CN106361436A - Operation robot capable of changing scalpel automatically - Google Patents
Operation robot capable of changing scalpel automatically Download PDFInfo
- Publication number
- CN106361436A CN106361436A CN201610838597.6A CN201610838597A CN106361436A CN 106361436 A CN106361436 A CN 106361436A CN 201610838597 A CN201610838597 A CN 201610838597A CN 106361436 A CN106361436 A CN 106361436A
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- Prior art keywords
- brake
- block
- pair
- holder
- gear
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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Abstract
The invention discloses an operation robot capable of changing a scalpel automatically. The operation robot comprises a robot main body capable of implementing three-dimensional motion, a swing arm installed on a small arm of the robot main body, and a scalpel changing device rotating relatively to the swing arm. The scalpel changing device comprises a tool clamping disc and a drive mechanism for driving the tool clamping disc to rotate, the drive mechanism comprises a rotating component, a lock catch component and a drive component, and the tool clamping disc is installed on the rotating component. The lock catch component brakes the rotating component at the normal state; the drive component unlocks the rotating component and drives the rotating component to rotate by a fixed angle in the operation, a tool installed on the tool clamping disc rotates by a corresponding angle with the rotating component, so that a to-be-used operation instrument is placed at a working position.
Description
Technical field
The present invention relates to medical apparatus and instruments, in particular to a kind of operating robot of automatic tool changer.
Background technology
Traditional operation, the hand-held surgical knife tool of operative doctor, fixture, other operation tools are operated to sufferer.
Content of the invention
Technical problem solved by the invention: in traditional operation, the hand-held surgical knife tool of operative doctor, fixture, other operations
Instrument is operated to sufferer, high labor intensive, inefficiency, sufferer susceptible.
For solving above-mentioned technical problem, the present invention provides a kind of following technical scheme: operating robot of automatic tool changer, bag
Include base body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, the operation being arranged in large arm
Handss, the forearm being fixed in large arm, the swing arm being articulated in forearm front end, the first driver element driving swing arm swing, peace
It is contained in the tool changing device of swing arm front end, driving the second driver element that tool changing device rotates;During described swing arm swing
Heart line rotates around base body perpendicular to the rotation centerline of tool changing device, waist rotation member, and large arm rotates around waist rotation member;
Described tool changing device includes cutter clamping disk, drives the drive mechanism of cutter clamping disc spins;Described drive mechanism
Including rotary components, latch components, drive component;
Described rotary components include rotating seat, fixation is set in the peripheral brake disc of rotating seat and the 6th gear;Described knife
Tool clamping disk is fixedly connected rotating seat;
Described latch components include the basal disc being fixedly installed in housing, a pair of brake(-holder) block being arranged on basal disc, slip
It is arranged on the solution lock slide on basal disc;The pair of brake(-holder) block is symmetrical set the periphery in brake disc, a pair of brake(-holder) block
One end is hinged and other end elastic connection;Described solution lock slide elastic connection on basal disc, solution lock slide be provided with translatable enter
A pair of brake(-holder) block elastic connection one end is to open the wedge of a pair of brake(-holder) block;
Described drive component includes the annulus being driven and being rotated by driving means, and the centrage of annulus rotation deviates rotating seat
The centrage of rotation, the medial wall of annulus is provided with tooth section and unlocked state, and tooth Duan Keyu the 6th gear engages;Work as unlocked state
When starting to promote solution lock slide to basal disc center translation, the 6th gear starts to engage with tooth section;
The rotation centerline of described rotating seat is perpendicular to the rotation centerline of tool changing device.
By technique scheme, a kind of operation principle of the operating robot of automatic tool changer of the present invention is as follows:
First, operative doctor holds manipulation handss, rotation large arm or waist rotation member, so that the tool changing device on swing arm is in and treats
At operation.
Second, in tool changing device, driving means in drive mechanism drive annulus rotation, annulus drive tooth section thereon and
Unlocked state rotates.When the unlocked state being fixedly installed comes into contact with and promotes the solution center to basal disc for the lock slide of setting of sliding
During translation, solution lock slide on wedge travel in a pair of brake(-holder) block elastic connection one end to open a pair of brake(-holder) block, so,
Rotating seat is changed into rotatable state by the initial state by a pair of brake(-holder) block frictional damping.With a pair of brake(-holder) block not
Brake rotating seat more synchronously, the tooth section on annulus medial wall, that is, one section of tooth on annulus medial wall, starts to nibble with the 6th gear
Close, and drive the 6th gear and be secured to the rotating seat rotation connecting, rotating seat drives cutter clamping disc spins;Work as rotating seat
Rotate to an angle, when such as 90 degree, tooth Duan Yu six gear disengages, meanwhile, unlocked state is connect with solution lock slide disengaging
Touch, so, solution lock slide on basal disc for the elastic connection resets, and wedge leaves one end of a pair of brake(-holder) block elastic connection and answers
Position, one end of a pair of brake(-holder) block elastic connection resets, a pair of brake(-holder) block frictional damping brake disc again, and then brakes rotating seat.
So far, cutter clamping disk rotates a certain angle with the rotation of rotating seat, clamping cutter clamping disk operation tool with
Rotate a certain angle, operative doctor need to operation tool be in operating position.
3rd, under the swing, the turning effort of the rotation of whole tool changing device, large arm and waist rotation member of swing arm, handss
Art doctor be operated to sufferer.
By technique scheme, cutter clamping disk is provided with the instrument of some operations, such as cutter, fixture, operation
When doctor need to use corresponding operation tool, tool changing device automatically can change operation tool so as to 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 is, operation tool on cutter clamping disk rotates every time is certain.
As one kind explanation to tool changing device for the present invention, described tool changing device includes installing connection on a swing arm
Arm, described housing is arranged on the connecting arm;On housing, capping has cover plate, and described drive mechanism is arranged in housing, drive mechanism
In rotating seat pass through cover plate, cutter clamping disk be located at housing outside.As described above, the second driver element drive connection arm rotation
Turn, linking arm drives whole tool changing device rotation.
As one kind explanation to rotary components for the present invention, described rotating seat is articulated on basal disc, and rotating seat is provided with one
To locating rod, described cutter clamping disk is fixedly connected rotating seat by a pair of locating rod.Wherein, described basal disc passes through support column admittedly
It is scheduled in housing, described support column is located in annulus and is located at the side of rotating seat.
As one kind explanation to latch components for the present invention, 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 and the second brake(-holder) block being located at right side positioned at left side, the left end of the first brake(-holder) block
It is hinged on swivel pin with the left end of the second brake(-holder) block, the right-hand member of the right-hand member of the first brake(-holder) block and the second brake(-holder) block is 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 located in the first coil tension spring;Described first brake(-holder) block and
The equal semicircular in shape of second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc.As described above, the first coil tension spring
There is the trend making 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 has stop and is somebody's turn to do
The effect of the trend of kind.
As one kind explanation to latch components for the present invention, described solution lock slide is provided with a pair of alignment pin, a pair of positioning
It is arranged on solution lock slide before and after pin and wedge;The pair of alignment pin includes the first alignment pin being symmetrical set and
Two alignment pins, the right-hand member of described first brake(-holder) block is provided with the first location hole, and the right-hand member of the second brake(-holder) block is provided with the second location hole,
The first alignment pin under the elastic force of the first coil tension spring, when the first fore-set and the second fore-set offset, on the solution lock slide of translation
The first location hole and the second positioning in the hole can correspondingly be inserted with the second alignment pin.As described above, when unlocked state promotes solution
Center translation from lock slide to basal disc when, the first alignment pin and the second alignment pin depart from the first location hole and the second location hole, with
When, wedge stretches between the first brake(-holder) block right-hand member and the second brake(-holder) block right-hand member, and is opened;In unlocked state with annulus
Rotation and after leaving away, solution lock slide resets, and wedge leaves the first brake(-holder) block right-hand member and the second brake(-holder) block right-hand member, meanwhile, the
One alignment pin and the second alignment pin correspondingly insert the first location hole and the second location hole, to lock a pair of brake(-holder) block.
As one kind explanation to latch components for the present invention, described basal disc is provided with setting block, erects block and be 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 one kind explanation to drive component for the present invention, described annulus is articulated in housing, and described driving means include
The 7th gear that the ring gear that fixation is set on annulus medial wall is engaged with ring gear couples and is arranged on housing with the 7th gear
The 3rd interior motor.As described above, the 3rd Motor drive the 7th gear rotation, the 7th gear drives circle by driving ring gear
Ring rotates.
As one kind explanation to drive component for the present invention, described unlocked state includes the footpath being fixed on annulus medial wall
Inwardly projection, be fixed on projection in radially and point to the radial bars in the annulus center of circle, be articulated in the eighth gear of radial direction boom end;
Described wedge opens up a groove, fixes one section of arc-shaped rack that can engage with eighth gear, the center of circle of arc-shaped rack in groove
On the centrage of annulus.As described above, when eighth gear starts to contact with arc-shaped rack, eighth gear promotes solution
Lock slide, to the central line translation of basal disc, is located at circle because radial direction boom end points to the center of circle of annulus and the center of circle of arc-shaped rack
On the centrage of ring, therefore, the rotary course after eighth gear contacts and engages with arc-shaped rack, makes solution lock slide and annulus
Centre distance keeps constant, and then, wedge keeps constant with the distance at basal disc center, and a pair of brake(-holder) block keeps open configuration,
Rotating seat is made to rotate freely;After tooth section departs from the contact with the 6th gear, eighth gear departs from the contact with arc-shaped rack,
Afterwards, solution lock slide and wedge shape block reset, a pair of brake(-holder) block resets, again the brake disc on braking rotating seat.Wherein, arc-shaped gear
The length of bar determines in the following manner: when rotating seat rotates to an angle, such as 90 degree, and tooth section disengaged with second gear
When, arc-shaped rack is disengaged with eighth gear.
As one kind explanation to swing arm for the present invention, the front end of described forearm opens up a spill gap, described swing arm
It is articulated in spill gap.Described first driver element includes the first motor, connection the first motor and the pendulum being arranged on forearm
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, fixation
It is arranged on the second synchronous pulley on the 3rd axle;First gear is provided with the output shaft of described first motor, first gear with
Second gear engages, and the 3rd gear is engaged with the 4th gear, and the first synchronous pulley is coupled with the second synchronous pulley by Timing Belt,
3rd axle is fixedly connected with swing arm.Described second driver element includes installing the second motor on a swing arm, the second transmission
Unit;Described second gear unit includes the rotation being connected with the decelerator of the second motor output shaft connection with decelerator outfan
Rotating disk, tool changing device is installed on the rotating pan.
As the present invention to base body one kind explanation, described base body be provided with symmetrical first level guide rail and
Second horizontal guide rail, first level guide rail is sliding combined with first level slide block, and the second horizontal guide rail is sliding combined with
Two cross sliding clocks, described waist rotation member horizontal cross setting, the left and right two ends of waist rotation member are cylindrical, the left end of waist rotation member
It is articulated in first level slide block, 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 first level guide rail and the second level
Rail moves, to increase the space of mechanical claw hand.
As one kind explanation to base body for the present invention, described base body is provided with brake structure, and brake structure includes solid
The brake rotation that a pair of support plate being scheduled on base body, the brake lever being articulated on a pair of support plate, one end are fixedly connected with brake lever
Turn assembly, one end and the hinged brake coupling assembly of the rotary components other end of braking is hinged with the brake coupling assembly other end
Lever assembly, the middle part of lever assembly is hinged on support plate, and the cross section of described brake lever is in regular hexagon;Described second level
Slide block is provided with keep plate, and keep plate is connected by spring with the second cross sliding clock, and keep plate is located 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
With support plate hinged place tilting, lever assembly coupling assembly of passing through to brake drives brake rotary components rotation, and brake rotary components for it
Driving brake bar rotates, and the crest line of brake lever is against on keep plate towards a left side, and then, the left side of keep plate is against the waist rotation member right side
On end face, waist rotation member is braked;When the other end of staff's presses lever assembly makes lever assembly reset, thick stick
Bar assembly passes through coupling assembly drive brake rotary components reverse rotation of braking, and brake rotary components driving brake bar reversely revolves
Turn, 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 are included the brake rotating seat that is fixedly connected with brake lever and stop
The brake swingle that car rotating seat is fixedly connected;Described brake coupling assembly includes second brake hinged with brake swingle even
The first brake connecting rod that extension bar is fixedly connected with the second brake connecting rod;Described lever assembly includes being connected with first brake
The brake liner plate that the hinged brake bearing of bar is fixedly connected with brake bearing, described brake bearing is hinged on support plate.
Described base body is provided with the second brake structure, and the second brake structure includes be fixed on base body a pair second
The second brake rotation that support plate, the second brake lever being articulated on a pair second support plates, one end are fixedly connected with the second brake lever
Assembly, one end second brake coupling assembly hinged with the second brake rotary components other end is another with the second brake coupling assembly
The second hinged lever assembly of one end, the middle part of the second lever assembly is hinged on the second support plate, the horizontal stroke of described second brake lever
Section is in regular hexagon;Described first level slide block is provided with the second keep plate, and the second keep plate is passed through with first level slide block
Second spring connects, and the second keep plate is located 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, 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
End is hinged with the second lever assembly in the second brake structure.As described above, right about brake structure and the second brake structure
Claim setting, both 26S Proteasome Structure and Functions are identical, and in operation, operative doctor presses lever assembly, you can by lever actuated second
Lever assembly links, and in the same manner, operative doctor presses the second lever assembly, you can linked by lever actuated lever assembly.Linkage
Brake structure and the second brake structure the right-hand member and left end of waist rotation member is braked simultaneously.
As a kind of explanation to relation between waist rotation member and large arm for the present invention, 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 that is arranged on annular solid
Brake hoop, second being slidably arranged on annular solid solution lock slide;Second brake disc, a pair of brake hoop are fixed with described large arm
It is symmetrical set the periphery in the second brake disc, one end of a pair of brake hoop is hinged and other end elastic connection;Described second
Solution lock slide elastic connection on annular solid, the second solution lock slide be provided with translatable enter a pair of brake hoop elastic connection one end with
Open the second wedge of a pair of brake hoop.As described above, in operation, four finger gripping in operative doctor proficiency live to operate
Handss, remaining finger pressable second wedge, promote the second solution center translation to annular solid for the lock slide, the second wedge translation
To open a pair of brake hoop, so, large arm is rubbed by a pair of brake hoop by initial for the one end entering a pair of brake hoop elastic connection
The state of braking is changed into rotatable state.
With regard to above-mentioned large arm brake structure, described annular solid is fixed on waist rotation member by support block;Set in support block
There is the second swivel pin;The pair of brake hoop includes the first brake hoop and the second brake hoop being located at right side positioned at left side, the
The left end of the left end of one brake hoop and the second brake hoop is hinged on the second swivel pin, and the right-hand member of the first brake hoop and second is braked
The right-hand member of ring passes through the 3rd coil tension spring elastic connection;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 located at the 3rd coil tension spring
Interior;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 that 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 solution lock slide is provided with a pair of alignment pin, is arranged on before and after a pair of alignment pin and the second wedge
On second solution lock slide;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 hoop is provided with the 3rd location hole, and the right-hand member of the second brake hoop is provided with the 4th location hole, flexible 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 insert the 3rd location hole and the 4th positioning in the hole.As described above, when operative doctor promotes the
Center translation from two solution lock slides to annular solid when, the first alignment pin and the second alignment pin depart from the 3rd location hole and the 4th
Location hole, meanwhile, the second wedge stretches between the first brake hoop right-hand member and the second brake hoop right-hand member, and is opened;In handss
After art doctor release the second solution lock slide, the second solution 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 location hole and the 4th location hole, with
Lock a pair of brake hoop.
With regard to above-mentioned large arm brake structure, described annular solid is provided with the second setting block, and the second setting block is provided with the 4th
Coil tension spring, 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 and slides
Block.
Brief description
The present invention is described further below in conjunction with the accompanying drawings:
Fig. 1 is a kind of structural representation of the operating robot of automatic tool changer of the present invention;
Fig. 2 is forearm 24, swing arm 80, the combining structure schematic diagram of tool changing device 30 in Fig. 1;
Fig. 3 is that in Fig. 2, tool changing device 30 conceals the structural representation after cutter clamping disk 300;
Fig. 4 is that in Fig. 3, tool changing device 30 conceals the structural representation after cover plate 64;
Fig. 5 is the structural representation of drive mechanism 60 in Fig. 4;
Fig. 6 is the combining structure schematic diagram of rotary components 61 and latch components 62 in Fig. 5;
Fig. 7 is the structural representation solving lock slide 623 in Fig. 6;
Fig. 8 is the structural representation of brake(-holder) block 622 in Fig. 6;
Fig. 9 is the structural representation of drive component 63 in Fig. 5;
Figure 10 is brake structure 70, the combining structure schematic diagram of the second brake structure 700 in Fig. 1;
Figure 11 is the structural representation of brake structure 70 in Figure 10;
Figure 12 is the structural representation of large arm brake structure 90 in Fig. 1;
Figure 13 is the structural representation of the second solution lock slide 923 in Figure 12.
In figure symbol description:
10th, base body;11st, first level guide rail;12nd, the second horizontal guide rail;13rd, first level slide block;130th, the second system
Dynamic plate;14th, the second cross sliding clock;140th, keep plate;
21st, waist rotation member;22nd, large arm;23rd, manipulator;24th, forearm;
30th, tool changing device;300th, cutter clamping disk;
51st, linking arm;52nd, housing;
60th, drive mechanism;61st, rotary components;611st, rotating seat;612nd, brake disc;613rd, the 6th gear;614th, position
Bar;62nd, latch components;621st, basal disc;622nd, brake(-holder) block;6221st, the first coil tension spring;6222nd, location hole;623rd, unblock is slided
Block;6230th, arc-shaped rack;624th, wedge;625th, support column;626th, pillar;627th, alignment pin;628th, erect block;6281st,
Two coil tension springs;63rd, drive component;631st, annulus;632nd, tooth section;633rd, unlocked state;635th, ring gear;636th, the 7th gear;
637th, projection in radial direction;638th, radial bars;639th, eighth gear;64th, cover plate;
70th, brake structure;701st, support plate;71st, brake lever;72nd, brake rotary components;721st, brake rotating seat;722nd, stop
Car swingle;73rd, brake coupling assembly;731st, first brake connecting rod;732nd, the second brake connecting rod;74th, lever assembly;
741st, brake bearing;742nd, brake liner plate;700th, the second brake structure;75th, vertical rod;76th, the 3rd sliding pin;77th, lever;
80th, swing arm;81st, first gear;82nd, second gear;84th, the 4th gear;85th, the first synchronous pulley;86th, the 3rd
Axle;87th, the second synchronous pulley;88th, Timing Belt;89th, rotating disk;
90th, large arm brake structure;912nd, the second brake disc;921st, annular solid;922nd, brake hoop;9221st, the 3rd flexible bullet
Spring;9222nd, the 3rd location hole;923rd, the second solution lock slide;924th, the second wedge;925th, support block;927th, alignment pin;
928th, the second setting block;9281st, the 4th coil tension spring.
Specific embodiment
In conjunction with Fig. 1, Fig. 2, a kind of operating robot of automatic tool changer, including base body 10, the waist being articulated on base body
Rotation member 21, the large arm 22 being articulated on waist rotation member, the manipulator 23 being arranged in large arm, the forearm being fixed in large arm
24th, it is articulated in the swing arm 80 of forearm front end, drive the first driver element of swing arm swing, be arranged on changing of swing arm front end
Knife system 30, the second driver element of driving tool changing device rotation;The described central axis swinging during arm swing fill in tool changing
The rotation centerline put, waist rotation member rotates around base body, and large arm rotates around waist rotation member.
In conjunction with Fig. 2 to Fig. 9, described tool changing device includes cutter clamping disk 300, drives the driving machine of cutter clamping disc spins
Structure 60;Described drive mechanism includes rotary components 61, latch components 62, drive component 63.Described rotary components include rotating seat
611st, fixation is set in brake disc 612 and the 6th gear 613 of rotating seat periphery;Described cutter clamping disk is fixedly connected rotation
Seat.Described latch components include the basal disc 621 being fixedly installed in housing, a pair of the brake(-holder) block 622 being arranged on basal disc, slide
It is arranged on the solution lock slide 623 on basal disc;The pair of brake(-holder) block is symmetrical set the periphery in brake disc, a pair of brake(-holder) block
One end is hinged and other end elastic connection;On basal disc, solution lock slide is provided with translatable described solution lock slide elastic connection
Enter a pair of brake(-holder) block elastic connection one end to open the wedge 624 of a pair of brake(-holder) block.Described drive component includes being filled by driving
Put the annulus 631 driving and rotating, the centrage of annulus rotation deviates the centrage of rotating seat rotation, the medial wall of annulus sets
With teeth section 632 and unlocked state 633, tooth Duan Keyu the 6th gear engages;When unlocked state starts to promote solution lock slide to basal disc
During center translation, the 6th gear starts to engage with tooth section.
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;On housing, capping has cover plate 64, and described drive mechanism 60 is arranged in housing, and the rotating seat 611 in drive mechanism passes through lid
Plate, cutter clamping disk 300 is located 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 of locating rod 614, described cutter clamping disk 300 is fixedly connected rotating seat by a pair of locating rod.
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 to be located in annulus 631 and be located 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 and the second brake(-holder) block being located at right side positioned at left 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 is passed through with the right-hand member of the second brake(-holder) block
First coil tension spring elasticity 6221 connection;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 located in 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, described solution lock slide 623 is provided with a pair of alignment pin 627, and a pair fixed
It is arranged on solution lock slide before and after position pin and wedge 624;The pair of alignment pin includes the first positioning being symmetrical set
Pin and the second alignment pin, the right-hand member of described first brake(-holder) block is provided with the first location hole 6222, and the right-hand member of the second brake(-holder) block is provided with the
Two location holes, under the elastic force of the first coil tension spring 6221, when the first fore-set and the second fore-set offset, the solution lock slide of translation
On the first alignment pin and the second alignment pin can correspondingly insert the first location hole and second positioning in the hole.
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, in drive component 63, described annulus 631 is articulated in housing 52, described driving means bag
Include the 7th gear 636 that the ring gear 635 that is set on annulus medial wall of fixation engaged with ring gear to couple and pacify with the 7th gear
It is contained in the 3rd motor in housing.
Above-mentioned tool changing device 30, in drive component 63, described unlocked state 633 includes being fixed on annulus 631 medial wall
Radial direction in projection 637, be fixed on projection in radially and point to the radial bars 638 in the annulus center of circle, be articulated in radial direction boom end
Eighth gear 639;Described wedge 624 opens up a groove, fixes one section of arc-shaped gear that can engage with eighth gear in groove
Bar 6230, the center of circle of arc-shaped rack is located on the centrage of annulus.
As Fig. 2, the front end of described forearm 24 opens up a spill gap, and described swing arm 80 is articulated in spill gap.Institute
State the first transmission list of the first motor, connection the first motor and the swing arm that the first driver element includes being arranged on forearm 24
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 the 4th gear 84 that is coaxially disposed 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 is provided with the output shaft of described first motor, first gear and the
Two gear engagements, the 3rd gear is engaged with the 4th gear, and the first synchronous pulley is coupled with the second synchronous pulley by Timing Belt 88,
3rd axle is fixedly connected with swing arm.Described second driver element includes installing the second motor on a swing arm, the second transmission
Unit;Described second gear unit includes the rotation being connected with the decelerator of the second motor output shaft connection with decelerator outfan
Rotating disk 89, tool changing device 30 is installed on the rotating pan.
In conjunction with Fig. 1, Figure 10, Figure 11, described base body 10 is provided with symmetrical first level guide rail 11 and the second water
Level gauge 12, first level guide rail is sliding combined with first level slide block 13, the second horizontal guide rail is sliding combined with second
Cross sliding clock 14, described waist rotation member 21 horizontal cross setting, the left and right two ends of waist rotation member are cylindrical, a left side for waist rotation member
End is articulated in first level slide block, 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 of support plate 701 that brake structure includes being fixed on base body,
Brake rotary components 72, one end and brake rotation that the brake lever 71 that is articulated on a pair of support plate, one end are fixedly connected with brake lever
Turn the hinged brake coupling assembly 73 of the assembly other end lever assembly 74 hinged with the brake coupling assembly other end, lever group
The middle part of part is hinged on support plate, and the cross section of described brake lever is in regular hexagon;Described second cross sliding clock 14 is provided with system
Dynamic plate 140, keep plate is connected by spring with the second cross sliding clock, and keep plate is located 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 is fixedly connected with brake lever 71 and
The brake swingle 722 that brake rotating seat is fixedly connected;Described brake coupling assembly 73 includes the hinged with the swingle that brakes
The first brake connecting rod 731 that two brake connecting rods 732 are fixedly connected with the second brake connecting rod;Described lever assembly 74 wraps
Include the brake liner plate 742 that the brake bearing 741 hinged with first brake connecting rod is fixedly 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
A pair second support plates, the second brake lever being articulated on a pair second support plates, one end be fixedly connected with the second brake lever second
Brake rotary components, one end second brake coupling assembly hinged with the second brake rotary components other end and the second brake are even
The second hinged lever assembly of the connected components other end, 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 in regular hexagon;Described first level slide block 13 is provided with the second keep plate 130, the second keep plate and first
Cross sliding clock is connected by second spring, and the second keep plate is located 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
There is lever 77, the middle part of lever opens up the bar shaped chute being slidably matched with the 3rd sliding pin, in the left end of lever and brake structure 70
Lever assembly 74 hinged, the right-hand member of lever is hinged with the second lever assembly in the second brake structure 700.
In conjunction with Fig. 1, Figure 12, Figure 13, described waist rotation member 21 is provided with large arm brake structure 90, described large arm brake structure
Including the annular solid 921 being fixedly installed on waist rotation member, a pair of the brake hoop 922 being arranged on annular solid, it is slidably arranged in
The second solution lock slide 923 on annular solid;Second brake disc 912 is fixed with described large arm, a pair of brake hoop is symmetrical to be set
Put the periphery in the second brake disc, one end of a pair of brake hoop is hinged and other end elastic connection;Described second solution lock slide bullet
Property be connected on annular solid, second solution lock slide be provided with translatable enter a pair of brake hoop elastic connection one end to open a pair of system
Second wedge 924 of rotating ring.
In large arm brake structure 90, described annular solid is fixed on waist rotation member by support block 925;Support block is provided with
Second swivel pin;The second brake hoop that the pair of brake hoop includes the first brake hoop positioned at left side and is located at right side, first
The left end of the left end of brake hoop and the second brake hoop is hinged on the second swivel pin, the right-hand member of the first brake hoop and the second brake hoop
Right-hand member pass through the 3rd coil tension spring elasticity 9221 connection;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 located at the 3rd flexible 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
Disk 912.
In large arm brake structure 90, described second solution lock slide is provided with a pair of alignment pin 927, a pair of 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 positioning being symmetrical set
Bearing pin and the second alignment pin, the right-hand member of described first brake hoop is provided with the 3rd location hole 9222, and the right-hand member of the second brake hoop sets
There is the 4th location hole, 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 on slide block and the second alignment pin can correspondingly insert the 3rd location hole and the 4th positioning in the hole.
In large arm brake structure 90, described annular solid is provided with the second setting block 928, and the second setting block is provided with the 4th and stretches
Contracting spring 9281, one end of the 4th coil tension spring connects the second setting block, and the other end of the 4th coil tension spring connects the second unblock
Slide block.
In practical operation, a kind of workflow of the operating robot of automatic tool changer of the present invention is as follows:
First, operative doctor holds manipulation handss 23, rotation 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 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 drive annulus 631 to rotate, and annulus drives thereon
Tooth section 632 and unlocked state 633 rotate.When the unlocked state 633 being fixedly installed comes into contact with and promotes the solution of setting of sliding
Center translation from lock slide 623 to basal disc 621 when, the wedge 624 on solution lock slide travels in a pair of brake(-holder) block 622 elasticity even
To open a pair of brake(-holder) block, so, rotating seat 611 is changed by the initial state by a pair of brake(-holder) block frictional damping for the one end connecing
For rotatable state.No longer brake rotating seat 611 with a pair of brake(-holder) block 622 synchronously, the tooth on annulus 631 medial wall
Section 632, that is, one section of tooth on annulus medial wall, starts to engage with the 6th gear 613, and drives the 6th gear and the company of being secured to
The rotating seat 611 connecing rotates, and rotating seat drives cutter clamping disk 300 to rotate;When rotating seat 611 rotated ninety degrees, tooth section 632
Disengage with the 6th gear 613, meanwhile, unlocked state 633 is disengaged with solution lock slide 623, and so, elastic connection is in base
Solution lock slide 623 on disk 621 resets, and wedge 624 leaves one end of a pair of brake(-holder) block 622 elastic connection and resets, a pair
One end of brake(-holder) block elastic connection resets, a pair of brake(-holder) block frictional damping brake disc 612 again, and then brakes rotating seat 611.Extremely
This, cutter clamping disk 300 horizontally rotates predetermined angular with the rotation of rotating seat 611.Clamping is in the handss of cutter clamping disk 300
Art instrument rotates with certain angle, operative doctor need to operation tool be in operating position.
4th, make in the swing of swing arm 80, the rotation of the rotation of whole tool changing device 30, large arm 22 and waist rotation member 21
With under, operative doctor is operated to sufferer.
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, all will change in specific embodiments and applications, this specification content should not be construed as to this
Bright restriction.
Claims (10)
1. a kind of operating robot of automatic tool changer, including base body (10), the waist rotation member (21) that is articulated on base body, pivot
The large arm (22) being connected on waist rotation member, the manipulator (23) being arranged in large arm, the forearm (24) being fixed in large arm, pivot joint
Swing arm (80) in forearm front end, driving swing the first driver element of arm swing, are arranged on the tool changing dress of swing arm front end
Put (30), the second driver element of driving tool changing device rotation;The described central axis swinging during arm swing are in tool changing device
Rotation centerline, waist rotation member around base body rotate, large arm around waist rotation member rotate;It is characterized in that:
Described tool changing device includes cutter clamping disk (300), drives the drive mechanism (60) of cutter clamping disc spins;Described driving
Mechanism includes rotary components (61), latch components (62), drive component (63);
Described rotary components include rotating seat (611), fixation is set in the peripheral brake disc (612) of rotating seat and the 6th gear
(613);Described cutter clamping disk is fixedly connected rotating seat;
Described latch components include the basal disc (621) being fixedly installed in housing, a pair of brake(-holder) block being arranged on basal disc
(622), it is slidably arranged in the solution lock slide (623) on basal disc;The pair of brake(-holder) block is symmetrical set outer in brake disc
Enclose, one end of a pair of brake(-holder) block is hinged and other end elastic connection;Described solution lock slide elastic connection, on basal disc, solves lock slide
Be provided with translatable enter a pair of brake(-holder) block elastic connection one end to open the wedge (624) of a pair of brake(-holder) block;
Described drive component includes the annulus (631) being driven and being rotated by driving means, and the centrage of annulus rotation deviates rotation
The centrage of seat rotation, the medial wall of annulus is provided with tooth section (632) and unlocked state (633), and tooth Duan Keyu the 6th gear is nibbled
Close;When unlocked state starts to promote solution lock slide to basal disc center translation, the 6th gear starts to engage with tooth section.
2. as claimed in claim 1 a kind of operating robot of automatic tool changer 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;On housing, capping has cover plate (64), and described drive mechanism (60) is arranged in housing, the rotating seat in drive mechanism
(611) pass through cover plate, cutter clamping disk (300) is located at outside housing.
3. as claimed in claim 1 a kind of operating robot of automatic tool changer it is characterised in that: in rotary components (61), institute
State rotating seat (611) to be articulated on basal disc (621), rotating seat is provided with a pair of locating rod (614), described cutter clamping disk
(300) rotating seat is fixedly connected by a pair of locating rod.
4. as claimed in claim 1 a kind of operating robot of automatic tool changer it is characterised in that: in latch components (62), institute
State basal disc (621) to be fixed in housing (52) by support column (625), described support column is located in annulus (631) and is located at rotation
The side of swivel base (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
The second brake(-holder) block that moving plate (622) includes the first brake(-holder) block positioned at left side and is located at 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 right-hand member of the first brake(-holder) block and the second brake(-holder) block is by the first flexible bullet
Spring elasticity (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 located in the first coil tension spring;Described first brake(-holder) block
The equal semicircular in shape with the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc (612);
In latch components (62), described solution lock slide (623) is provided with a pair of alignment pin (627), a pair of alignment pin and wedge
(624) it is arranged on before and after on solution lock slide;The pair of alignment pin includes the first alignment pin being symmetrical set and second to be determined
Position pin, the right-hand member of described first brake(-holder) block is provided with the first location hole (6222), and the right-hand member of the second brake(-holder) block is provided with the second location hole,
Under the elastic force of the first coil tension spring (6221), when the first fore-set and the second fore-set offset, on the solution lock slide of translation the
One alignment pin and the second alignment pin can correspondingly insert the first location hole and the second positioning in the hole;
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 setting block, and the other end of the second coil tension spring connects solution lock slide (623).
5. as claimed in claim 1 a kind of operating robot of automatic tool changer it is characterised in that: in drive component (63), institute
State annulus (631) to be articulated in housing (52), described driving means include the ring gear that fixation is set on annulus medial wall
(635) the 7th gear (636) being engaged with ring gear is coupled with the 7th gear and is arranged on the 3rd motor in housing;
In drive component (63), described unlocked state (633) inclusion is fixed on projection in the radial direction on annulus (631) medial wall
(637), it is fixed on projection in radially and point to the radial bars (638) in the annulus center of circle, be articulated in the octadentate of radial direction boom end
Wheel (639);Described wedge (624) opens up a groove, fixes one section of arc-shaped rack that can engage with eighth gear in groove
(6230), the center of circle of arc-shaped rack is located on the centrage of annulus.
6. as claimed in claim 1 a kind of operating robot of automatic tool changer it is characterised in that: the front end of described forearm (24)
Open up a spill gap, described swing arm (80) is articulated in spill gap;
The first of the first motor, connection the first motor and the swing arm that described first driver element includes being arranged on forearm (24)
Gear unit;Described first gear unit include the second gear (82) 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), it is fixedly mounted on the second synchronous pulley (87) on the 3rd axle;On the output shaft of described first motor, the first tooth is installed
Wheel (81), first gear is engaged with second gear, and the 3rd gear is engaged with the 4th gear, and the first synchronous pulley passes through Timing Belt
(88) couple with the second synchronous pulley, the 3rd axle is fixedly connected with swing arm;
Described second driver element includes installing the second motor on a swing arm, the second gear unit;Described second transmission is single
Unit includes the rotating disk (89) being connected with the decelerator of the second motor output shaft connection, tool changing device with decelerator outfan
(30) install on the rotating pan.
7. as claimed in claim 1 a kind of operating robot of automatic tool changer it is characterised in that: set on described base body (10)
There are symmetrical first level guide rail (11) and the second horizontal guide rail (12), first level guide rail is sliding combined with the first water
Smooth block (13), the second horizontal guide rail is sliding combined with the second cross sliding clock (14), described waist rotation member (21) horizontal cross
Setting, the left and right two ends of waist rotation member are cylindrical, and the left end of waist rotation member is articulated in first level slide block, waist rotation member
Right-hand member is articulated in the second cross sliding clock;Described large arm (22) is vertically arranged, and the bottom of large arm is articulated in the middle part of waist rotation member,
Described manipulator (23) is arranged on the top of large arm, and described forearm (24) is fixed on the middle part of large arm, described swing arm (80) peace
It is contained in the top of forearm.
8. as claimed in claim 7 a kind of operating robot of automatic tool changer it is characterised in that: set on described base body (10)
There is brake structure (70), a pair of support plate (701) that brake structure includes being fixed on base body, be articulated in stopping on a pair of support plate
The brake rotary components (72) that car bar (71), one end are fixedly connected with brake lever, one end are hinged with the brake rotary components other end
Brake coupling assembly (73) and the brake hinged lever assembly (74) of the coupling assembly other end, the middle part of lever assembly is hinged
On support plate, the cross section of described brake lever is in regular hexagon;Described second cross sliding clock (14) is provided with keep plate (140),
Keep plate is connected by spring with the second cross sliding clock, and keep plate is located at the side of waist rotation member (21) right side, described brake
Keep plate is close to by bar;
Described brake rotary components (72) includes the brake rotating seat (721) being fixedly connected with brake lever (71) and brake rotation
The brake swingle (722) that seat is fixedly connected;Described brake coupling assembly (73) includes second hinged with brake swingle and stops
The first brake connecting rod (731) that car connecting rod (732) is fixedly connected with the second brake connecting rod;Described lever assembly (74)
The brake liner plate (742) being fixedly connected with brake bearing including brake bearing (741) hinged with first brake connecting rod, institute
State brake bearing to be hinged on support plate (701).
9. as claimed in claim 8 a kind of operating robot of automatic tool changer it is characterised in that: set on described base body (10)
There is the second brake structure (700), a pair second support plates that the second brake structure includes being fixed on base body (10), be articulated in one
The second brake rotary components that the second brake lever on second support plate, one end are fixedly connected with the second brake lever, one end and the
Two brake the rotary components other ends hinged second brake coupling assembly with second brake the coupling assembly other end hinged second
Lever assembly, the middle part of the second lever assembly is hinged on the second support plate, and the cross section of described second brake lever is in regular hexagon;
Described first level slide block (13) is provided with the second keep plate (130), and the second keep plate passes through the second bullet with first level slide block
Spring connects, and the second keep plate is located at the side of waist rotation member (21) left side, and described second brake lever 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), the 3rd sliding pin is combined with lever
(77), the middle part of lever opens up the bar shaped chute being slidably matched with the 3rd sliding pin, in the left end of lever and brake structure (70)
Lever assembly (74) is hinged, and the right-hand member of lever is hinged with the second lever assembly in the second brake structure (700).
10. as claimed in claim 1 a kind of operating robot of automatic tool changer it is characterised in that: described waist rotation member (21)
It is provided with large arm brake structure (90), annular solid (921) that described large arm brake structure includes being fixedly installed on waist rotation member,
A pair of the brake hoop (922) being arranged on annular solid, the second solution lock slide (923) being slidably arranged on annular solid;Described big
Second brake disc (912) is fixed with arm, a pair of brake hoop is symmetrical set the periphery in the second brake disc, a pair of brake hoop
One end is hinged and other end elastic connection;On annular solid, second solves on lock slide described second solution lock slide elastic connection
Be provided with translatable enter a pair of brake hoop elastic connection one end to open second wedge (924) of a pair of brake hoop;
Described annular solid is fixed on waist rotation member by support block (925);Support block is provided with the second swivel pin;The pair of
Brake hoop includes the first brake hoop and the second brake hoop being located at right side positioned at left 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 right-hand member of the first brake hoop and the second brake hoop is by the 3rd flexible bullet
Spring elasticity (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 located in the 3rd coil tension spring;Described first brake hoop
The equal semicircular in shape with the second brake hoop, the first brake hoop and the second brake hoop surround the second brake disc (912);
Described second solution lock slide is provided with a pair of alignment pin (927), arranges before and after a pair of alignment pin and the second wedge
On the second solution lock slide;The pair of alignment pin includes the first alignment pin being symmetrical set and the second alignment pin
Axle, the right-hand member of described first brake hoop is provided with the 3rd location hole (9222), and the right-hand member of the second brake hoop is provided with the 4th location hole,
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 insert the 3rd location hole and the 4th positioning in the hole;
Described annular solid is provided with the second setting block (928), and the second setting 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.
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