with translatable enter a pair brake hoop elasticity connect one end with
Open the second wedge of a pair brake hoop.As described above, in operation, four finger gripping in operative doctor proficiency live operation
Hands, residue one finger can press the second wedge, promotes the second solution lock slide center translation to annular solid, the second wedge translation
Entering one end that a pair brake hoop elasticity connects to open a pair brake hoop, so, large arm is rubbed by a pair brake hoop by initial
The state of braking is changed into rotatable state.
About above-mentioned large arm brake structure, described annular solid is fixed on waist rotation member by a bracer；Prop up and set on bracer
There is the second swivel pin；The pair of brake hoop includes the first brake hoop being positioned at left side and is positioned at second brake hoop on right side, the
The left end of one brake hoop and the left end of the second brake hoop are hinged on the second swivel pin, the right-hand member of the first brake hoop and the second braking
The right-hand member of ring is connected by the 3rd coil tension spring elasticity；The right-hand member of the first brake hoop is provided with the 3rd fore-set, the right side of the second brake hoop
End is provided with the 4th fore-set, and the 3rd fore-set and the 4th fore-set are oppositely arranged, and the 3rd fore-set and the 4th fore-set are positioned at the 3rd coil tension spring
In；Described first brake hoop and the equal semicircular in shape of the second brake hoop, the first brake hoop and the second brake hoop surround the second brake disc.
As described above, the 3rd coil tension spring has the trend making the first brake hoop and the second brake hoop close up, and the 3rd fore-set and
The setting of four fore-sets then has the effect stopping this kind of trend.
Described second solves lock slide is provided with a pair alignment pin, and a pair alignment pin is arranged on before and after the second wedge
Second solves on lock slide；The pair of alignment pin includes the first alignment pin and the second alignment pin being symmetrical set,
The right-hand member of described first brake hoop is provided with the 3rd hole, location, and the right-hand member of the second brake hoop is provided with the 4th hole, location, stretches the 3rd
Under the elastic force of spring, when the 3rd fore-set and the 4th fore-set offset, translation second solution lock slide on the first alignment pin and
Second alignment pin can correspondingly be inserted in the 3rd hole, location and the 4th hole, location.As described above, the is promoted when operative doctor
Two solution lock slides are when the center translation of annular solid, and the first alignment pin and the second alignment pin depart from the 3rd hole and the 4th, location
Hole, location, meanwhile, the second wedge stretches between the first brake hoop right-hand member and the second brake hoop right-hand member, and is opened；At hands
After art doctor discharges the second solution lock slide, second solves lock slide resets, and the second wedge leaves the first brake hoop right-hand member and second
Brake hoop right-hand member, meanwhile, the first alignment pin and the second alignment pin correspondingly insert the 3rd hole, location and the 4th hole, location, with
Lock a pair brake hoop.
About above-mentioned large arm brake structure, described annular solid is provided with the second setting block, and second erects block is provided with the 4th
Coil tension spring, one end of the 4th coil tension spring connects the second setting block, and it is sliding that the other end of the 4th coil tension spring connects the second unblock
Block.
As a kind of explanation of pair roller base of the present invention, described roller seat includes the base body of hollow, covers
Base lid in base body.The first through hole and third through-hole is offered on the left side wall of described base body, base body
The second through hole and fourth hole, the first through hole and the second through hole is offered symmetrical, third through-hole and fourth hole on right side wall
Symmetrical, symmetrical before and after the first through hole and third through-hole, symmetrical before and after the second through hole and fourth hole, the first through hole, second
Through hole, third through-hole, fourth hole are all in strip and be obliquely installed.The first idler wheel mechanism and it is provided with in described base body
It is symmetrical arranged before and after second wheel mechanism, the first idler wheel mechanism and the second idler wheel mechanism；First idler wheel mechanism includes being fixedly installed
The first slide block assembly that first guide assembly and the first guide assembly are slidably matched, it is arranged on the first slide block assembly and left and right
Symmetrically arranged first pair roller axle, the first couple being arranged in mode one to one on the first pair roller axle and being symmetrical set
Roller；Second idler wheel mechanism includes the second slide block that the second guide assembly being fixedly installed and the second guide assembly are slidably matched
Assembly, the second pair roller axle being arranged on the second slide block assembly and being symmetrical set, it is arranged on second in mode one to one
On pair roller axle and the second pair roller of being symmetrical set；Described first pair roller axle passes the first through hole and the second through hole,
Second pair roller axle passes third through-hole and fourth hole, and the first pair roller and the second pair roller are respectively positioned on outside base body
Side.Roller driving mechanism, roller driving mechanism and the first slide block assembly and the second slide block assembly connection it is provided with in described base cover body
Connecing, roller driving mechanism drives the first slide block assembly to slide along the first guide assembly, and roller driving mechanism drives the second slide block group
Part slides along the second guide assembly, and the first slide block assembly drives the first pair roller axle to slide along the first through hole and the second through hole, the
Two slide block assemblies drive the second pair roller axle to slide along third through-hole and fourth hole.
As described above, the operation principle of roller seat is as follows: first, and base body is articulated in the base lid of roller seat
On；Second, when robot need to move, roller driving mechanism drives the first slide block assembly to slide along the first guide assembly, and second is sliding
Block assembly slides along the second guide assembly, and it is in opposite direction that the first slide block assembly and the second slide block assembly run, the first slide block group
Part moves ahead and goes after the second slide block assembly, and the first slide block assembly drives the first pair roller axle to tilt along the first through hole and the second through hole
Slide downward, the second slide block assembly drives the second pair roller axle to slide diagonally downward along third through-hole and fourth hole, and first is right
Roller shaft drives the first pair roller thereon to move diagonally downward, and the second pair roller axle drives the second pair roller thereon to be tilted towards
Lower movement, so, the bottom of the first pair roller and the second pair roller contacts with ground, robot less than the bottom surface of base body
Can be moved on the ground by the first pair roller and the second pair roller；3rd, when robot need to fix, roller driving mechanism drives
Dynamic first slide block assembly slides along the first guide assembly, and the second slide block assembly slides along the second guide assembly, the first slide block assembly
With second slide block assembly run in opposite direction, after the first slide block assembly row and the second slide block assembly moves ahead, the first slide block assembly
Driving the first pair roller axle to tilt upward slip along the first through hole and the second through hole, the second slide block assembly drives the second pair roller axle
Tilting upward slip along third through-hole and fourth hole, the first pair roller axle drives the first pair roller thereon to tilt upward shifting
Dynamic, the second pair roller axle drives the second pair roller thereon to tilt upward movement, so, and the first pair roller and the second pair roller
Bottom departs from contact with ground higher than the bottom surface of base body, and the bottom surface of base body directly contacts with ground, and robot is i.e.
Can fix on the ground.
As a kind of explanation of pair roller base of the present invention, described first through hole and third through-hole are in the left side of base body
In splayed on wall, described second through hole and fourth hole on the right side wall of base body in splayed.
As a kind of explanation of pair roller base of the present invention, described first guide assembly includes being fixedly installed on base body
In the first fixed plate, the first left rail being symmetrical set and be fixed in the first fixed plate and the first right guide rail, be positioned at
Between first left rail and the first right guide rail and the first intermediate rail of being fixed in the first fixed plate；Described first slide block assembly
The first right slide block of including the first left slider being slidably fitted on the first left rail, being slidably fitted on the first right guide rail, cunning
The dynamic cooperation the first intermediate slider in the first intermediate rail；Described first pair roller axle includes that first rolls left wheel shaft and first right
Roller shaft, first wheel shaft that rolls left is arranged on the first left slider, and the first right roller shaft is arranged on the first right slide block, and first rolls left
Wheel shaft is slidably fitted in the first through hole, and the first right roller shaft is slidably fitted in the second through hole, and described first pair roller includes
First left wheel and the first right roller, the first left wheel is arranged on first and rolls left on wheel shaft, and it is right that the first right roller is arranged on first
On roller shaft, described first left slider and the first right slide block and the first intermediate slider connect, in the middle of roller driving mechanism and first
Slide block couples；Described first left rail, the first right guide rail, the first intermediate rail are all obliquely installed, and the first left rail, first right side are led
Rail, the first intermediate rail gradient identical, the first left rail, the first right guide rail, the gradient of the first intermediate rail are same as
First through hole and the gradient of the second through hole.Described second guide assembly includes that be fixedly installed in base body second fixes
Plate, the second left rail being symmetrical set and be fixed in the second fixed plate and the second right guide rail, be positioned at the second left rail and
Between second right guide rail and the second intermediate rail of being fixed in the second fixed plate；Described second slide block assembly includes being slidably matched
The second left slider, the second right slide block being slidably fitted on the second right guide rail on the second left rail, it is slidably fitted in second
The second intermediate slider in intermediate rail；Described second pair roller axle includes that second rolls left wheel shaft and the second right roller shaft, second
The wheel shaft that rolls left is arranged on the second left slider, and the second right roller shaft is arranged on the second right slide block, second roll left wheel shaft slide join
Being combined in third through-hole, the second right roller shaft is slidably fitted in fourth hole, and described second pair roller includes the second left wheel
With the second right roller, the second left wheel is arranged on second and rolls left on wheel shaft, and the second right roller is arranged on the second right roller shaft, institute
Stating the second left slider and the second right slide block and the second intermediate slider connects, roller driving mechanism and the second intermediate slider couple；Institute
State the second left rail, the second right guide rail, the second intermediate rail are all obliquely installed, the second left rail, the second right guide rail, in the middle of second
The gradient of guide rail is identical, and the second left rail, the second right guide rail, the gradient of the second intermediate rail are same as third through-hole and
The gradient of four through holes.
As a kind of explanation of pair roller base of the present invention, described first intermediate slider is hinged with the first left curved axle and
First right curved axle, one end of the first left curved axle is hinged with the first intermediate slider, the other end and first of the first left curved axle
The right-hand member of wheel shaft of rolling left is hinged, and one end of the first right curved axle is hinged with the first intermediate slider, the other end of the first right curved axle
Hinged with the left end of the first right roller shaft；Described first rolls left is provided with the first bullet between wheel shaft right-hand member and the first right roller shaft left end
Spring, one end of the first spring wheel shaft right-hand member that rolls left with first is connected, and the other end of the first spring and the first right roller shaft left end are even
Connect；The bottom of the bottom of the first left rail and the first right guide rail is equipped with the first limited block；Described first roll left wheel shaft slide peace
Being contained on the first left slider, the first right roller shaft is slidably mounted on the first right slide block；It is hinged with on described second intermediate slider
Second left curved axle and the second right curved axle, one end of the second left curved axle is hinged with the second intermediate slider, the second left curved axle
The roll left right-hand member of wheel shaft of the other end and second hinged, one end of the second right curved axle is hinged with the second intermediate slider, and second is right
The left end of the other end of curved axle and the second right roller shaft is hinged；Described second rolls left wheel shaft right-hand member and the second right roller shaft left end
Between be provided with the second spring, one end of the second spring wheel shaft right-hand member that rolls left with second is connected, the other end of the second spring and second
Right roller shaft left end connects；The bottom of the bottom of the second left rail and the second right guide rail is equipped with the second limited block；Described second
The wheel shaft that rolls left is slidably mounted on the second left slider, and the second right roller shaft is slidably mounted on the second right slide block.
As described above, roller driving mechanism drives the first intermediate slider to slide in the first intermediate rail, in the middle of first
Slide block drives first to roll left wheel shaft by the first left curved axle and the first left slider slides along the first left rail, the first intermediate slider
By the first right curved axle drive the first right roller shaft and the first right slide block along the first right slide, when the first left slider tiltedly under
Walk at the first limited block on the first left rail that the first right sliding block inclined comes downwards at the first limited block on the first right guide rail
Time, the first left slider and the first right slide block are out of service, and the first intermediate slider continues to slide obliquely along the first intermediate rail,
Under the effect of the first left curved axle and the first right curved axle, the first intermediate slider roll left first wheel shaft and the first right roller axial
The left and right sides is pushed open, i.e. be positioned at the first axial left of left wheel in left side, and the first right roller shaft being positioned at right side is put down to the right
Move, so, be arranged on first the first left wheel on wheel shaft that rolls left and, to left, be arranged on the first right roller on the first right roller shaft
To right translation；In like manner, under the driving of roller driving mechanism, it is arranged on second second left wheel that rolls left on wheel shaft to left,
It is arranged on the second right roller shaft the second right roller to right translation；It is so designed that, when the first pair roller and the end of the second pair roller
When portion's height is less than the floor height of base body, the first pair roller and the extension of the second pair roller horizontal cross, the first pair roller
Between distance become big, the distance between the second pair roller becomes big, to improve the stability bottom robot.
As further illustrating of pair roller base of the present invention, described first wheel shaft that rolls left is provided with the first left spline, and
The first left splined hole with the first left spline fitted is offered on one left slider；Described first right roller shaft is provided with the first right flower
Key, the first right slide block is offered the first right splined hole with the first right spline fitted；Described second wheel shaft that rolls left is provided with second
Left spline, the second left slider is offered the second left splined hole with the second left spline fitted；Described second right roller shaft is provided with
Second right spline, the second right slide block is offered the second right splined hole with the second right spline fitted.As described above, described first
Left wheel is articulated in first and rolls left on wheel shaft, and the first right roller is articulated on the first right roller shaft, and the second left wheel is articulated in
Two roll left on wheel shaft, and the second right roller is articulated on the second right roller shaft.
As a kind of explanation of pair roller base of the present invention, described roller driving mechanism includes being articulated in base cover body
The first screw element that reverse-flighted screw and left hand thread in reverse-flighted screw are spirally connected and right-handed thread in reverse-flighted screw be spirally connected second
Screw element, the first expansion link being fixed on the first screw element, the second expansion link being fixed on the second screw element, be fixed on double
The first gear on screw rod couples with the second gear of the first gear engagement and the second gear and is fixed in base cover body
The 4th motor；Offer bar shaped gathering sill, the first screw element and the second screw element in described base cover body on sidewall to be slidably matched
In bar shaped gathering sill, the bottom of the first expansion link is hinged with the first slide block assembly, the bottom of the second expansion link and the second slide block
Member hinges.As described above, the left-handed thread section in reverse-flighted screw is positioned at the top of the first idler wheel mechanism, in reverse-flighted screw
Right-handed thread section is positioned at the top of the second idler wheel mechanism, and under the driving of the 4th motor, reverse-flighted screw rotates, and reverse-flighted screw drives
First screw element thereon and the second screw element reversely move, and the first screw element and the second screw element drive the first expansion link and
Two expansion links reversely move, and the first expansion link and the second expansion link correspondingly drive the first intermediate slider and the second intermediate slider anti-
To movement.
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 removable operating robot that can stand of the present invention；
Fig. 2 is the structural representation after roller seat a conceals in Fig. 1；
Fig. 3 is the combinative structure schematic diagram of forearm 24 in Fig. 2, swing arm 80, tool changing device 30；
Fig. 4 is the structural representation after tool changing device 30 conceals cutter clamping dish 300 in Fig. 3；
Fig. 5 is the structural representation after tool changing device 30 conceals cover plate 64 in Fig. 4；
Fig. 6 is the structural representation of drive mechanism 60 in Fig. 5；
Fig. 7 is the combinative structure schematic diagram of rotary components 61 and latch components 62 in Fig. 6；
Fig. 8 is the structural representation solving lock slide 623 in Fig. 7；
Fig. 9 is the structural representation of brake(-holder) block 622 in Fig. 7；
Figure 10 is the structural representation driving assembly 63 in Fig. 6；
Figure 11 is enlarged drawing at A in Figure 10；
Figure 12 is the structural representation of Fig. 4 cover plate 64；
Figure 13 is the combinative structure schematic diagram of brake structure the 70, second brake structure 700 in Fig. 2；
Figure 14 is the structural representation of brake structure 70 in Figure 13；
Figure 15 is the structural representation of large arm brake structure 90 in Fig. 2；
Figure 16 is the second structural representation solving lock slide 923 in Figure 15；
Figure 17 is the structural representation of roller seat a in Fig. 1；
Figure 18 is the structural representation after roller seat a conceals base lid a12 in Figure 17；
Figure 19 is the structural representation of base lid a12 in Figure 17；
Figure 20 is that in base body a11, the bottom level of the first pair roller and the second pair roller is less than roller seat a bottom surface
Structural representation time highly.
Symbol description in figure:
10, base body；11, the first horizontal guide rail；12, the second horizontal guide rail；13, the first cross sliding clock；130, the second system
Dynamic plate；14, the second cross sliding clock；140, keep plate；
21, waist rotation member；22, large arm；23, manipulator；24, forearm；
30, tool changing device；300, cutter clamping dish；
51, linking arm；52, housing；
60, drive mechanism；61, rotary components；611, rotating seat；612, brake disc；613, the 6th gear；614, location
Bar；
62, latch components；621, basal disc；622, brake(-holder) block；6221, the first coil tension spring；6222, hole, location；623, solve
Lock slide；624, bar is slided；625, support column；626, pillar；627, alignment pin；628, block is erect；6281, second stretches bullet
Spring；629, slide slot；6291, the first linear type slide slot；6292, the second linear type slide slot；
63, assembly is driven；631, annulus；632, tooth section；633, push rod；634, slide bar；635, ring gear；636, the 7th tooth
Wheel；637, interior projection；638, push rod pedestal；
64, cover plate；641, circular orbit；642, arc track；
70, brake structure；701, support plate；71, brake lever；72, brake rotary components；721, brake rotating seat；722, stop
Car swingle；73, brake connects assembly；731, first brake connecting rod；732, the second brake connecting rod；74, lever assembly；
741, brake bearing；742, brake liner plate；700, the second brake structure；75, vertical rod；76, the 3rd sliding pin；77, lever；
80, swing arm；81, the first gear；82, the second gear；84, the 4th gear；85, the first synchronous pulley；86, the 3rd
Axle；87, the second synchronous pulley；88, Timing Belt；89, rotating disk；
90, large arm brake structure；912, the second brake disc；921, annular solid；922, brake hoop；9221, the 3rd stretches bullet
Spring；9222, the 3rd hole, location；923, second lock slide is solved；924, the second wedge；925, bracer is propped up；927, alignment pin；
928, second block is erect；9281, the 4th coil tension spring；
A, roller seat；A11, base body；A111, the first through hole；A112, the second through hole；A113, third through-hole；
A114, fourth hole；A12, base lid；A50, the first idler wheel mechanism；A51, the first fixed plate；A521, the first left rail；
A522, the first right guide rail；A53, the first intermediate rail；A541, the first left slider；A542, the first right slide block；A55, the first centre
Slide block；A560, the first spring；A561, first roll left wheel shaft；A562, the first right roller shaft；A571, the first left wheel；a572、
First right roller；A581, the first left curved axle；A582, the first right curved axle；A500, the second idler wheel mechanism；A60, roller drive
Mechanism；A61, reverse-flighted screw；A621, the first screw element；A622, the second screw element；A631, the first expansion link；A632, second stretch
Contracting bar；A64, the first gear；A65, bar shaped gathering sill.
Detailed description of the invention
In conjunction with Fig. 1, Fig. 2, a kind of removable operating robot that can stand, including base body 10, it is articulated on base body
Waist rotation member 21, the large arm 22 being articulated on waist rotation member, the manipulator 23 being arranged in large arm, be fixed in large arm little
Arm 24, be articulated in forearm front end swing arm 80, drive swing arm swing the first driver element, be arranged on swing arm front end
The second driver element that tool changing device 30, driving tool changing device rotate；Central axis when described swing arm swings is in tool changing
The rotation centerline of device, waist rotation member rotates around base body, and large arm rotates around waist rotation member.Described base body is articulated in roller
On base a, roller seat is provided with idler wheel mechanism.
In conjunction with Fig. 4 to Figure 12, described tool changing device includes cutter clamping dish 300, drives the driving of cutter clamping disc spins
Mechanism 60；Described drive mechanism includes rotary components 61, latch components 62, drives assembly 63, cover plate 64.Described rotary components bag
Include rotating seat 611, fixed cover is located at the peripheral brake disc 612 of rotating seat and the 6th gear 613；Described cutter clamping dish is fixing even
Connect rotating seat.Described latch components includes the basal disc 621 being fixedly installed in housing, a pair brake(-holder) block being arranged on basal disc
622, the solution lock slide 623 being slidably arranged on basal disc；The pair of brake(-holder) block is symmetrical set the periphery in brake disc, and one
To one end of brake(-holder) block is hinged, other end elasticity connects；Described solution lock slide elasticity is connected on basal disc, solves and sets on lock slide
Having a pair and slide bar 624, a pair slide slot 629 is offered in one end of a pair brake(-holder) block elasticity connection, and slide slot is bending, a pair
Slide slot is symmetrical set, and slides bar for a pair and is slidably fitted in a pair slide slot.Described driving assembly includes being filled by driving
Put the annulus 631 driven and rotate, the centrage that the centrage deviation rotating seat that annulus rotates rotates, the medial wall of annulus sets
Having tooth section 632 and multiple push rod 633, tooth section is fixedly installed and push rod slides and arranges, and tooth Duan Keyu the 6th gear engages.Described lid
Plate is fixedly installed on housing, and cover plate is provided with circular orbit 641, and the centrage of circular orbit overlaps with the centrage of annulus,
Described push rod is provided with the slide bar 634 coordinated with circular orbit, and circular orbit is provided with the arc track 642 of one section of indent；Work as slide bar
When being positioned in arc track, push rod promotes and solves lock slide and make a pair to slide bar translation, and meanwhile, the 6th gear starts to nibble with tooth section
Close.
Described tool changing device 30 includes the linking arm 51 being arranged on swing arm 80, and described housing 52 is arranged on linking arm
On；Described cover plate 64 is sealed on housing, and described drive mechanism 60 is arranged in housing, and the rotating seat 611 in drive mechanism is worn
Crossing cover plate, cutter clamping dish 300 is positioned at outside housing.
Above-mentioned tool changing device 30, in rotary components 61, described rotating seat 611 is articulated on basal disc 621, and rotating seat is provided with
A pair location bar 614, described cutter clamping dish 300 is by a pair location bar fixing connection rotating seat.
Above-mentioned tool changing device 30, in latch components 62, described basal disc 621 is fixed in housing 52 by support column 625, institute
State support column be positioned at annulus 631 and be positioned at the side of rotating seat 611.
Above-mentioned tool changing device 30, in latch components 62, described basal disc 621 is provided with a pillar 626, and pillar is provided with hinged
Pin；The pair of brake(-holder) block 622 includes the first brake(-holder) block being positioned at left side and is positioned at second brake(-holder) block on right side, the first brake(-holder) block
Left end and the left end of the second brake(-holder) block be 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 pass through
First coil tension spring elastic 6221 connects；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with
Two fore-sets, 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
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.
Above-mentioned tool changing device 30, in latch components 62, the pair of slide slot 629 includes that the first slide slot and second slides
Groove, the first slide slot is opened in the right-hand member of the first brake(-holder) block, and the second slide slot is opened in the right-hand member of the second brake(-holder) block, and first slides
Groove and the second slide slot are symmetrical set, and wherein, the first slide slot includes the first linear type slide slot 6291 and the of connection
Two linear type slide slots 6292, angle circle between the first linear type slide slot and the second linear type slide slot is in 90 degree and one
Between 180 degree.
Above-mentioned tool changing device 30, in latch components 62, described solution lock slide 623 is provided with a pair alignment pin 627, and described one
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 is provided with first
Hole 6222, location, the right-hand member of the second brake(-holder) block is provided with the second hole, location, under the elastic force of the first coil tension spring 6221, when the first top
When post and the second fore-set offset, it is fixed that first alignment pin solved on lock slide of translation and the second alignment pin can correspondingly insert first
In hole, position and the second hole, location；The pair of bar that slides includes that first slides bar and second and slide bar, and first slides that bar is fixing to be set
Putting above the first alignment pin, second slides bar is fixedly installed on the top of the second alignment pin, and first slides the centrage of bar
Central axis with the first alignment pin.
Above-mentioned tool changing device 30, in latch components 62, described basal disc 621 is provided with setting block 628, erects block and is provided with the
Two coil tension springs 6281, one end of the second coil tension spring connects erects block, and the other end of the second coil tension spring connects solution lock slide
623。
Above-mentioned tool changing device 30, drives in assembly 63, and described annulus 631 is articulated in housing 52, described driving means bag
Include the 7th gear 636 that the ring gear 635 that fixed cover is located on annulus lateral wall engages with ring gear couple with the 7th gear and pacify
The 3rd motor being contained in housing.
Above-mentioned tool changing device 30, drives in assembly 63, and the medial wall of described annulus is provided with interior projection 637, radially
Interior projection is provided with multiple push rod pedestal 638, and the quantity of push rod pedestal is same as the quantity of push rod 633, and multiple push rods are with a pair
The mode of one is slidably fitted in multiple push rod pedestal, and the end of push rod highlights push rod pedestal and points to the center of annulus.
Such as Fig. 3, a spill gap is offered in the front end of described forearm 24, and described swing arm 80 is articulated in spill gap.Institute
State the first driver element to include the first motor being arranged on forearm 24, couple first motor the first transmission list with swing arm
Unit；Described first gear unit include the second gear 82 being articulated on forearm and being coaxially disposed and the 3rd gear, be articulated in little
On arm and be coaxially disposed the 4th gear 84 and the first synchronous pulley 85, the 3rd axle 86 being articulated on forearm, be fixedly mounted on
The second synchronous pulley 87 on 3rd axle；First gear 81, the first gear and are installed on the output shaft of described first motor
Two gear engagements, the 3rd gear and the engagement of the 4th gear, the first synchronous pulley is coupled with the second synchronous pulley by Timing Belt 88,
3rd axle is fixing with swing arm to be connected.Described second driver element includes installing the second motor on a swing arm, the second transmission
Unit；Described second gear unit includes the rotation that the decelerator coupled with the second motor output shaft is connected with decelerator outfan
Rotating disk 89, tool changing device 30 is installed on the rotating pan.
In conjunction with Fig. 2, Figure 13, Figure 14, described base body 10 is provided with symmetrical first horizontal guide rail 11 and the second water
Level gauge 12, the first horizontal guide rail is sliding combined with the first cross sliding clock 13, the second horizontal guide rail is sliding combined with second
Cross sliding clock 14, described waist rotation member 21 horizontal cross is arranged, and the two ends, left and right of waist rotation member are cylindrical, a left side for waist rotation member
End is articulated in the first cross sliding clock, and the right-hand member of waist rotation member is articulated in the second cross sliding clock；Described large arm 22 is vertically arranged,
The bottom of large arm is articulated in the middle part of waist rotation member, and described manipulator 23 is arranged on the top of large arm, and described forearm 24 is fixed on
The middle part of large arm, described swing arm 80 is arranged on the top of forearm.
Described base body 10 is provided with brake structure 70, a pair support plate 701 that brake structure includes being fixed on base body,
Brake rotary components 72, one end and the brake rotation being connected is fixed in brake lever 71, one end of being articulated on a pair support plate with brake lever
The brake connection assembly 73 turning the assembly other end hinged is connected the hinged lever assembly of the assembly other end 74, lever group with brake
The middle part of part is hinged on support plate, and the cross section of described brake lever is regular hexagon；Described second cross sliding clock 14 is provided with system
Moving plate 140, keep plate and the second cross sliding clock are connected by spring, and keep plate is positioned at the side of waist rotation member 21 right side, institute
State brake lever and be close to keep plate.Described brake rotary components 72 include the brake rotating seat 721 that be connected fixing with brake lever 71 and
Brake rotating seat fixes the brake swingle 722 of connection；Described brake connects assembly 73 and includes the hinged with the swingle that brakes
Two brake connecting rods 732 fix, with the second brake connecting rod, the first brake connecting rod 731 being connected；Described lever assembly 74 wraps
Include the brake bearing 741 hinged with first brake connecting rod and fix the brake liner plate 742 being connected, described brake with brake bearing
Bearing is hinged on support plate 701.
Described base body 10 is provided with the second brake structure 700, and the second brake structure includes being fixed on base body 10
Second be connected is fixed, with the second brake lever, in a pair second support plates, the second brake lever being articulated on a pair second support plates, one end
Brake rotary components, one end with second brake the rotary components other end hinged second brake is connected assembly and second brake company
The second lever assembly that the connected components other end is hinged, the middle part of the second lever assembly is hinged on the second support plate, and described second stops
The cross section of car bar is regular hexagon；Described first cross sliding clock 13 is provided with the second keep plate 130, the second keep plate and first
Cross sliding clock is connected by the second spring, and the second keep plate is positioned at the side of waist rotation member 21 left side, described second brake lever
It is close to the second keep plate.Described base body is provided with vertical rod 75, and the top of vertical rod is provided with the 3rd sliding pin 76, and the 3rd sliding pin coordinates
Having lever 77, the bar shaped chute being slidably matched with the 3rd sliding pin is offered at the middle part of lever, in the left end of lever and brake structure 70
Lever assembly 74 hinged, the second lever assembly in the right-hand member of lever and the second brake structure 700 is hinged.
In conjunction with Fig. 2, Figure 15, Figure 16, described waist rotation member 21 is provided with large arm brake structure 90, described large arm brake structure
Including the annular solid 921 being fixedly installed on waist rotation member, a pair brake hoop 922 being arranged on annular solid, it is slidably arranged in
The second solution lock slide 923 on annular solid；Being fixed with the second brake disc 912 in described large arm, a pair brake hoop is symmetrical to be set
Putting the periphery in the second brake disc, one end of a pair brake hoop is hinged and other end elasticity connects；Described second solves lock slide bullet
Property be connected on annular solid, second solve lock slide be provided with translatable enter a pair brake hoop elasticity connect one end to open a pair system
Second wedge 924 of rotating ring.
In large arm brake structure 90, described annular solid is fixed on waist rotation member by a bracer 925；Prop up bracer to be provided with
Second swivel pin；The pair of brake hoop includes the first brake hoop being positioned at left side and is positioned at second brake hoop on right side, first
The left end of brake hoop and the left end of the second brake hoop are hinged on the second swivel pin, the right-hand member of the first brake hoop and the second brake hoop
Right-hand member connected by the 3rd coil tension spring elastic 9221；The right-hand member of the first brake hoop is provided with the 3rd fore-set, the second brake hoop
Right-hand member is provided with the 4th fore-set, and the 3rd fore-set and the 4th fore-set are oppositely arranged, and the 3rd fore-set and the 4th fore-set are positioned at the 3rd and stretch bullet
In spring；Described first brake hoop and the equal semicircular in shape of the second brake hoop, the first brake hoop and the second brake hoop surround the second braking
Dish 912.
In large arm brake structure 90, described second solves lock slide is provided with a pair alignment pin 927, a pair alignment pin with
It is arranged on before and after second wedge on the second solution lock slide；The pair of alignment pin includes the first location being symmetrical set
Bearing pin and the second alignment pin, the right-hand member of described first brake hoop is provided with the 3rd hole 9222, location, and the right-hand member of the second brake hoop sets
There is the 4th hole, location, under the elastic force of the 3rd coil tension spring, when the 3rd fore-set and the 4th fore-set offset, the second unblock of translation
The first alignment pin and the second alignment pin on slide block can correspondingly be inserted in the 3rd hole, location and the 4th hole, location.
In large arm brake structure 90, described annular solid is provided with the second setting block 928, and the second setting block is provided with the 4th and stretches
Contracting spring 9281, one end of the 4th coil tension spring connects the second setting block, and the other end of the 4th coil tension spring connects the second unblock
Slide block.
In conjunction with Figure 17 to Figure 20, described roller seat a includes base body a11 of hollow, covers in base body
Base lid a12.
Above-mentioned rollers base a, the left side wall of described base body is offered the first through hole a111 and third through-hole a113, the end
The second through hole a112 and fourth hole a114, the first through hole and the second through hole is offered symmetrical on the right side wall of seat main body, the
Three through holes and fourth hole are symmetrical, symmetrical before and after the first through hole and third through-hole, right before and after the second through hole and fourth hole
Claiming, the first through hole, the second through hole, third through-hole, fourth hole are all in strip and be obliquely installed.Described first through hole a111 and
Third through-hole a113 is in splayed on the left side wall of base body a11, and described second through hole a112 and fourth hole a114 exists
In splayed on the right side wall of base body.The first idler wheel mechanism a50 and the second idler wheel mechanism it is provided with in described base body
It is symmetrical arranged before and after a500, the first idler wheel mechanism and the second idler wheel mechanism；First idler wheel mechanism includes that be fixedly installed first leads
The first slide block assembly that rail assembly and the first guide assembly are slidably matched, it is arranged on the first slide block assembly and symmetrical sets
The the first pair roller axle put, the first pair roller being arranged in mode one to one on the first pair roller axle and being symmetrical set；
Second idler wheel mechanism include the second slide block assembly that the second guide assembly being fixedly installed and the second guide assembly be slidably matched,
The second pair roller axle of being arranged on the second slide block assembly and being symmetrical set, it is arranged on the second pair roller in mode one to one
On axle and the second pair roller of being symmetrical set；Described first pair roller axle passes the first through hole and the second through hole, and second is right
Roller shaft passes third through-hole and fourth hole, and the first pair roller and the second pair roller are respectively positioned on the outside of base body.
Above-mentioned rollers base a, is provided with roller driving mechanism a60 in described base cover body, roller driving mechanism and first is slided
Block assembly and the second slide block assembly couple, and roller driving mechanism drives the first slide block assembly to slide along the first guide assembly, roller
Drive mechanism drives the second slide block assembly to slide along the second guide assembly, and the first slide block assembly drives the first pair roller axle along first
Through hole and the second through hole slide, and the second slide block assembly drives the second pair roller axle to slide along third through-hole and fourth hole.
Above-mentioned rollers base a, described first guide assembly includes the first fixed plate being fixedly installed in base body a11
A51, the first left rail a521 being symmetrical set and be fixed in the first fixed plate and the first right guide rail a522, it is positioned at first
Between left rail and the first right guide rail and the first intermediate rail a53 of being fixed in the first fixed plate；Described first slide block assembly
Including the first left slider a541 being slidably fitted on the first left rail, the first right slide block being slidably fitted on the first right guide rail
A542, the first intermediate slider a55 being slidably fitted in the first intermediate rail；Described first pair roller axle includes the first left wheel
Axle a561 and the first right roller shaft a562, first wheel shaft that rolls left is arranged on the first left slider, and the first right roller shaft is arranged on
On one right slide block, first wheel shaft that rolls left is slidably fitted in the first through hole a111, and the first right roller shaft is slidably fitted in second and leads to
In the a112 of hole, described first pair roller includes the first left wheel a571 and the first right roller a572, and the first left wheel is arranged on
One rolls left on wheel shaft, and the first right roller is arranged on the first right roller shaft, described first left slider and the first right slide block and first
Intermediate slider connects, and roller driving mechanism and the first intermediate slider couple；Described first left rail, the first right guide rail, in first
Between guide rail be all obliquely installed, the first left rail, the first right guide rail, the first intermediate rail gradient identical, the first left rail,
One right guide rail, the gradient of the first intermediate rail are same as the first through hole and the gradient of the second through hole.
Above-mentioned rollers base a, described second guide assembly includes the second fixed plate, the left side being fixedly installed in base body
The second left rail and the second right guide rail that the right side is symmetrical arranged and is fixed in the second fixed plate, it is positioned at the second left rail and second right
Between guide rail and the second intermediate rail of being fixed in the second fixed plate；Described second slide block assembly includes being slidably fitted in second
The second left slider, the second right slide block being slidably fitted on the second right guide rail on left rail, it is slidably fitted in the middle of second and leads
The second intermediate slider on rail；Described second pair roller axle includes that second rolls left wheel shaft and the second right roller shaft, the second left wheel
Axle is arranged on the second left slider, and the second right roller shaft is arranged on the second right slide block, and second wheel shaft that rolls left is slidably fitted in
In three through hole a113, the second right roller shaft is slidably fitted in fourth hole a114, and described second pair roller includes that second rolls left
Wheel and the second right roller, the second left wheel is arranged on second and rolls left on wheel shaft, and the second right roller is arranged on the second right roller shaft,
Described second left slider and the second right slide block and the second intermediate slider connect, and roller driving mechanism and the second intermediate slider couple；
Described second left rail, the second right guide rail, the second intermediate rail are all obliquely installed, the second left rail, the second right guide rail, in second
Between the gradient of guide rail identical, the second left rail, the second right guide rail, the gradient of the second intermediate rail be same as third through-hole and
The gradient of fourth hole.
Above-mentioned rollers base a, described first intermediate slider a55 is hinged with the first left curved axle a581 and first right curved
Axle a582, one end of the first left curved axle is hinged with the first intermediate slider, the other end of the first left curved axle and the first left wheel
The right-hand member of axle a561 is hinged, and one end of the first right curved axle a562 is hinged with the first intermediate slider, another of the first right curved axle
Hold hinged with the left end of the first right roller shaft a562；Described first rolls left is provided with between wheel shaft right-hand member and the first right roller shaft left end
First spring a560, one end of the first spring wheel shaft right-hand member that rolls left with first is connected, the other end of the first spring and the first right rolling
Wheel shaft left end connects；The bottom of the bottom of the first left rail a521 and the first right guide rail a522 is equipped with the first limited block；Described
First wheel shaft that rolls left is slidably mounted on the first left slider a541, and the first right roller shaft is slidably mounted on the first right slide block a542
On.
Above-mentioned rollers base a, described second intermediate slider is hinged with the second left curved axle and the second right curved axle, and second
One end of left curved axle is hinged with the second intermediate slider, and the roll left right-hand member of wheel shaft of the other end and second of the second left curved axle cuts with scissors
Connecing, one end of the second right curved axle is hinged with the second intermediate slider, the other end of the second right curved axle and the second right roller shaft
Left end is hinged；Described second rolls left is provided with the second spring, the one of the second spring between wheel shaft right-hand member and the second right roller shaft left end
Holding the wheel shaft right-hand member that rolls left with second to be connected, the other end of the second spring and the second right roller shaft left end connect；Second left rail
The bottom of bottom and the second right guide rail is equipped with the second limited block；Described second wheel shaft that rolls left is slidably mounted on the second left slider
On, the second right roller shaft is slidably mounted on the second right slide block.
Above-mentioned rollers base a, the described first wheel shaft a561 that rolls left are provided with the first left spline, the first left slider a541 open
If the first left splined hole with the first left spline fitted；Described first right roller shaft a562 is provided with the first right spline, and first is right
The first right splined hole with the first right spline fitted is offered on slide block a542；Described second wheel shaft that rolls left is provided with the second left flower
Key, the second left slider is offered the second left splined hole with the second left spline fitted；Described second right roller shaft is provided with second
Right spline, the second right slide block is offered the second right splined hole with the second right spline fitted.
Above-mentioned rollers base a, described roller driving mechanism a60 include the reverse-flighted screw being articulated in base lid a12
The second spiral shell that the first screw element a621 that a61 and left hand thread in reverse-flighted screw are spirally connected is spirally connected with right-handed thread in reverse-flighted screw
Stricture of vagina part a622, the first expansion link a631 being fixed on the first screw element, the second expansion link of being fixed on the second screw element
A632, the first gear a64 being fixed on reverse-flighted screw and the first gear engagement the second gear and the second gear couple and
The 4th motor being fixed in base cover body；Offer bar shaped gathering sill a65 in described base cover body on sidewall, the first screw element and
Second screw element is slidably fitted in bar shaped gathering sill, and the bottom of the first expansion link is hinged with the first slide block assembly, and second stretches
The bottom of bar is hinged with the second slide block assembly.
In practical operation, the workflow of a kind of removable operating robot that can stand of the present invention is as follows:
First, operative doctor holds manipulation hands 23, rotates large arm 22 or waist rotation member 21, or makes waist rotation member 21 along the
One horizontal guide rail 11 and the second horizontal guide rail 12 translate, and make the tool changing device 30 on swing arm 80 close to treating at operation.
Second, under the driving of the first driver element, the swing of swing arm 80 can drive tool changing device 30 thereon to swing,
Under the driving of the second driver element, tool changing device 30 is rotatable.
3rd, in tool changing device 30, the driving means in drive mechanism 60 drives annulus 631 to rotate, and annulus drives on it
Push rod 633 rotate, the slide bar 634 on push rod moves in circular orbit 641.When slide bar 634 runs to circular orbit 641
During one section of arc track 642, slide bar orders about push rod 633 and moves to the center of annulus 631, the end continuous action of multiple push rods in
Solve on lock slide 623, promote and solve the lock slide center translation to basal disc 621, solve and slide bar for a pair with one to one on lock slide
Mode translate in a pair slide slot, owing to slide slot is bending, therefore, a pair of rectilinear translation slides bar can order about one
The one end connecting brake(-holder) block elasticity is opened, and so, rotating seat 611 is turned by the initial state by a pair brake(-holder) block frictional damping
Become rotatable state.No longer rotating seat 611 is braked synchronously, on annulus 631 medial wall with a pair brake(-holder) block 622
One section of tooth in tooth section 632, i.e. annulus medial wall, starts to engage with the 6th gear 613, and drives the 6th gear and be secured to
The rotating seat 611 connected rotates, and rotating seat drives cutter clamping dish 300 to rotate；When rotating seat 611 rotated ninety degrees, tooth section
632 disengage with the 6th gear 613, meanwhile, multiple push rods 633 all through one section of arc track 642 of circular orbit, as
This, the solution lock slide 623 that elasticity is connected on basal disc 621 resets, and slides bar 624 for a pair and resets therewith, and a pair brake(-holder) block is elastic
The one end connected resets, a pair brake(-holder) block frictional damping brake disc 612 again, and then braking rotating seat 611.So far, cutter dress
Chuck horizontally rotates predetermined angular along with the rotation of rotating seat 611.Clamping revolves therewith at the operation tool of cutter clamping dish 300
Turn certain angle, operative doctor need to operation tool be in operating position.
4th, the rotation at swing, the rotation of whole tool changing device 30, large arm 22 and the waist rotation member 21 of swing arm 80 is made
Under with, sufferer is operated by operative doctor.
5th, when robot need to move, the first expansion link a631 in roller driving mechanism a60 drives the first intermediate slider
A55 slides along the first intermediate rail a53, and the first intermediate slider a55 drives whole first slide block assembly sliding along the first guide assembly
Dynamic；The second expansion link a632 in roller driving mechanism a60 drives the second intermediate slider to slide along the second intermediate rail, in second
Between slide block drive whole second slide block assembly slide along the second guide assembly；First slide block assembly and the second slide block assembly run
In opposite direction, the first slide block assembly moves ahead and row after the second slide block assembly, and the first slide block assembly drives the first pair roller axle along the
One through hole a111 and the second through hole a112 slides diagonally downward, and the second slide block assembly drives the second pair roller axle along third through-hole
A113 and fourth hole a114 slides diagonally downward, and the first pair roller axle drives the first pair roller thereon to move diagonally downward,
Second pair roller axle drives the second pair roller thereon to move diagonally downward, so, and the first pair roller and the end of the second pair roller
Portion contacts with ground less than the bottom surface of base body a11, and robot can be by the first pair roller and the second pair roller on ground
Move on face.
6th, when robot need to fix, roller driving mechanism a60 drives the first expansion link a631 and the second expansion link a632
Resetting, the first slide block assembly and the second slide block assembly reset the most therewith, and the first slide block assembly drives the first pair roller axle along first
Through hole a111 and the second through hole a112 tilts upward slip, and the second slide block assembly drives the second pair roller axle along third through-hole a113
Tilting upward slip with fourth hole a114, the first pair roller axle drives the first pair roller thereon to tilt upward movement, and second
Pair roller axle drives the second pair roller thereon to tilt upward movement, and so, the bottom of the first pair roller and the second pair roller is high
Departing from the bottom surface of base body a11 and contact with ground, the bottom surface of base body a11 directly contacts with ground, and robot is i.e.
Can fix on the ground.
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 (9)
1. the removable operating robot that can stand, including base body (10), the waist rotation member that is articulated on base body
(21) manipulator (23), be articulated in the large arm on waist rotation member (22), being arranged in large arm, the forearm being fixed in large arm
(24), it is articulated in the swing arm (80) of forearm front end, the first driver element driving swing arm to swing, is arranged on swing arm front end
Tool changing device (30), drive tool changing device rotate the second driver element；Described swing arm swing time central axis in
The rotation centerline of tool changing device, waist rotation member rotates around base body, and large arm rotates around waist rotation member；
Described tool changing device includes cutter clamping dish (300), drives the drive mechanism (60) of cutter clamping disc spins；Described driving
Mechanism includes rotary components (61), latch components (62), drives assembly (63), cover plate (64)；
Described rotary components includes that rotating seat (611), fixed cover are located at the peripheral brake disc (612) of rotating seat and the 6th gear
(613)；Described cutter clamping dish is fixing connects rotating seat；
Described latch components includes the basal disc (621) being fixedly installed in housing, a pair brake(-holder) block being arranged on basal disc
(622) the solution lock slide (623), being slidably arranged on basal disc；The pair of brake(-holder) block is symmetrical set outside brake disc
Enclosing, one end of a pair brake(-holder) block is hinged and other end elasticity connects；Described solution lock slide elasticity is connected on basal disc, solves lock slide
Being provided with a pair and slide bar (624), a pair slide slot (629) is offered in one end of a pair brake(-holder) block elasticity connection, and slide slot is curved
Folding shape, a pair slide slot is symmetrical set, and slides bar for a pair and is slidably fitted in a pair slide slot；
The annulus (631) that described driving assembly includes being driven by driving means and rotates, the centrage deviation that annulus rotates rotates
The centrage that seat rotates, the medial wall of annulus is provided with tooth section (632) and multiple push rod (633), and tooth section is fixedly installed and push rod
Sliding and arrange, tooth Duan Keyu the 6th gear engages；
Described cover plate is fixedly installed on housing, and cover plate is provided with circular orbit (641), the centrage of circular orbit and annulus
Centrage overlaps, and described push rod is provided with the slide bar (634) coordinated with circular orbit, and circular orbit is provided with the curved track of one section of indent
Road (642)；When slide bar is positioned in arc track, push rod promotes and solves lock slide and make a pair to slide bar translation, meanwhile, and the 6th tooth
Wheel starts to engage with tooth section；It is characterized in that:
Described base body is articulated in roller seat (a), and roller seat is provided with idler wheel mechanism.
A kind of removable operating robot that can stand the most as claimed in claim 1, it is characterised in that:
Described tool changing device (30) includes the linking arm (51) being arranged on swing arm (80), and described housing (52) is arranged on connection
On arm；Described cover plate (64) is sealed on housing, and described drive mechanism (60) is arranged in housing, the rotating seat in drive mechanism
(611) through cover plate, cutter clamping dish (300) is positioned at outside housing.
A kind of removable operating robot that can stand the most as claimed in claim 1, it is characterised in that: rotary components (61)
In, described rotating seat (611) is articulated on basal disc (621), and rotating seat is provided with a pair location bar (614), described cutter clamping
Dish (300) is by a pair location bar fixing connection rotating seat.
A kind of removable operating robot that can stand the most as claimed in claim 1, it is characterised in that: latch components (62)
In, described basal disc (621) is fixed in housing (52) by support column (625), and described support column is positioned at annulus (631) and position
Side in rotating seat (611)；
In latch components (62), described basal disc (621) is provided with a pillar (626), and pillar is provided with swivel pin；The pair of system
Moving plate (622) includes being positioned at first brake(-holder) block in left side and is positioned at second brake(-holder) block on right side, the left end of the first brake(-holder) block and the
The left end of two brake(-holder) blocks is hinged on swivel pin, and the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block stretch bullet by first
Spring elastic (6221) connects；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with the second fore-set, the
One fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are positioned at the first coil tension spring；Described first brake(-holder) block
Brake disc (612) is surrounded with the second equal semicircular in shape of brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block；
In latch components (62), the pair of slide slot (629) includes the first slide slot and the second slide slot, and the first slide slot is opened
Being located at the right-hand member of the first brake(-holder) block, the second slide slot is opened in the right-hand member of the second brake(-holder) block, the first slide slot and the second slide slot
Being symmetrical set, wherein, the first slide slot includes that the first linear type slide slot (6291) of connection and the second linear type slide
Groove (6292), angle circle between the first linear type slide slot and the second linear type slide slot in 90 degree and 180 degree it
Between；
In latch components (62), described solution lock slide (623) is provided with a pair alignment pin (627), and the pair of alignment pin includes
The first alignment pin being symmetrical set and the second alignment pin, the right-hand member of described first brake(-holder) block is provided with the first hole, location
(6222), the right-hand member of the second brake(-holder) block is provided with the second hole, location, under the elastic force of the first coil tension spring (6221), when the first fore-set
When offseting with the second fore-set, first alignment pin solved on lock slide of translation and the second alignment pin can correspondingly insert the first location
In hole and the second hole, location；The pair of bar that slides includes that first slides bar and second and slide bar, and first slides bar is fixedly installed
Above the first alignment pin, second slides bar is fixedly installed on the top of the second alignment pin, first slide the centrage of bar with
The central axis of the first alignment pin；
In latch components (62), described basal disc (621) is provided with setting block (628), erects block and is provided with the second coil tension spring
(6281), one end of the second coil tension spring connects erects block, and the other end of the second coil tension spring connects solution lock slide (623).
A kind of removable operating robot that can stand the most as claimed in claim 1, it is characterised in that: drive assembly (63)
In, described annulus (631) is articulated in housing (52), and described driving means includes the ring gear that fixed cover is located on annulus lateral wall
(635) the 3rd motor that the 7th gear (636) engaged with ring gear couples with the 7th gear and is arranged in housing；
Driving in assembly (63), the medial wall of described annulus is provided with interior projection (637), and interior projection is provided with multiple
Push rod pedestal (638), the quantity of push rod pedestal is same as the quantity of push rod (633), and multiple push rods slide in man-to-man mode
Coordinating in multiple push rod pedestals, the end of push rod highlights push rod pedestal and points to the center of annulus.
A kind of removable operating robot that can stand the most as claimed in claim 1, it is characterised in that: described forearm (24)
A spill gap is offered in front end, and described swing arm (80) is articulated in spill gap；
Described first driver element includes the first motor being arranged on forearm (24), couples the first motor and the first of swing arm
Gear unit；Described first gear unit include the second gear (82) of being articulated on forearm and being coaxially disposed and the 3rd gear,
The 4th gear (84) being articulated on forearm and being coaxially disposed and the first synchronous pulley (85), the 3rd axle being articulated on forearm
(86) the second synchronous pulley (87), being fixedly mounted on the 3rd axle；On the output shaft of described first motor, the first tooth is installed
Wheel (81), the first gear and the engagement of the second gear, the 3rd gear and the engagement of the 4th gear, the first synchronous pulley passes through Timing Belt
(88) coupling with the second synchronous pulley, the 3rd axle is fixing with swing arm to be connected；
Described second driver element includes installing the second motor on a swing arm, the second gear unit；Described second transmission list
Unit includes the rotating disk (89) that the decelerator coupled with the second motor output shaft is connected, tool changing device with decelerator outfan
(30) install on the rotating pan.
A kind of removable operating robot that can stand the most as claimed in claim 1, it is characterised in that: 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
One cross sliding clock (13), the second horizontal guide rail is sliding combined with the second cross sliding clock (14), described waist rotation member (21) level
Horizontally set, 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 transfer part
The right-hand member of part is articulated in the second cross sliding clock；Described large arm (22) is vertically arranged, and the bottom of large arm is articulated in waist rotation member
Middle part, 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) top of forearm it is arranged on；
Described base body (10) is provided with brake structure (70), and brake structure includes a pair support plate being fixed on base body
(701), be articulated in the brake lever on a pair support plate (71), one end fix with brake lever be connected brake rotary components (72), one
Hold the brake hinged with the brake rotary components other end to be connected assembly (73) and be connected, with brake, 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 level is sliding
Block (14) is provided with keep plate (140), keep plate and the second cross sliding clock and is connected by spring, and keep plate is positioned at waist rotation member
(21) side of right side, described brake lever is close to keep plate；
Described brake rotary components (72) includes that the brake rotating seat (721) that be connected fixing with brake lever (71) and brake rotate
The fixing brake swingle (722) connected of seat；Described brake connects assembly (73) and includes that second hinged with brake swingle is stopped
Car connecting rod (732) fixes, with the second brake connecting rod, the first brake connecting rod (731) being connected；Described lever assembly (74)
The brake liner plate (742) being connected, institute is fixed with brake bearing including brake bearing (741) hinged with first brake connecting rod
State brake bearing to be hinged on support plate (701)；
Described base body (10) is provided with the second brake structure (700), and the second brake structure includes being fixed on base body (10)
A pair second support plates, the second brake lever being articulated on a pair second support plates, one end fix be connected with the second brake lever
Two brake rotary components, one end with second brake the rotary components other end hinged second brake be connected assembly and second brake
Connecting the second lever assembly that the assembly other end is hinged, the middle part of the second lever assembly is hinged on the second support plate, and described second
The cross section of brake lever is regular hexagon；Described first cross sliding clock (13) is provided with the second keep plate (130), the second keep plate
Being connected by the second spring with the first cross sliding clock, the second keep plate is positioned at the side of waist rotation member (21) left side, and described
Two brake lever are close to the second keep plate；
Described base body is provided with vertical rod (75), and the top of vertical rod is provided with the 3rd sliding pin (76), and the 3rd sliding pin 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 removable operating robot that can stand the most as claimed in claim 1, 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 annular solid being fixedly installed on waist rotation member
(921) a pair brake hoop (922), being arranged on annular solid, the second solution lock slide (923) being slidably arranged on annular solid；
Being fixed with the second brake disc (912) in described large arm, a pair brake hoop is symmetrical set in the periphery of the second brake disc, a pair
One end of brake hoop is hinged and other end elasticity connects；Described second solves lock slide elasticity is connected on annular solid, and second unlocks
Slide block be provided with translatable enter a pair brake hoop elasticity connect one end to open second wedge (924) of a pair brake hoop；
Described annular solid is fixed on waist rotation member by a bracer (925)；Prop up bracer and be provided with the second swivel pin；The pair of
Brake hoop includes the first brake hoop being positioned at left side and is positioned at second brake hoop on right side, the left end of the first brake hoop and the second system
The left end of rotating ring is hinged on the second swivel pin, and the right-hand member of the first brake hoop and the right-hand member of the second brake hoop stretch bullet by the 3rd
Spring elastic (9221) connects；The right-hand member of the first brake hoop is provided with the 3rd fore-set, and the right-hand member of the second brake hoop is provided with the 4th fore-set, the
Three fore-sets and the 4th fore-set are oppositely arranged, and the 3rd fore-set and the 4th fore-set are positioned at the 3rd coil tension spring；Described first brake hoop
With the second equal semicircular in shape of brake hoop, the first brake hoop and the second brake hoop surround the second brake disc (912)；
Described second solves lock slide is provided with a pair alignment pin (927), and a pair alignment pin is arranged before and after the second wedge
Solve on lock slide second；The pair of alignment pin includes the first alignment pin and the second alignment pin being symmetrical set
Axle, the right-hand member of described first brake hoop is provided with the 3rd hole, location (9222), and the right-hand member of the second brake hoop is provided with the 4th hole, location,
Under the elastic force of the 3rd coil tension spring, when the 3rd fore-set and the 4th fore-set offset, first on the second solution lock slide of translation is fixed
Position bearing pin and the second alignment pin can correspondingly be inserted in the 3rd hole, location and the 4th hole, location；
Described annular solid is provided with the second setting block (928), and second erects block is provided with the 4th coil tension spring (9281), and the 4th stretches
One end of contracting spring connects the second setting block, and the other end of the 4th coil tension spring connects the second solution lock slide.
A kind of removable operating robot that can stand the most as claimed in claim 1, it is characterised in that: described roller seat bag
The base body (a11) including hollow, the base lid (a12) covered in base body；
The first through hole (a111) and third through-hole (a113), the right side wall of base body is offered on the left side wall of described base body
On offer the second through hole (a112) and fourth hole (a114), the first through hole and the second through hole are symmetrical, third through-hole and
Four through holes are symmetrical, symmetrical before and after the first through hole and third through-hole, symmetrical before and after the second through hole and fourth hole, and first leads to
Hole, the second through hole, third through-hole, fourth hole are all in strip and be obliquely installed；
The first idler wheel mechanism (a50) and the second idler wheel mechanism (a500), the first idler wheel mechanism and it is provided with in described base body
It is symmetrical arranged before and after second wheel mechanism；First idler wheel mechanism includes the first guide assembly and the first guide assembly being fixedly installed
The first slide block assembly being slidably matched, the first pair roller axle being arranged on the first slide block assembly and being symmetrical set, with one
The first pair roller one mode being arranged on the first pair roller axle and be symmetrical set；Second idler wheel mechanism includes fixing setting
The second slide block assembly that the second guide assembly put and the second guide assembly are slidably matched, be arranged on the second slide block assembly and
The second pair roller axle of being symmetrical set, being arranged in mode one to one on the second pair roller axle and being symmetrical set
Two pair rollers；Described first pair roller axle passes the first through hole and the second through hole, and the second pair roller axle is through third through-hole and the
Four through holes, the first pair roller and the second pair roller are respectively positioned on the outside of base body；
Roller driving mechanism (a60), roller driving mechanism and the first slide block assembly and the second slide block it is provided with in described base cover body
Assembly couples, and roller driving mechanism drives the first slide block assembly to slide along the first guide assembly, and roller driving mechanism drives second
Slide block assembly slides along the second guide assembly, and the first slide block assembly drives the first pair roller axle sliding along the first through hole and the second through hole
Dynamic, the second slide block assembly drives the second pair roller axle to slide along third through-hole and fourth hole；
Described first through hole (a111) and third through-hole (a113) on the left side wall of base body (a11) in splayed, described
Second through hole (a112) and fourth hole (a114) on the right side wall of base body in splayed；
Described first guide assembly includes the first fixed plate (a51) being fixedly installed in base body (a11), symmetrical sets
Put and be fixed on the first left rail (a521) in the first fixed plate and the first right guide rail (a522), be positioned at the first left rail and
Between one right guide rail and the first intermediate rail (a53) of being fixed in the first fixed plate；Described first slide block assembly includes sliding
The the first right slide block coordinate the first left slider (a541) on the first left rail, being slidably fitted on the first right guide rail
(a542) the first intermediate slider (a55), being slidably fitted in the first intermediate rail；Described first pair roller axle includes that first is left
Roller shaft (a561) and the first right roller shaft (a562), first wheel shaft that rolls left is arranged on the first left slider, the first right roller shaft
Being arranged on the first right slide block, first rolls left in wheel shaft is slidably fitted in the first through hole (a111), and the first right roller shaft slides and joins
Being combined in the second through hole (a112), described first pair roller includes the first left wheel (a571) and the first right roller (a572), the
One left wheel is arranged on first and rolls left on wheel shaft, and the first right roller is arranged on the first right roller shaft, described first left slider and
First right slide block and the first intermediate slider connect, and roller driving mechanism and the first intermediate slider couple；Described first left rail,
One right guide rail, the first intermediate rail are all obliquely installed, the first left rail, the first right guide rail, the gradient phase of the first intermediate rail
With, the first left rail, the first right guide rail, the gradient of the first intermediate rail are same as the first through hole and the inclination of the second through hole
Degree；Described second guide assembly includes the second fixed plate being fixedly installed in base body, is symmetrical set and is fixed on
The second left rail in second fixed plate and the second right guide rail, between the right guide rail of the second left rail and second and be fixed on
The second intermediate rail in two fixed plates；Described second slide block assembly includes the second left cunning being slidably fitted on the second left rail
Block, the second right slide block being slidably fitted on the second right guide rail, the second intermediate slider of being slidably fitted in the second intermediate rail；
Described second pair roller axle includes that second rolls left wheel shaft and the second right roller shaft, and second wheel shaft that rolls left is arranged on the second left slider
On, the second right roller shaft is arranged on the second right slide block, and second rolls left in wheel shaft is slidably fitted in third through-hole (a113), and second
Right roller shaft is slidably fitted in fourth hole (a114), and described second pair roller includes the second left wheel and the second right roller,
Second left wheel is arranged on second and rolls left on wheel shaft, and the second right roller is arranged on the second right roller shaft, described second left slider
Connecting with the second right slide block and the second intermediate slider, roller driving mechanism and the second intermediate slider couple；Described second left rail,
Second right guide rail, the second intermediate rail are all obliquely installed, the second left rail, the second right guide rail, the gradient of the second intermediate rail
Identical, the second left rail, the second right guide rail, the gradient of the second intermediate rail are same as the inclination of third through-hole and fourth hole
Degree；
The first left curved axle (a581) and the first right curved axle (a582) it is hinged with on described first intermediate slider (a55), first
One end of left curved axle is hinged with the first intermediate slider, and the other end and first of the first left curved axle rolls left the right side of wheel shaft (a561)
Holding hinged, one end of the first right curved axle (a562) is hinged with the first intermediate slider, the other end and first of the first right curved axle
The left end of right roller shaft (a562) is hinged；Described first rolls left is provided with the first bullet between wheel shaft right-hand member and the first right roller shaft left end
Spring (a560), one end of the first spring wheel shaft right-hand member that rolls left with first is connected, the other end of the first spring and the first right roller shaft
Left end connects；The bottom of the first left rail (a521) and the bottom of the first right guide rail (a522) are equipped with the first limited block；Described
First wheel shaft that rolls left is slidably mounted on the first left slider (a541), and the first right roller shaft is slidably mounted on the first right slide block
(a542) on；The second left curved axle and the second right curved axle, the one of the second left curved axle it is hinged with on described second intermediate slider
Holding hinged with the second intermediate slider, the roll left right-hand member of wheel shaft of the other end and second of the second left curved axle is hinged, and second is right curved
One end of axle is hinged with the second intermediate slider, and the other end of the second right curved axle and the left end of the second right roller shaft are hinged；Described
Second rolls left is provided with the second spring between wheel shaft right-hand member and the second right roller shaft left end, one end of the second spring and the second left wheel
Axle right-hand member connects, and the other end of the second spring and the second right roller shaft left end connect；Bottom and second right side of the second left rail are led
The bottom of rail is equipped with the second limited block；Described second wheel shaft that rolls left is slidably mounted on the second left slider, the second right roller shaft
It is slidably mounted on the second right slide block；
Described first wheel shaft (a561) that rolls left is provided with the first left spline, the first left slider (a541) is offered and the first left spline
The the first left splined hole coordinated；Described first right roller shaft (a562) is provided with the first right spline, on the first right slide block (a542)
Offer the first right splined hole with the first right spline fitted；Described second wheel shaft that rolls left is provided with the second left spline, the second left cunning
The second left splined hole with the second left spline fitted is offered on block；Described second right roller shaft is provided with the second right spline, and second
The second right splined hole with the second right spline fitted is offered on right slide block；
Described roller driving mechanism (a60) includes reverse-flighted screw (a61) and the reverse-flighted screw being articulated in base lid (a12)
The second screw element (a622) that the first screw element (a621) and the right-handed thread in reverse-flighted screw that middle left hand thread is spirally connected is spirally connected,
The first expansion link (a631) being fixed on the first screw element, the second expansion link (a632) being fixed on the second screw element, solid
The second gear and the second gear that the first gear (a64) being scheduled on reverse-flighted screw engages with the first gear couple and are fixed on
The 4th motor in base cover body；Bar shaped gathering sill (a65), the first screw element and second is offered on sidewall in described base cover body
Screw element is slidably fitted in bar shaped gathering sill, and the bottom of the first expansion link is hinged with the first slide block assembly, the second expansion link
Bottom is hinged with the second slide block assembly.
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| CN201610841483.7A CN106264735B (en) | 2016-09-21 | 2016-09-21 | A kind of removable operating robot that can be stood |
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| CN108202330A (en) * | 2017-11-24 | 2018-06-26 | 莫石维 | A kind of novel patrol robot |
| CN108205689A (en) * | 2017-11-24 | 2018-06-26 | 冼嘉健 | A kind of modified high speed port card taking machine |
| CN108202331A (en) * | 2017-11-24 | 2018-06-26 | 莫石维 | A kind of modified patrol robot |
| CN108205688A (en) * | 2017-11-24 | 2018-06-26 | 冼嘉健 | A kind of novel high speed mouth card taking machine |
| CN111452017A (en) * | 2019-01-18 | 2020-07-28 | 上海赛浪电器设备有限公司 | Rotatory processingequipment of arm |
| CN112426226A (en) * | 2020-11-18 | 2021-03-02 | 相丰朋 | Neurosurgery arm moving along with arm |
| CN114948220A (en) * | 2022-05-18 | 2022-08-30 | 天津大学 | Orthopedic positioning robot base |
| CN117021057A (en) * | 2023-10-07 | 2023-11-10 | 苏州云雀机器人科技有限公司 | Double-arm multidirectional suction moving device |
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Effective date of registration: 20180820 Address after: 318050 jianghou street, lower Liang village, Jinqing Town, Luqiao District, Taizhou, Zhejiang, 35 Applicant after: Wu Hongyan 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. |
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