CN106361435B - A kind of medical auxiliary equipment equipped with wrist - Google Patents
A kind of medical auxiliary equipment equipped with wrist Download PDFInfo
- Publication number
- CN106361435B CN106361435B CN201610838548.2A CN201610838548A CN106361435B CN 106361435 B CN106361435 B CN 106361435B CN 201610838548 A CN201610838548 A CN 201610838548A CN 106361435 B CN106361435 B CN 106361435B
- Authority
- CN
- China
- Prior art keywords
- brake
- block
- pair
- cleft
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/50—Instruments, other than pincettes or toothpicks, for removing foreign bodies from the human body
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of medical auxiliary equipment equipped with wrist, including robot body, mounted on the upper Wrist mechanism of robot body, the mechanical claw hand on Wrist mechanism.Mechanical claw hand includes cleft hand rack, is hinged in cleft hand rack two pairs of cleft hands, the cleft hand driving mechanism in cleft hand rack for drive the action of two pairs of cleft hands；Wherein, the power source of cleft hand driving mechanism is crank and rocker mechanism, and under the driving of cleft hand driving mechanism, two pairs of cleft hands make gathering and expansion action.In operation, medical worker acts robot body and Wrist mechanism thereon, and mechanical claw hand is made to be at object to be taken；Later, mechanical claw hand takes out the fifth wheel in patient, convenient and efficient pollution-free.
Description
Technical field
The present invention relates to medical instruments, in particular to a kind of medical auxiliary equipment equipped with wrist.
Background technology
During surgery, medical worker takes object out of doctors and patients body, such as cotton balls, gauze, other internal fifth wheels, commonly use hand,
Tweezers, scissors, such tool is not easy and inconvenience exhausts internal fifth wheel completely, alternatively, internal fifth wheel is exhausted ratio completely
It is cumbersome.
Invention content
Technical problem solved by the invention：Medical worker in operation is not easy or inconvenience is complete by fifth wheel in patient
It exhausts.
In order to solve the above technical problems, the present invention provides the following technical solutions：A kind of medical auxiliary equipment equipped with wrist,
Including base body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, the operation in large arm
Hand, the forearm being fixed in large arm, mounted on the wrist of forearm front end, the mechanical claw hand in wrist；Waist rotation member around
Base body rotates, and large arm is rotated around waist rotation member；
The wrist includes horizonal base plate, is slidably mounted on horizonal base plate the first threaded rod and the second threaded rod, with
Horizontal moving body that first threaded rod and the second threaded rod are spirally connected, bottom end are flexibly connected and top and a sphere with horizontal moving body
The first telescopic rod being fixedly connected, the spheroid support being fixed on horizonal base plate；The first threaded rod horizontal cross setting, the
Two threaded rod levels are longitudinally disposed, and the sphere is movably arranged on spheroid support, and the mechanical claw hand is mounted on sphere；
The mechanical claw hand includes cleft hand rack, is hinged in cleft hand rack two pairs of cleft hands are mounted in cleft hand rack
Cleft hand driving mechanism for driving two pairs of cleft hands to act；The cleft hand driving mechanism includes stake body, the first locking body, second
Locking body；The stake body is equipped with crank rocker driving gear, and crank rocker driving gear includes matching with cleft hand housing slide
The slide bar of conjunction and the hinged first connecting rod of slide bar and second connecting rod and the second hinged telescopic rod of slide bar, crank and rocker mechanism；
The first connecting rod and the first locking body are hinged, and second connecting rod and the second locking body are hinged, in the rocking bar in crank and rocker mechanism
Sky, the second telescopic rod activity are plugged in rocking bar；Stake body is equipped with the lifting to the first locking body and the second locking body and carries out
The second guide rod being oriented to；Two cleft hands in first pair of cleft hand in two pairs of cleft hands are symmetrical set, two pairs of cleft hands
In second pair of cleft hand in two cleft hands before and after be symmetrical arranged, the bottom of two cleft hands in first pair of cleft hand opens up inclination and sets
The first slide slot set, the bottoms of two cleft hands in second pair of cleft hand open up the second slide slot being obliquely installed, and described first
The top of locking body is equipped with the first sliding pin being slidably matched with the first slide slot, and the top of the second locking body is equipped with slides with second
The second sliding pin that slot is slidably matched.
According to the above technical scheme, a kind of operation principle of medical auxiliary equipment equipped with wrist of the present invention is as follows：
First, medical worker, which holds, manipulates hand, rotates large arm or waist rotation member, and wrist and mechanical claw hand thereon is made to be in
Near vicinity to be taken.
Second, in wrist, the rotation of the first threaded rod can drive horizontal moving body transverse translation, the rotation of the second threaded rod
Horizontal moving body longitudinal translation can be driven, the horizontal moving body vertically and horizontally translated drives sphere in sphere branch by the first telescopic rod
The sphere of arbitrary rotation on frame, arbitrary rotation drives mechanical claw hand thereon arbitrarily to be put in space as the wrist of natural person
It is dynamic.
Third, in mechanical claw hand, the rocking bar in crank and rocker mechanism is swung, and rocking bar passes through the second telescopic rod driving slider phase
It moving laterally to cleft hand rack, first connecting rod drives the first locking body to decline, and second connecting rod drives the second locking body to rise, the
One locking body drives the first sliding pin to decline, since the first slide slot is obliquely installed, the first sliding pin being vertically lowered can drive
Any cleft hand is rotated around the hinged place of itself and cleft hand rack in first pair of cleft hand, in this way, first pair of cleft hand makees opposite swing；Together
When, the second locking body drives the second sliding pin to rise, due to the second slide slot is obliquely installed (the inclined direction of the second slide slot and the
The inclined direction of one slide slot is opposite), therefore, the second sliding pin risen vertically drives any cleft hand in second pair of cleft hand to surround it
It is rotated with the hinged place of cleft hand rack, in this way, second pair of cleft hand makees opposite swing；So far, two pairs of cleft hands are in shape is collapsed, for grabbing
Object is taken, at this point, rocking bar is rocked to left end and rests on left end.
4th, after object is removed doctors and patients' body by medical worker by manipulator, the rocking bar in crank and rocker mechanism is again
Secondary action is rocked to right end from left end, and driving slider makees reversed transverse shifting, and first connecting rod drives on the first locking body
It rising, second connecting rod drives the second locking body to decline, and the first locking body drives the first sliding pin to rise, meanwhile, the second locking body drives
Second sliding pin declines, and two pairs of cleft hands are in shape is actuated out, for discharging the object captured.
Through the above technical solutions, first pair of cleft hand connects the first locking body, second pair of cleft hand connects the second locking body, bent
Handle rocker device drives the first locking body and the second locking body to make reversed movement by first connecting rod and second connecting rod, makes first
To cleft hand and second pair of cleft hand acts simultaneously and motion amplitude is identical, convenient for accurately and fully capturing sufferer intrabody object.On
It states wrist and mechanical claw hand coordinates rotatable waist rotation member and large arm, medical worker is facilitated to take object out of patient.
As the present invention to a kind of explanation of wrist, the horizonal base plate is square-shaped, and the forward edge of horizonal base plate is opened
If the 5th slide slot, the posterior edges of horizonal base plate open up the 6th slide slot, and the 5th slide slot and the 6th slide slot are horizontally disposed
And be mutually parallel, it is sliding combined with the first sliding block in the 5th slide slot, the second sliding block is sliding combined in the 6th slide slot,
The front end of first threaded rod is articulated in the first sliding block, and the rear end of the first threaded rod is articulated in the second sliding block, institute
It states and third motor is installed in the first sliding block, the output shaft of third motor couples with the first threaded rod；The left side of horizonal base plate
The right side edge of edge third slide slot, horizonal base plate opens up the 4th slide slot, third slide slot and the 4th slide slot water
It is flat to be arranged and be mutually parallel, it is sliding combined with third sliding block in third slide slot, the 4th is sliding combined in the 4th slide slot
The left end of sliding block, second threaded rod is articulated in third sliding block, and the right end of the second threaded rod is articulated in the 4th and slides
On block, the 4th motor is installed in the third sliding block, the output shaft of the 4th motor couples with the second threaded rod.By above stating
Bright, for the first threaded rod while driving horizontal moving body translation, horizontal moving body drives the second threaded rod and third sliding block
It is translated simultaneously with the 4th sliding block；Similarly, while driving horizontal moving body translation, horizontal moving body drives the second threaded rod
First threaded rod and the first sliding block and the second sliding block translate simultaneously.
As the present invention to a kind of explanation of wrist, the horizontal moving body is equipped with first lug and the second lug, and first
Lug is located at the top of the second lug, and first threaded rod is spirally connected with first lug, and the second threaded rod is spirally connected with the second lug.
The setting of above-mentioned first lug and the second lug can make the first threaded rod and the second threaded rod non-interference.
As the present invention to a kind of explanation of wrist, the bottom of the horizontal moving body is equipped with spin, and spin can be with respect to water
It translates kinetoplast to roll, spin is contacted with the surface of horizonal base plate.Horizontal moving body is driven in the first threaded rod and the second threaded rod
When vertically and horizontally translating, spin rolls on horizonal base plate.
As the present invention to a kind of explanation of wrist, the top of the horizontal moving body is pivotally connected a horizontally disposed rotation
Block, moving block is equipped with third lug and the 4th lug, a fixing axle of lying across between third lug and the 4th lug, and described first
The bottom end of telescopic rod is equipped with the first hole coordinated with fixing axle activity.Above-mentioned design is the first telescopic rod bottom end and move horizontally
The mode of body flexible connection, this kind of mode can be during horizontal moving body translates, and the first telescopic rod can be relative to level
Moving body makees arbitrary swing.
As the present invention to a kind of explanation of wrist, the spheroid support includes a horizontal top, and horizontal top opens up one
The madial wall of round gap, round gap is arc-shaped, and the sphere is movably embedded in round gap；The sphere, which is equipped with, to be connected
Connect the ring flange of mechanical claw hand.As described above, the arc diameter of round gap madial wall can be identical to the ball of sphere
Diameter size.
As the present invention to a kind of explanation of wrist, the lower section of the horizonal base plate is equipped with first base, first base peace
Mounted in the front end of forearm, third threaded rod is articulated in first base, first base is equipped with one first guide rod, third screw thread
Bar and the first guide rod are each perpendicular to first base, and the horizonal base plate is equipped with the block and with the of being spirally connected being spirally connected with third threaded rod
The guide pad of one guide rod cooperation, is fixed with the 5th gear on third threaded rod, the 5th gear is engaged with the 6th gear, the 6th tooth
On the output shaft of the 5th motor, the 5th motor is fixed in first base wheel；First telescopic rod include upper boom and
Lower beam, upper boom are in sleeve-shaped, and lower beam is polished rod, and lower beam activity is plugged in upper boom, and upper boom is equipped with for detecting displacement
First sensor, horizontal moving body are equipped with the first sensor auxiliary being used cooperatively with first sensor；It is described to be spirally connected on block
Equipped with second sensor, first base is equipped with the second sensor auxiliary being used cooperatively with second sensor, second sensor
It is electrically connected with the 5th motor.
As described above, under the driving of horizontal moving body, sphere during rotation is swung, stretch by the first telescopic rod
Contracting movement, the distance that the first telescopic rod elongates or shortens are predicted by first sensor and first sensor auxiliary.When mounted on ball
Mechanical claw hand on body is with the arbitrary from when transferring positioned at side of sphere, and the total length of entire arm becomes smaller, and mechanical claw hand cannot
Touch respective objects.At this point, what first sensor and first sensor auxiliary elongated or shortened the first telescopic rod predicted
Distance feeds back to master controller, and the distance that the first telescopic rod of master controller pair elongates or shortens is handled, to know entire hand
The variable quantity of arm total length, later, the 5th motor action of main controller controls, the 5th motor driving third threaded rod are acted and are driven
Dynamic horizonal base plate rises, and to compensate the reduction volume of entire arm total length, mechanical claw hand is enable to touch corresponding object.
As the present invention to a kind of explanation of mechanical claw hand, the cleft hand rack includes the cleft hand rack being mounted on sphere
Bottom plate, the cleft hand rack supporting rod being vertically arranged on cleft hand framework soleplate, the cleft hand for being fixed on cleft hand rack support bar top
Rack top plate；The cleft hand driving mechanism is mounted on the lower section on cleft hand framework soleplate and positioned at cleft hand rack top plate, the pawl
Four hinge holes are opened up on handset mounting top plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.By upper
It states bright, swivel pin is fixed in each hinge hole, four cleft hands are hinged on four hinges by swivel pin in a manner of one-to-one
It connects in hole.The bottom end of any cleft hand is located at the lower section of hinge hole, that is, inclined first slide slot and the second slide slot are respectively positioned on hinge
Connect the lower section in hole.
As the present invention to a kind of explanation of mechanical claw hand, the cleft hand rack is equipped with integrated camera and illumination fills
It sets, the integrated camera and lighting device are located between two pairs of cleft hands.The camera is electrically connected with display, is being illuminated
Under the illumination of device, medical worker can observe the object in front of mechanical claw hand from display.
As the present invention to a kind of explanation of mechanical claw hand, the stake body includes second base, support plate；Second bottom
Seat is fixed in cleft hand rack, and second guide rod is fixed in second base, and the support plate is horizontally fixed on second
The top of guide rod；First locking body includes the first lifting chassis, a pair of first guide post, the first latch segment, first recessed
Shape block；The first connecting rod is hinged on the first lifting chassis, and the first lifting chassis opens up the first guiding slot port, and described first leads
It is slidably matched to notch and the second guide rod；The pair of first guide post is vertically arranged on the first lifting chassis, the branch
A pair of first pilot hole is opened up on plate, a pair of first guide post coordinates in a manner of one-to-one in a pair of first pilot hole, institute
The top that the first latch segment is mounted on the first guide post is stated, first spill block is mounted on the top of the first latch segment, described
First sliding pin is mounted on the top of the first spill block；Second locking body includes the second lifting chassis, the second guide post, locking
Disk, the second spill block；The second connecting rod is hinged on the second lifting chassis, and the second lifting chassis opens up the second guiding slot port,
Second guiding slot port is slidably matched with the second guide rod；Second guide post is vertically arranged on the second lifting chassis,
Second lifting chassis is located at the lower section on the first lifting chassis；First lifting chassis opens up the second pilot hole, on the support plate
Third pilot hole is opened up, second guide post is upward through the second pilot hole and third pilot hole；The locking plate level peace
Mounted in the top of the second guide post, second spill block is mounted on locking plate, and second sliding pin is mounted on the second spill
The top of block；The 4th pilot hole is opened up on the locking plate, first guide post passes through the 4th pilot hole, first locking
Block is located at the top of locking plate.
As described above, the rocking bar in crank and rocker mechanism drives first connecting rod and second connecting rod to act simultaneously, and first connects
Bar driving the first lifting chassis lifting, second connecting rod driving the second lifting chassis lifting, the lifting on the first lifting chassis is first
It is carried out under the guiding of guiding slot port and the second guide rod, the lifting on the second lifting chassis is in the second guiding slot port and the second guide rod
Guiding under carry out.
As the present invention to a kind of explanation of mechanical claw hand, the cleft hand rack is equipped with laterally steering block, laterally steering
Block opens up laterally steering slot, and the first lifting chassis is located at the top of laterally steering block, and the second lifting chassis is located at laterally steering block
Lower section, the slide bar is equipped with square slider, and square slider is slidably matched with laterally steering slot；In the crank and rocker mechanism
Rocking bar be hinged in the second base of stake body, the crank in crank and rocker mechanism couples with the 6th motor, the 6th motor peace
In second base.As described above, slide bar is slided by square slider thereon in laterally steering slot.
As the present invention to a kind of explanation of base body, the base body be equipped with symmetrical first level guide rail and
Second horizontal guide rail is sliding combined with first level sliding block on first level guide rail, is sliding combined on the second horizontal guide rail
Two horizontal sliders, the waist rotation member horizontal cross setting, the left and right ends of waist rotation member are cylindrical, the left end of waist rotation member
It is articulated in first level sliding block, the right end of waist rotation member is articulated in the second horizontal slider；The large arm is vertically arranged, large arm
Bottom end be articulated in the middle part of waist rotation member, the manipulator is mounted on the top of large arm, and the forearm is fixed in large arm
Portion, the wrist are mounted on the top of forearm.As described above, waist rotation member can be along first level guide rail and the second horizontal guide rail
It is mobile, to increase the space of mechanical claw hand.
As the present invention to a kind of explanation of base body, the base body is equipped with brake structure, and brake structure includes solid
The brake rotation that a pair of of support plate for being scheduled on base body, the brake lever being articulated on a pair of of support plate, one end are fixedly connected with brake lever
Turn component, one end and the hinged brake connection component of the rotary components other end that brakes, the connection component other end is hinged with braking
Lever assembly is hinged on support plate in the middle part of lever assembly, and the cross section of the brake lever is in regular hexagon；Described second is horizontal
Sliding block is equipped with brake plate, and brake plate is connect with the second horizontal slider by adjustable spring, and brake plate is located at waist rotation member right end
The side in face, the brake lever are close to brake plate.As described above, one end of medical worker's presses lever component, lever assembly
Around itself and support plate hinged place tilting, lever assembly drives brake rotary components to rotate by the connection component that brakes, brake rotation
Component driver brake lever rotates, and the crest line of brake lever is against towards a left side on brake plate, is against waist transfer part in turn, on the left of brake plate
On part right side, waist rotation member is braked；When the other end of staff's presses lever component makes lever assembly reset
When, lever assembly drives brake rotary components to reversely rotate by the connection component that brakes, and brake rotary components driving brake bar is anti-
To rotation, the crest line of brake lever leaves brake plate and no longer brake plate is driven to be moved to the left and brake waist rotation member.
In above-mentioned brake structure, the brake rotary components include the brake rotating seat being fixedly connected with brake lever and stop
The brake swingle that vehicle rotating seat is fixedly connected；The brake connection component includes that second brake hinged with brake swingle connects
Extension bar, the first brake connecting rod being fixedly connected with the second brake connecting rod；The lever assembly includes being connect with first brake
The hinged brake bearing of bar, the brake liner plate being fixedly connected with brake bearing, the brake bearing are hinged on support plate.
The base body is equipped with the second brake structure, and the second brake structure includes a pair second being fixed on base body
The second brake rotation that support plate, the second brake lever being articulated on a pair of second support plate, one end are fixedly connected with the second brake lever
Component, one end second brake connection component hinged with the second brake rotary components other end, the connection component that brakes with second are another
The second hinged lever assembly of one end is hinged on the second support plate in the middle part of the second lever assembly, the cross of second brake lever
Section is in regular hexagon；The first level sliding block is equipped with the second brake plate, and the second brake plate passes through with first level sliding block
Second adjustable spring connects, and the second brake plate is located at the side of waist rotation member left side, and second brake lever is close to the second system
Movable plate；The base body is equipped with upright bar, and the top of upright bar is equipped with third sliding pin, lever is combined on third sliding pin, lever
Middle part opens up the bar shaped sliding slot being slidably matched with third sliding pin, and the lever assembly in the left end and brake structure of lever is hinged, thick stick
The second lever assembly in the right end of bar and the second brake structure is hinged.As described above, brake structure and the second brake structure
It is symmetrical set, the structure and function of the two is identical, and in operation, medical worker presses lever assembly, you can is driven by lever
Dynamic second lever assembly linkage, similarly, medical worker presses the second lever assembly, you can is joined by lever activation lever component
It is dynamic.The brake structure of linkage and the second brake structure simultaneously brake the right end and left end of waist rotation member.
As a kind of explanation of present invention relationship between waist rotation member and large arm, the waist rotation member is stopped equipped with large arm
Bassinet structure, the large arm brake structure include the basal disc being fixed on waist rotation member, a pair of of braking on basal disc
Piece, the solution lock slide being slidably arranged on basal disc；Brake disc is fixed in the large arm, a pair of of brake(-holder) block is symmetrical set
One end of the periphery of brake disc, a pair of of brake(-holder) block is hinged and other end elastic connection；The solution lock slide elastic connection is in basal disc
On, solution lock slide be equipped with it is translatable enter a pair of of brake(-holder) block elastic connection one end to open the wedge block of a pair of of brake(-holder) block.By upper
State bright, in operation, four finger grippings in medical worker's proficiency live in manipulator, and residue one refers to pressable wedge block, push unlock
For sliding block to the center translation of basal disc, wedge block travels in one end of a pair of of brake(-holder) block elastic connection to open a pair of of brake(-holder) block, such as
This, large arm is changed into rotatable state by the initial state by a pair of of brake(-holder) block friction catch.
About above-mentioned large arm brake structure, the basal disc is fixed on by support column on waist rotation member；On the support column
Equipped with swivel pin；The pair of brake(-holder) block includes the first brake(-holder) block positioned at left side and the second brake(-holder) block positioned at right side, and first
The left end of the left end of brake(-holder) block and the second brake(-holder) block is hinged on swivel pin, the right side of the right end and the second brake(-holder) block of the first brake(-holder) block
End passes through the first adjustable spring elastic connection；The right end of first brake(-holder) block is equipped with the first fore-set, and the right end of the second brake(-holder) block is equipped with
Second fore-set, the first fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are located in the first adjustable spring；It is described
First brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc.As described above,
First adjustable spring has and makes the trend that the first brake(-holder) block and the second brake(-holder) block close up, and the setting of the first fore-set and the second fore-set
Then have the function of stopping this kind of trend.
About above-mentioned large arm brake structure, the solution lock slide is equipped with a pair of of positioning pin, a pair of of positioning pin and wedge block
Front and back setting is on solution lock slide；The pair of positioning pin includes the first positioning pin and the second positioning pin being symmetrical set,
The right end of first brake(-holder) block is equipped with first positioning hole, and the right end of the second brake(-holder) block is equipped with second location hole, flexible first
Under the elastic force of spring, when the first fore-set and the second fore-set offset, the first positioning pin and second on the solution lock slide of translation are fixed
Position pin can be correspondingly inserted into first positioning hole and second location hole.As described above, when medical worker push solution lock slide to
When the center translation of basal disc, the first positioning pin and the second positioning pin are detached from first positioning hole and second location hole, meanwhile, wedge block
It stretches between the first brake(-holder) block right end and the second brake(-holder) block right end, and is opened；After medical worker discharges solution lock slide, solution
Lock slide resets, and wedge block leaves the first brake(-holder) block right end and the second brake(-holder) block right end, meanwhile, the first positioning pin and the second positioning
Pin is correspondingly inserted into first positioning hole and second location hole, to lock a pair of of brake(-holder) block.
About above-mentioned large arm brake structure, the basal disc, which is equipped with, erects block, erects block and is equipped with the second adjustable spring, the
Block, the other end connection solution lock slide of the second adjustable spring are erect in one end connection of two adjustable springs.
Description of the drawings
Following further describes the present invention with reference to the drawings：
Fig. 1 is a kind of structural schematic diagram of the operating robot equipped with wrist of the present invention；
Fig. 2 is the structural schematic diagram of wrist a in Fig. 1；
Fig. 3 is the structural schematic diagram obtained by another view wrist a in Fig. 2；
Fig. 4 is the structural schematic diagram of mechanical claw hand 30 in Fig. 1；
Fig. 5 is the structural schematic diagram of any cleft hand in first pair of cleft hand 51 in Fig. 4；
Fig. 6 is the structural schematic diagram of any cleft hand in second pair of cleft hand 52 in Fig. 4；
Fig. 7 is the structural schematic diagram of the first spill block 625 in Fig. 4；
Fig. 8 is the structural schematic diagram of large arm brake structure 90 in Fig. 1；
Fig. 9 is the structural schematic diagram that lock slide 923 is solved in Fig. 8；
Figure 10 is the combining structure schematic diagram of brake structure 70, the second brake structure 700 in Fig. 1；
Figure 11 is the structural schematic diagram of brake structure 70 in Figure 10.
Symbol description in figure：
10, base body；11, first level guide rail；12, the second horizontal guide rail；13, first level sliding block；130, the second system
Movable plate；14, the second horizontal slider；140, brake plate；
21, waist rotation member；22, large arm；23, manipulator；24, forearm；
30, mechanical claw hand；
40, cleft hand rack；41, cleft hand framework soleplate；42, cleft hand rack supporting rod；43, cleft hand rack top plate；44, it integrates
Camera and lighting device；45, laterally steering block；
50, two pairs of cleft hands；51, first pair of cleft hand；511, the first slide slot；512, the first hinge hole；52, second pair of pawl
Hand；521, the second slide slot；522, the second hinge hole；
60, cleft hand driving mechanism；613, the second guide rod；614, second base；615, support plate；621, the first sliding pin；
622, the first lifting chassis；623, the first guide post；624, the first latch segment；625, the first spill block；626, the first guide groove
Mouthful；632, the second lifting chassis；633, the second guide post；634, locking plate；635, the second spill block；636, the second guide groove
Mouthful；641, slide bar；642, first connecting rod；643, second connecting rod；644, the second telescopic rod；645, rocking bar；646, the 6th motor；
70, brake structure；701, support plate；71, brake lever；72, brake rotary components；721, brake rotating seat；722, it stops
Vehicle swingle；73, brake connection component；731, first brake connecting rod；732, the second brake connecting rod；74, lever assembly；
741, brake bearing；742, brake liner plate；700, the second brake structure；75, upright bar；76, third sliding pin；77, lever；
90, large arm brake structure；912, brake disc；921, basal disc；922, brake(-holder) block；9221, the first adjustable spring；
9222, location hole；923, lock slide is solved；924, wedge block；925, support column；927, positioning pin；928, block is erect；9281,
Two adjustable springs；
A, wrist；A31, horizonal base plate；A32, the first threaded rod；A321, the first sliding block；A322, the second sliding block；
A323, third motor；A33, the second threaded rod；A331, third sliding block；A332, the 4th sliding block；A333, the 4th motor；
A34, horizontal moving body；A341, first lug；A342, the second lug；A343, moving block；A344, third lug；A35, ball
Body；A350, ring flange；A36, the first telescopic rod；A361, first sensor；A362, first sensor auxiliary；A37, sphere branch
Frame；A370, horizontal top；A38, first base；A381, third threaded rod；A382, the first guide rod；A383, the 5th gear；
A384, the 6th gear；A385, the 5th motor；A386, second sensor；A387, second sensor auxiliary.
Specific implementation mode
Such as Fig. 1, a kind of medical auxiliary equipment equipped with wrist, including base body 10, the waist transfer part that is articulated on base body
Part 21, the large arm 22 being articulated on waist rotation member, the manipulator 23 in large arm, the forearm 24 being fixed in large arm, peace
Mounted in the wrist a of forearm front end, the mechanical claw hand 30 in wrist, waist rotation member is rotated around base body, and large arm turns around waist
Component rotates.
In conjunction with Fig. 2, Fig. 3, the wrist includes horizonal base plate a31, the first threaded rod for being slidably mounted on horizonal base plate
It a32 and the second threaded rod a33, the horizontal moving body a34 being spirally connected with the first threaded rod and the second threaded rod, bottom end and moves horizontally
Body is flexibly connected and the first telescopic rod a36 that top is fixedly connected with a sphere a35, the spheroid support being fixed on horizonal base plate
a37；The first threaded rod horizontal cross setting, the second threaded rod level is longitudinally disposed, and the sphere is movably arranged on sphere
On holder, the mechanical claw hand is mounted on sphere.
In wrist a, the horizonal base plate a31 is square-shaped, and the forward edge of horizonal base plate opens up the 5th slide slot, horizontal
The posterior edges of bottom plate open up the 6th slide slot, and the 5th slide slot and the 6th slide slot are horizontally disposed with and are mutually parallel, and the 5th slides
It is sliding combined with the first sliding block a321 in row slot, is sliding combined with the second sliding block a322 in the 6th slide slot, described first
The front end of threaded rod a32 is articulated in the first sliding block, and the rear end of the first threaded rod is articulated in the second sliding block, and described first
Third motor a323 is installed, the output shaft of third motor couples with the first threaded rod in sliding block.The left side of horizonal base plate
Edge opens up third slide slot, and the right side edge of horizonal base plate opens up the 4th slide slot, and third slide slot and the 4th slide slot are horizontal
It is arranged and is mutually parallel, third sliding block a331 is sliding combined in third slide slot, is sliding combined in the 4th slide slot
Four sliding block a332, the left end of the second threaded rod a33 are articulated in third sliding block, and the right end of the second threaded rod is articulated in
In 4th sliding block, the 4th motor a333, the output shaft and the second threaded rod of the 4th motor are installed in the third sliding block
Connection.
In wrist a, the horizontal moving body a34 is equipped with first lug a341 and the second lug a342, first lug are located at
The top of second lug, the first threaded rod a32 are spirally connected with first lug, and the second threaded rod a33 is spirally connected with the second lug.Institute
State horizontal moving body bottom be equipped with spin, spin can relative level moving body roll, spin and the surface of horizonal base plate a31 connect
It touches.The top of the horizontal moving body is pivotally connected a horizontally disposed moving block a343, moving block be equipped with third lug a344 and
The bottom end of 4th lug, a fixing axle of lying across between third lug and the 4th lug, the first telescopic rod a36 is equipped with and fixation
First hole of axis activity cooperation.
In wrist a, the spheroid support a37 includes a horizontal top a370, and horizontal top opens up a round gap, round
The madial wall of gap is arc-shaped, and the sphere a35 is movably embedded in round gap；The sphere is equipped with connection mechanical claw hand
Ring flange a350.
In wrist a, the lower section of the horizonal base plate a31 is equipped with first base a38, before first base is mounted on forearm 24
End, is articulated with third threaded rod a381 in first base, and first base is equipped with one first guide rod a382, third threaded rod with
First guide rod is each perpendicular to first base, and the horizonal base plate a31 is equipped with the block and with the of being spirally connected being spirally connected with third threaded rod
The guide pad of one guide rod cooperation, is fixed with the 5th gear a383 on third threaded rod, the 5th gear is nibbled with the 6th gear a384
It closes, on the output shaft of the 5th motor a385, the 5th motor is fixed in first base the 6th gear.Described first is flexible
Bar a36 includes upper boom and lower beam, and upper boom is in sleeve-shaped, and lower beam is polished rod, and lower beam activity is plugged in upper boom, and upper boom, which is equipped with, to be used
In the first sensor a361 of detection displacement, horizontal moving body is equipped with the first sensor being used cooperatively with first sensor
Auxiliary a362；The block that is spirally connected is equipped with second sensor a386, and first base is equipped with and is used cooperatively with second sensor
Second sensor auxiliary a387, second sensor are electrically connected with the 5th motor.
In conjunction with Fig. 4 to Fig. 7, the mechanical claw hand includes cleft hand rack 40, two pairs of cleft hands 50 being hinged in cleft hand rack,
Cleft hand driving mechanism 60 in cleft hand rack for driving two pairs of cleft hands to act.The cleft hand driving mechanism includes holder
Body, the first locking body, the second locking body；The stake body is equipped with crank rocker driving gear, crank rocker driving gear packet
It includes the slide bar 641 coordinated with cleft hand housing slide, be hinged with the hinged first connecting rod 642 of slide bar and second connecting rod 643, with slide bar
The second telescopic rod 644, crank and rocker mechanism；The first connecting rod and the first locking body are hinged, second connecting rod and the second locking
Body is hinged, and the rocking bar 645 in crank and rocker mechanism is hollow, and the second telescopic rod activity is plugged in rocking bar；Stake body be equipped with pair
The second guide rod 613 that the lifting of first locking body and the second locking body is oriented to.First pair of pawl in two pairs of cleft hands
Two cleft hands in hand 51 are symmetrical set, and are symmetrically set before and after two cleft hands in second pair of cleft hand 52 in two pairs of cleft hands
It sets, the bottom of two cleft hands in first pair of cleft hand opens up the first slide slot 511 being obliquely installed, two in second pair of cleft hand
The bottom of cleft hand opens up the second slide slot 521 being obliquely installed, and the top of first locking body is equipped with to be slided with the first slide slot
First sliding pin 621 of dynamic cooperation, the top of the second locking body are equipped with the second sliding pin being slidably matched with the second slide slot.
In mechanical claw hand 30, the cleft hand rack 40 includes the cleft hand framework soleplate 41 being mounted on sphere, is vertically arranged
Cleft hand rack supporting rod 42 on cleft hand framework soleplate, the cleft hand rack top plate 43 for being fixed on cleft hand rack support bar top；
The cleft hand driving mechanism 60 is mounted on the lower section on cleft hand framework soleplate and positioned at cleft hand rack top plate, cleft hand rack top
Four hinge holes are opened up on plate, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes.
In mechanical claw hand 30, the cleft hand rack is equipped with integrated camera and lighting device 44, and described integrated takes the photograph
As head and lighting device are located between two pairs of cleft hands.
In mechanical claw hand 30, the stake body includes second base 614, support plate 615；The second base is fixed at
In cleft hand rack 40, second guide rod 613 is fixed in second base, and the support plate is horizontally fixed on the second guide rod
Top.First locking body is recessed including the first lifting chassis 622, a pair of first guide post 623, the first latch segment 624, first
Shape block 625；The first connecting rod 642 is hinged on the first lifting chassis, and the first lifting chassis opens up the first guiding slot port 626,
First guiding slot port is slidably matched with the second guide rod；The pair of first guide post is vertically arranged in the first lifting chassis
On, a pair of first pilot hole is opened up on the support plate, a pair of first guide post coordinates in a manner of one-to-one to be led in a pair first
Into hole, first latch segment is mounted on the top of the first guide post, and first spill block is mounted on the first latch segment
Top, first sliding pin 621 are mounted on the top of the first spill block.Second locking body include second lifting chassis 632,
Second guide post 633, locking plate 634, the second spill block 635；The second connecting rod 643 is hinged on the second lifting chassis, the
Two lifting chassis open up the second guiding slot port 636, and second guiding slot port is slidably matched with the second guide rod；Described second leads
It is vertically arranged on the second lifting chassis to column, the second lifting chassis is located at the lower section on the first lifting chassis；First lifting
Chassis opens up the second pilot hole, and third pilot hole is opened up on the support plate, and second guide post is upward through the second pilot hole
With third pilot hole；The locking plate is horizontally arranged at the top of the second guide post, and second spill block is mounted on locking plate
On, second sliding pin is mounted on the top of the second spill block；The 4th pilot hole is opened up on the locking plate, described first is oriented to
Column passes through the 4th pilot hole, first latch segment to be located at the top of locking plate.
In mechanical claw hand 30, the cleft hand rack 40 is equipped with laterally steering block 45, and laterally steering block opens up laterally steering
Slot, the first lifting chassis 622 are located at the top of laterally steering block, and the second lifting chassis 632 is located at the lower section of laterally steering block, institute
It states slide bar 641 and is equipped with square slider, square slider is slidably matched with laterally steering slot；Rocking bar in the crank and rocker mechanism
645 are hinged in the second base 614 of stake body, and the crank in crank and rocker mechanism couples with the 6th motor 646, the 6th motor
In second base.
Such as Fig. 1, the base body 10 is equipped with 11 and second horizontal guide rail 12 of symmetrical first level guide rail, and first
It is sliding combined with first level sliding block 13 on horizontal guide rail, the second horizontal slider 14, institute are sliding combined on the second horizontal guide rail
The setting of 21 horizontal cross of waist rotation member is stated, the left and right ends of waist rotation member are cylindrical, and the left end of waist rotation member is articulated in first
In horizontal slider, the right end of waist rotation member is articulated in the second horizontal slider；The large arm 22 is vertically arranged, the bottom end pivot of large arm
It is connected on the middle part of waist rotation member, the manipulator 23 is mounted on the top of large arm, and the forearm 24 is fixed on the middle part of large arm, institute
State the top that wrist a is mounted on forearm.
In conjunction with Fig. 1, Figure 10, Figure 11, the base body 10 is equipped with brake structure 70, and brake structure includes being fixed on pedestal
The brake rotation group that a pair of of support plate 701 on body, the brake lever 71 being articulated on a pair of of support plate, one end are fixedly connected with brake lever
Part 72, one end brake connection component 73 hinged with the brake rotary components other end, the connection component other end is hinged with braking
Lever assembly 74 is hinged on support plate in the middle part of lever assembly, and the cross section of the brake lever is in regular hexagon；Second water
Smooth block 14 is equipped with brake plate 140, and brake plate is connect with the second horizontal slider by adjustable spring, and brake plate is located at waist transfer part
The side of 21 right side of part, the brake lever are close to brake plate.
In brake structure 70, the brake rotary components 72 include the brake rotating seat 721 being fixedly connected with brake lever 71,
The brake swingle 722 being fixedly connected with brake rotating seat；The brake connection component 73 includes hinged with brake swingle
Second brake connecting rod 732, the first brake connecting rod 731 being fixedly connected with the second brake connecting rod；The lever assembly 74
Include the brake bearing 741 hinged with first brake connecting rod, the brake liner plate 742 that is fixedly connected with brake bearing, the brake
Vehicle bearing is hinged on support plate 701.
Above-mentioned base body 10 is equipped with the second brake structure 700, and the second brake structure includes being fixed on base body 10
A pair of second support plate, the second brake lever being articulated on a pair of second support plate, one end be fixedly connected with the second brake lever second
Brake rotary components, one end second brake connection component hinged with the second brake rotary components other end and second company of brake
The second hinged lever assembly of the connected components other end is hinged on the second support plate in the middle part of the second lever assembly, and described second stops
The cross section of vehicle bar is in regular hexagon；The first level sliding block 13 is equipped with the second brake plate 130, the second brake plate and first
Horizontal slider is connected by the second adjustable spring, and the second brake plate is located at the side of 21 left side of waist rotation member, and described second stops
Vehicle bar is close to the second brake plate.The base body is equipped with upright bar 75, and the top of upright bar is equipped with third sliding pin 76, on third sliding pin
It is combined with lever 77, the bar shaped sliding slot being slidably matched with third sliding pin, the left end and brake structure of lever are opened up in the middle part of lever
Lever assembly 74 in 70 is hinged, and the second lever assembly in the right end of lever and the second brake structure 700 is hinged.
In conjunction with Fig. 1, Fig. 8, Fig. 9, the waist rotation member 21 is equipped with large arm brake structure 90, the large arm brake structure packet
It includes the basal disc 921 being fixed on waist rotation member, a pair of of brake(-holder) block 922 on basal disc, be slidably arranged on basal disc
Solution lock slide 923；It is fixed with brake disc in the large arm, a pair of of brake(-holder) block is symmetrical set in the periphery of brake disc, and one
One end of brake(-holder) block is hinged and other end elastic connection；The solution lock slide elastic connection is solved and is set on lock slide on basal disc
Have it is translatable enter a pair of of brake(-holder) block elastic connection one end to open the wedge block 924 of a pair of of brake(-holder) block.
In above-mentioned large arm brake structure 90, the basal disc is fixed on by support column 925 on waist rotation member；It is set on support column
There is swivel pin；The pair of brake(-holder) block includes the second brake(-holder) block positioned at first brake(-holder) block in left side and positioned at right side, the first system
The left end of the left end of movable plate and the second brake(-holder) block is hinged on swivel pin, the right end of the right end and the second brake(-holder) block of the first brake(-holder) block
Pass through 9221 elastic connection of the first adjustable spring；The right end of first brake(-holder) block is equipped with the first fore-set, and the right end of the second brake(-holder) block is set
There are the second fore-set, the first fore-set and the second fore-set to be oppositely arranged, the first fore-set and the second fore-set are located in the first adjustable spring；Institute
The first brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block are stated, the first brake(-holder) block and the second brake(-holder) block surround brake disc 912.
In above-mentioned large arm brake structure 90, the solution lock slide is equipped with a pair of of positioning pin 927, a pair of of positioning pin and wedge shape
The front and back setting of block is on solution lock slide；The pair of positioning pin includes the first positioning pin being symmetrical set and the second positioning
Pin, the right end of first brake(-holder) block are equipped with first positioning hole 9222, and the right end of the second brake(-holder) block is equipped with second location hole, the
Under the elastic force of one adjustable spring, when the first fore-set and the second fore-set offset, the first positioning pin on the solution lock slide of translation and
Second positioning pin can be correspondingly inserted into first positioning hole and second location hole.
In above-mentioned large arm brake structure 90, the basal disc, which is equipped with, erects block 928, erects block and is equipped with the second adjustable spring
9281, block, the other end connection solution lock slide of the second adjustable spring are erect in one end connection of the second adjustable spring.
In practical operation, a kind of workflow of the medical auxiliary equipment equipped with wrist of the present invention is as follows：
First, medical worker, which holds, manipulates hand 23, unlocks locking of the large arm brake structure 90 to large arm 22, and brake knot
Structure 70 and the second brake structure 700 rotate large arm 22 or waist rotation member 21, or make waist rotation member to the locking of waist rotation member 21
21 translate along first level guide rail 11 and the second horizontal guide rail 12, make the mechanical claw hand 30 on wrist a close at object to be taken.
In second, wrist a, the rotation of the first threaded rod a32 can drive horizontal moving body a34 transverse translations, move horizontally
Body a34 drives the second threaded rod a33 and third sliding block a331 thereon and the 4th sliding block a332 transverse translations；Second screw thread
The rotation of bar a33 can drive horizontal moving body a34 longitudinal translations, and horizontal moving body a34 drives the first threaded rod a32 and thereon
First sliding block a321 and the second sliding block a322 transverse translations；The horizontal moving body a34 vertically and horizontally translated is flexible by first
Bar a36 drives sphere a35 arbitrary rotations on spheroid support a37, the sphere 35 of arbitrary rotation to drive mechanical claw hand 30 thereon
It is arbitrarily swung in space as the wrist of natural person.
Third, in mechanical claw hand 30, the rocking bar 645 in crank and rocker mechanism is swung, and rocking bar is driven by the second telescopic rod 644
The laterally steering slot of laterally steering block 45 of the moving slide-bar 641 in cleft hand rack 40 moves laterally, the driving of first connecting rod 642 the
One locking body declines, and second connecting rod 643 drives the second locking body to rise, and the first locking body drives the first sliding pin 621 to decline, due to
First slide slot 511 is obliquely installed, and therefore, the first sliding pin being vertically lowered can drive any cleft hand in first pair of cleft hand 51 to surround
The hinged place of itself and cleft hand rack 40 rotates, in this way, first pair of cleft hand 51 is swung in opposite directions；Meanwhile second locking body drive the
Two sliding pins rise, since the second slide slot is obliquely installed (the inclined direction of the second slide slot and the inclined direction of the first slide slot
On the contrary), therefore, the second sliding pin risen vertically drives any cleft hand in second pair of cleft hand 52 to surround the hinge of itself and cleft hand rack 40
Place's rotation is connect, in this way, second pair of cleft hand makees opposite swing；So far, two pairs of cleft hands are in shape is collapsed, for capturing object, at this point, shaking
Bar 645 is rocked to left end and rests on left end.
4th, after object is removed doctors and patients' body by medical worker by manipulator 23, the rocking bar in crank and rocker mechanism
645 act again, are rocked to right end from left end, driving slider 641 makees reversed transverse shifting, and first connecting rod 642 drives
First locking body rises, and second connecting rod 643 drives the second locking body to decline, and the first locking body drives the first sliding pin 621 to rise, together
When, the second locking body drives the second sliding pin to decline, and two pairs of cleft hands are in shape is actuated out, for discharging the object captured.
The 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, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to this hair
Bright limitation.
Claims (9)
1. a kind of medical auxiliary equipment equipped with wrist, including base body (10), be articulated on base body waist rotation member (21),
The large arm (22) being articulated on waist rotation member, the manipulator (23) in large arm, the forearm (24) being fixed in large arm, peace
Mechanical claw hand (30) mounted in the wrist (a) of forearm front end, in wrist, waist rotation member around base body rotate, large arm around
Waist rotation member rotates；It is characterized in that：
The wrist includes horizonal base plate (a31), the first threaded rod (a32) being slidably mounted on horizonal base plate and the second screw thread
Bar (a33), the horizontal moving body (a34) being spirally connected with the first threaded rod and the second threaded rod, bottom end and horizontal moving body activity connect
It connects and top is fixedly connected with a sphere (a35) the first telescopic rod (a36), the spheroid support that is fixed on horizonal base plate
(a37)；The first threaded rod horizontal cross setting, the second threaded rod level is longitudinally disposed, and the sphere is movably arranged on ball
On body support frame, the mechanical claw hand is mounted on sphere；
The mechanical claw hand includes cleft hand rack (40), two pairs of cleft hands (50) being hinged in cleft hand rack, is mounted on cleft hand machine
Cleft hand driving mechanism (60) on frame for driving two pairs of cleft hands to act；The cleft hand driving mechanism includes stake body, the first lock
Tight body, the second locking body；The stake body is equipped with crank rocker driving gear, and crank rocker driving gear includes and cleft hand machine
Slide bar (641) that frame is slidably matched, hinged with the hinged first connecting rod of slide bar (642) and second connecting rod (643) and slide bar the
Two telescopic rods (644), crank and rocker mechanism；The first connecting rod and the first locking body are hinged, second connecting rod and the second locking body
Hinged, the rocking bar (645) in crank and rocker mechanism is hollow, and the second telescopic rod activity is plugged in rocking bar；Stake body be equipped with pair
The second guide rod (613) that the lifting of first locking body and the second locking body is oriented to；The first couple in two pairs of cleft hands
Two cleft hands in cleft hand (51) are symmetrical set, right before and after two cleft hands in second pair of cleft hand (52) in two pairs of cleft hands
Claim setting, the bottoms of two cleft hands in first pair of cleft hand opens up the first slide slot (511) being obliquely installed, in second pair of cleft hand
The bottoms of two cleft hands open up the second slide slot (521) being obliquely installed, the top of first locking body is equipped with and first
The first sliding pin (621) that slide slot is slidably matched, the top of the second locking body are equipped be slidably matched with the second slide slot second
Sliding pin；
The base body (10) is equipped with symmetrical first level guide rail (11) and the second horizontal guide rail (12), first level
It is sliding combined with first level sliding block (13) on guide rail, the second horizontal slider (14), institute are sliding combined on the second horizontal guide rail
The setting of waist rotation member (21) horizontal cross is stated, the left and right ends of waist rotation member are cylindrical, and the left end of waist rotation member is articulated in the
In one horizontal slider, the right end of waist rotation member is articulated in the second horizontal slider；The large arm (22) is vertically arranged, the bottom of large arm
End is articulated in the middle part of waist rotation member, and the manipulator (23) is mounted on the top of large arm, and the forearm (24) is fixed on large arm
Middle part, the wrist (a) be mounted on forearm top.
2. a kind of medical auxiliary equipment equipped with wrist as described in claim 1, it is characterised in that：In wrist (a), the water
Flat underside (a31) is square-shaped, and the forward edge of horizonal base plate opens up the 5th slide slot, and the posterior edges of horizonal base plate open up
Six slide slots, the 5th slide slot and the 6th slide slot are horizontally disposed and are mutually parallel, and first is sliding combined in the 5th slide slot
Sliding block (a321) is sliding combined with the second sliding block (a322), the front end of first threaded rod (a32) in the 6th slide slot
It is articulated in the first sliding block, the rear end of the first threaded rod is articulated in the second sliding block, is equipped in first sliding block
Third motor (a323), the output shaft of third motor couple with the first threaded rod；
The left side edge of horizonal base plate opens up third slide slot, and the right side edge of horizonal base plate opens up the 4th slide slot, and third is slided
Row slot and the 4th slide slot are horizontally disposed with and are mutually parallel, and third sliding block (a331) is sliding combined in third slide slot, the
The 4th sliding block (a332) is sliding combined in four slide slots, the left end of second threaded rod (a33) is articulated in third and slides
On block, the right end of the second threaded rod is articulated in the 4th sliding block, and the 4th motor (a333) is equipped in the third sliding block,
The output shaft of 4th motor couples with the second threaded rod.
3. a kind of medical auxiliary equipment equipped with wrist as described in claim 1, it is characterised in that：In wrist (a), the water
It translates kinetoplast (a34) and is equipped with first lug (a341) and the second lug (a342), first lug is located at the top of the second lug, institute
It states the first threaded rod (a32) to be spirally connected with first lug, the second threaded rod (a33) is spirally connected with the second lug；
The bottom of the horizontal moving body is equipped with spin, and spin can the rolling of relative level moving body, spin and horizonal base plate (a31)
Surface contact；
The top of the horizontal moving body is pivotally connected a horizontally disposed moving block (a343), and moving block is equipped with third lug
(a344) and the 4th lug a, fixing axle of lying across between third lug and the 4th lug, the bottom end of first telescopic rod (a36)
Equipped with the first hole coordinated with fixing axle activity.
4. a kind of medical auxiliary equipment equipped with wrist as described in claim 1, it is characterised in that：In wrist (a), the ball
Body support frame (a37) includes a horizontal top (a370), and horizontal top opens up a round gap, and the madial wall of round gap is in arc
Shape, the sphere (a35) are movably embedded in round gap；The sphere is equipped with the ring flange of connection mechanical claw hand
(a350)。
5. a kind of medical auxiliary equipment equipped with wrist as described in claim 1, it is characterised in that：In wrist (a), the water
The lower section of flat underside (a31) is equipped with first base (a38), and first base is mounted on forearm (24) front end, is pivotally connected in first base
There are third threaded rod (a381), first base to be equipped with one first guide rod (a382), third threaded rod and the first guide rod are equal
Perpendicular to first base, the horizonal base plate (a31) is equipped with block and matches with the first guide rod with being spirally connected of being spirally connected of third threaded rod
The guide pad of conjunction is fixed with the 5th gear (a383) on third threaded rod, and the 5th gear is engaged with the 6th gear (a384), and the 6th
Gear is mounted on the output shaft of the 5th motor (a385), and the 5th motor is fixed in first base；
First telescopic rod (a36) includes upper boom and lower beam, and upper boom is in sleeve-shaped, and lower beam is polished rod, and lower beam activity is plugged in
In upper boom, upper boom is equipped with the first sensor (a361) for detecting displacement, and horizontal moving body is equipped with and the first sensing
The first sensor auxiliary (a362) that device is used cooperatively；The block that is spirally connected is equipped with second sensor (a386), in first base
Equipped with the second sensor auxiliary (a387) being used cooperatively with second sensor, second sensor is electrically connected with the 5th motor.
6. a kind of medical auxiliary equipment equipped with wrist as described in claim 1, it is characterised in that：In mechanical claw hand (30),
The cleft hand rack (40) includes the cleft hand framework soleplate (41) being mounted on sphere (a35), is vertically arranged in cleft hand frame ground
Cleft hand rack supporting rod (42) on plate, the cleft hand rack top plate (43) for being fixed on cleft hand rack support bar top；The cleft hand
Driving mechanism (60) is mounted on the lower section on cleft hand framework soleplate and positioned at cleft hand rack top plate, is opened on the cleft hand rack top plate
If four hinge holes, four cleft hands in two pairs of cleft hands are correspondingly hinged in four hinge holes；
The cleft hand rack is equipped with integrated camera and lighting device (44), the integrated camera and lighting device position
Between two pairs of cleft hands.
7. a kind of medical auxiliary equipment equipped with wrist as described in claim 1, it is characterised in that：In mechanical claw hand (30),
The stake body includes second base (614), support plate (615)；The second base is fixed in cleft hand rack (40), institute
It states the second guide rod (613) to be fixed in second base, the support plate is horizontally fixed on the top of the second guide rod；
First locking body include the first lifting chassis (622), a pair of first guide post (623), the first latch segment (624),
First spill block (625)；The first connecting rod (642) is hinged on the first lifting chassis, and the first lifting chassis opens up first and leads
To notch (626), first guiding slot port is slidably matched with the second guide rod；The pair of first guide post is vertically arranged in
On first lifting chassis, a pair of first pilot hole is opened up on the support plate, a pair of first guide post coordinates in a manner of one-to-one
In a pair of first pilot hole, a pair of first latch segment is mounted on the top of a pair of first guide post, institute in a manner of one-to-one
The top that the first spill block is mounted on the first latch segment is stated, first sliding pin (621) is mounted on the top of the first spill block；
Second locking body includes the second lifting chassis (632), the second guide post (633), locking plate (634), the second spill
Block (635)；The second connecting rod (643) is hinged on the second lifting chassis, and the second lifting chassis opens up the second guiding slot port
(636), second guiding slot port is slidably matched with the second guide rod；Second guide post is vertically arranged in the second lifting bottom
On disk, the second lifting chassis is located at the lower section on the first lifting chassis；First lifting chassis opens up the second pilot hole, the branch
Third pilot hole is opened up on plate, second guide post is upward through the second pilot hole and third pilot hole；The locking plate water
Safety is mounted in the top of the second guide post, and second spill block is mounted on locking plate, and second sliding pin is mounted on second
The top of spill block；The 4th pilot hole is opened up on the locking plate, a pair of first guide post passes through a pair in a manner of one-to-one
4th pilot hole, first latch segment are located at the top of locking plate；
In mechanical claw hand (30), the cleft hand rack (40) is equipped with laterally steering block (45), and laterally steering block, which opens up, laterally leads
To slot, the first lifting chassis (622) is located at the top of laterally steering block, and the second lifting chassis (632) is located at laterally steering block
Lower section, the slide bar (641) are equipped with square slider, and square slider is slidably matched with laterally steering slot；The crank rocker machine
Rocking bar (645) in structure is hinged in the second base (614) of stake body, the crank in crank and rocker mechanism and the 6th motor
(646) couple, the 6th motor is mounted in second base.
8. a kind of medical auxiliary equipment equipped with wrist as described in claim 1, it is characterised in that：On the base body (10)
Equipped with first brake structure (70), first brake structure includes the first support plate of a pair (701) being fixed on base body, is articulated in
The first brake rotary components that first brake bar (71), one end on a pair of first support plate are fixedly connected with first brake bar
(72), one end and the hinged first brake connection component (73) of the first brake rotary components other end, with first brake connect group
Hinged the first lever assembly (74) of the part other end is hinged on the first support plate in the middle part of the first lever assembly, and described first stops
The cross section of vehicle bar is in regular hexagon；Second horizontal slider (14) be equipped with the first brake plate (140), the first brake plate with
Second horizontal slider is connected by the first adjustable spring, and the first brake plate is located at the side of waist rotation member (21) right side, described
First brake bar is close to the first brake plate；
The first brake rotary components (72) include the brake rotating seat (721) being fixedly connected with first brake bar (71), with
The brake swingle (722) that brake rotating seat is fixedly connected；The first brake connection component (73) include and brake swingle
The first brake connecting rod (731) that hinged second brake connecting rod (732), connecting rod of braking with second are fixedly connected；It is described
First lever assembly (74) includes the brake bearing (741) hinged with first brake connecting rod, is fixedly connected with brake bearing
Brake liner plate (742), and the brake bearing is hinged on the first support plate (701)；
The base body (10) is equipped with the second brake structure (700), and the second brake structure includes being fixed on base body (10)
The second support plate of a pair, the second brake lever for being articulated on a pair of second support plate, one end be fixedly connected with the second brake lever the
Two brake rotary components, one end second brake connection component hinged with the second brake rotary components other end and the second brake
The second hinged lever assembly of the connection component other end is hinged on the second support plate in the middle part of the second lever assembly, described second
The cross section of brake lever is in regular hexagon；The first level sliding block (13) is equipped with the second brake plate (130), the second brake plate
It is connect by the second adjustable spring with first level sliding block, the second brake plate is located at the side of waist rotation member (21) left side, institute
It states the second brake lever and is close to the second brake plate；
The base body is equipped with upright bar (75), and the top of upright bar is equipped with third sliding pin (76), lever is combined on third sliding pin
(77), open up the bar shaped sliding slot being slidably matched with third sliding pin in the middle part of lever, the left end of lever in brake structure (70)
Lever assembly (74) is hinged, and the second lever assembly in the right end of lever and the second brake structure (700) is hinged.
9. a kind of medical auxiliary equipment equipped with wrist as described in claim 1, it is characterised in that：The waist rotation member (21)
It is equipped with large arm brake structure (90), the large arm brake structure includes the basal disc (921) being fixed on waist rotation member, peace
A pair of of brake(-holder) block (922) on basal disc, the solution lock slide (923) being slidably arranged on basal disc；It is fixed in the large arm
Brake disc, a pair of of brake(-holder) block are symmetrical set in the periphery of brake disc, and one end of a pair of of brake(-holder) block is hinged and the other end is elastic
Connection；The solution lock slide elastic connection on basal disc, solution lock slide be equipped with it is translatable enter a pair of of brake(-holder) block elastic connection one
End is to open the wedge block (924) of a pair of of brake(-holder) block；
The basal disc is fixed on by support column (925) on waist rotation member；Support column is equipped with swivel pin；The pair of brake(-holder) block
Include the first brake(-holder) block positioned at left side and the second brake(-holder) block positioned at right side, the left end of the first brake(-holder) block and the second brake(-holder) block
Left end is hinged on swivel pin, and the right end of the right end of the first brake(-holder) block and the second brake(-holder) block passes through the first adjustable spring (9221) bullet
Property connection；The right end of first brake(-holder) block is equipped with the first fore-set, and the right end of the second brake(-holder) block is equipped with the second fore-set, the first fore-set and the
Two fore-sets are oppositely arranged, and the first fore-set and the second fore-set are located in the first adjustable spring；First brake(-holder) block and the second braking
The equal semicircular in shape of piece, the first brake(-holder) block and the second brake(-holder) block surround brake disc (912)；
The solution lock slide is equipped with a pair of of positioning pin (927), and a pair of of positioning pin is with the front and back setting of wedge block on solution lock slide；
The pair of positioning pin includes the first positioning pin and the second positioning pin being symmetrical set, and the right end of first brake(-holder) block is set
There is a first positioning hole (9222), the right end of the second brake(-holder) block is equipped with second location hole, under the elastic force of the first adjustable spring, when the
When one fore-set and the second fore-set offset, the first positioning pin and the second positioning pin on the solution lock slide of translation can correspondingly be inserted into
In a positioning hole and second location hole；
The basal disc be equipped with erect block (928), erect block be equipped with the second adjustable spring (9281), the one of the second adjustable spring
Block, the other end connection solution lock slide of the second adjustable spring are erect in end connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838548.2A CN106361435B (en) | 2016-09-21 | 2016-09-21 | A kind of medical auxiliary equipment equipped with wrist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838548.2A CN106361435B (en) | 2016-09-21 | 2016-09-21 | A kind of medical auxiliary equipment equipped with wrist |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106361435A CN106361435A (en) | 2017-02-01 |
| CN106361435B true CN106361435B (en) | 2018-10-12 |
Family
ID=57897848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610838548.2A Active CN106361435B (en) | 2016-09-21 | 2016-09-21 | A kind of medical auxiliary equipment equipped with wrist |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106361435B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111920523B (en) * | 2020-06-30 | 2022-05-24 | 南通大学附属医院 | Auxiliary arm for orthopedic surgery robot |
| CN113100949B (en) * | 2021-04-16 | 2022-03-29 | 天津大学医疗机器人与智能***研究院 | Front end execution device for surgical robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029123A (en) * | 2012-12-22 | 2013-04-10 | 浙江万丰科技开发有限公司 | Light-weight six-shaft universal robot |
| CN105881582A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Six-axis industrial robot wrist capable of swinging spatially |
| CN105909516A (en) * | 2016-06-15 | 2016-08-31 | 湖州惠盛机械有限公司 | Full-automatic circular screen printing machine paste pump assembly |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| CN105922251A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with manipulator assemblies arranged on small arms |
| CN105922250A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Robot provided with rotation actuation tail end |
-
2016
- 2016-09-21 CN CN201610838548.2A patent/CN106361435B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029123A (en) * | 2012-12-22 | 2013-04-10 | 浙江万丰科技开发有限公司 | Light-weight six-shaft universal robot |
| CN105881582A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Six-axis industrial robot wrist capable of swinging spatially |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| CN105922251A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with manipulator assemblies arranged on small arms |
| CN105922250A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Robot provided with rotation actuation tail end |
| CN105909516A (en) * | 2016-06-15 | 2016-08-31 | 湖州惠盛机械有限公司 | Full-automatic circular screen printing machine paste pump assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106361435A (en) | 2017-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2656553C2 (en) | Ultrasound system control panel and display lift | |
| CN106214261B (en) | A kind of suspension type operating robot | |
| CN201743884U (en) | Robot for rehabilitating and training upper limb | |
| CN107361994A (en) | Hand rehabilitation training device with wrist rehabilitation training function | |
| CN106361435B (en) | A kind of medical auxiliary equipment equipped with wrist | |
| CN111603244A (en) | Surgical robot | |
| CN106264735A (en) | A kind of removable operating robot that can stand | |
| CN106361438B (en) | A kind of operating robot equipped with wrist | |
| CN106344159B (en) | It is a kind of to be equipped with the operating robot for swinging cleft hand | |
| CN109758339A (en) | A kind of Spatial Parallel driving wrist robots for rehabilitation therapy | |
| CN106236275B (en) | A kind of surgical instrument that cleft hand is swingable | |
| CN110025833A (en) | A kind of auto fat living cell extraction equipment | |
| CN106361437B (en) | A kind of fixed operating robot of tool changing angle | |
| CN206995442U (en) | A kind of neurosurgery operation nursing bed | |
| CN106264732B (en) | A kind of operating robot equipped with idler wheel | |
| CN106361418B (en) | A kind of operation of semi-automation takes sundries tool | |
| CN106236274B (en) | A kind of operating robot equipped with swing arm | |
| CN110559024A (en) | auxiliary device for rectal surgery | |
| CN106473795B (en) | Pickup robot in a kind of operation | |
| CN211883902U (en) | Lacrimal retractor | |
| CN107374906A (en) | Hand rehabilitation training device | |
| CN106344158B (en) | A kind of bottom is equipped with the operating robot of lifting idler wheel | |
| CN208355704U (en) | A kind of surgical bed for department of ophthalmology easy to remove | |
| CN106361436B (en) | A kind of operating robot of automatic tool changer | |
| CN106264733B (en) | A kind of suspension type surgical instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180831 Address after: 362803 two, 2019 Building Materials Plaza, Xiangyun Middle Road, Quangang Town, Quanzhou, Fujian. Applicant after: Quanzhou Quangang District Gu Le Ju furniture business 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. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |