CN106361439B - A kind of operating robot equipped with tool changing device - Google Patents
A kind of operating robot equipped with tool changing device Download PDFInfo
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- CN106361439B CN106361439B CN201610841207.0A CN201610841207A CN106361439B CN 106361439 B CN106361439 B CN 106361439B CN 201610841207 A CN201610841207 A CN 201610841207A CN 106361439 B CN106361439 B CN 106361439B
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- brake
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- holder
- changing device
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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
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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Abstract
The invention discloses a kind of operating robots equipped with tool changing device, including robot body, the swing mechanism on robot body, the tool changing device on swing mechanism.The tool changing device includes cutter clamping disk, drives the driving mechanism of cutter clamping disc spins.In operation, surgical clamping is on cutter clamping disk, under the driving of driving mechanism, cutter clamping disc spins, make need to operation tool be in operating position.Under the turning effort of the swing of swing arm, the rotation of entire tool changing device, large arm and waist rotation member, operative doctor is operated sufferer, to improve working efficiency, reduces the infected risk of sufferer.
Description
Technical field
The present invention relates to medical instruments, in particular to a kind of operating robot equipped with tool changing device.
Background technology
Traditional operation, operative doctor hold surgical knife tool, fixture, other operation tools and are operated to sufferer.
Invention content
Technical problem solved by the invention：In traditional operation, operative doctor holds surgical knife tool, fixture, other operations
Tool is operated sufferer, and labor intensity is big, and working efficiency is low, sufferer susceptible.
In order to solve the above technical problems, the present invention provides the following technical solutions：A kind of surgical machine equipped with tool changing device
People, including base body, be articulated on base body waist rotation member, be articulated on waist rotation member large arm, in large arm
Manipulator, the forearm being fixed in large arm, the swing arm for being articulated in forearm front end, driving swing the first of arm swing and drive list
The second driving unit that member, the tool changing device mounted on swing arm front end, driving tool changing device rotate；When the swing arm swing
Central axis in the rotation centerline of tool changing device, waist rotation member is rotated around base body, and large arm is rotated around waist rotation member.
The tool changing device includes cutter clamping disk, drives the driving mechanism of cutter clamping disc spins；The driving mechanism
Including rotary components, latch components, drive component；It is peripheral that the rotary components include rotating seat, fixation is set in rotating seat
5th gear and the 6th gear；The latch components include the vertical bar for being fixed at rotating seat side, are set in vertical bar
On torsional spring, the horizon bar that is articulated at the top of vertical bar；The top of the torsional spring is fixed on horizon bar, and the bottom end of torsional spring is fixed
In vertical bar, under the torsion of torsional spring, the left end of the horizon bar is against on the 5th gear；The driving component includes by driving
Dynamic device drives and the annulus of rotation, the center line of the center line deviation rotating seat rotation of annulus rotation, on the madial wall of annulus
Equipped with tooth section and radial lugs, tooth section and radial lugs are setting up and down, the engagement of the 6th gears of tooth Duan Keyu, and radial lugs are accessible
The right end of horizon bar simultaneously makes horizon bar swing, and when radial lugs make horizon bar swing, the 6th gear starts to engage with tooth section；Institute
It states cutter clamping disk and is fixedly connected with rotating seat；Rotation centerline of the rotation centerline of the rotating seat perpendicular to tool changing device.
According to the above technical scheme, a kind of operation principle of operating robot equipped with tool changing device of the present invention is as follows：
First, operative doctor hand-held operation hand rotates large arm or waist rotation member, so that the tool changing device on swing arm is in and waits for
At operation.
Second, in tool changing device, the driving device driving annulus rotation in driving mechanism, when radial lugs touch level
When the right end of bar, horizon bar is disengaged around the certain angle of vertical bar horizontal hunting, the left end of horizon bar with the 5th gear,
In this way, rotating seat is in free state not by the lock of latch components；At the same time, the tooth section on annulus madial wall, i.e., it is round
One section of tooth on ring madial wall, starts to engage with the 6th gear, and drives the 6th gear and be secured to the rotating seat rotation of connection
Turn, rotating seat drives cutter clamping disc spins；When rotating seat rotates a certain angle, at such as 90 degree, six gears of tooth Duan Yu
It disengages, meanwhile, the right end of horizon bar is also disengaged with radial lugs, and horizon bar resets under the action of torsional spring, horizontal
The left end of bar is against again on the 5th gear, specifically, the left end of horizon bar is stuck between the tooth of the 5th gear to limit rotation
Swivel base rotates；So far, cutter clamping disk rotates a certain angle with the rotation of rotating seat, hand of the clamping in cutter clamping disk
Art tool rotates with certain angle, operative doctor need to operation tool be in operating position.
Third, under the turning effort of the swing of swing arm, the rotation of entire tool changing device, large arm and waist rotation member, hand
Art doctor is operated sufferer.
Through the above technical solutions, the tool of several operations is equipped on cutter clamping disk, such as cutter, fixture, operation
When doctor need to use corresponding operation tool, tool changing device can automatically replace operation tool, be at operating position, and,
In order to improve the accuracy of operation, the generation of error is avoided, when each tool changing of tool changing device, the angle of cutter clamping disc spins is
Certain, i.e., the angle that the operation tool on cutter clamping disk rotates every time is certain.
As the present invention to a kind of explanation of tool changing device, the tool changing device includes the connection of installation on a swing arm
Arm, the shell of setting on the connecting arm, the driving mechanism are mounted in shell, and the cutter clamping disk is fixed with rotating seat to be connected
It connects.As described above, the second driving unit is drivingly connected arm rotation, and linking arm drives entire tool changing device rotation.
As the present invention to a kind of explanation of tool changing device, in rotary components, the rotating seat is articulated in the base in shell
On disk, the basal disc is fixed in shell, and rotating seat is equipped with a pair of of locating rod, and the cutter clamping disk is fixed on a pair
In locating rod；Vertical bar in the latch components is fixed on basal disc, and the 5th gear and the 6th gear are located at the both sides of basal disc；
The basal disc is fixed on by support column in shell, and the support column is located at the side in annulus and positioned at rotating seat.
As the present invention to a kind of explanation of tool changing device, in drive component, the annulus is articulated in shell, the drive
Dynamic device include the fixed ring gear being set on annulus lateral wall, the 7th gear engaged with ring gear, couple with the 7th gear and
Third motor in shell.As described above, third motor drives the rotation of the 7th gear, the 7th gear to pass through sliding tooth
Ring and drive annulus to rotate.
As the present invention to a kind of explanation of swing arm, the front end of the forearm opens up a spill gap, the swing arm
It is articulated in spill gap.First driving unit includes the first motor being mounted on forearm, connection first motor and pendulum
First gear unit of swing arm；First gear unit includes the second gear and third for being articulated on forearm and being coaxially disposed
Gear is articulated on forearm and the 4th gear being coaxially disposed and the first synchronous pulley, the third axis being articulated on forearm, fixation
The second synchronous pulley on third axis；First gear is installed on the output shaft of the first motor, first gear with
Second gear engages, and third gear is engaged with the 4th gear, and the first synchronous pulley is coupled by synchronous belt with the second synchronous pulley,
Third axis is fixedly connected with swing arm.Second driving unit includes installation the second motor on a swing arm, the second transmission
Unit；Second gear unit includes the retarder coupled with the second motor output shaft, the rotation being connect with retarder output end
Turntable, tool changing device are installed on the rotating pan.
As the present invention to a kind of explanation of base body, the base body be equipped with symmetrical first level guide rail and
Second horizontal guide rail is sliding combined with first level sliding block on first level guide rail, is sliding combined on the second horizontal guide rail
Two horizontal sliders, the waist rotation member horizontal cross setting, the left and right ends of waist rotation member are cylindrical, the left end of waist rotation member
It is articulated in first level sliding block, the right end of waist rotation member is articulated in the second horizontal slider；The large arm is vertically arranged, large arm
Bottom end be articulated in the middle part of waist rotation member, the manipulator is mounted on the top of large arm, and the forearm is fixed in large arm
Portion, the swing arm are mounted on the top of forearm.As described above, waist rotation member can be led along first level guide rail and the second level
Rail moves, 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 spring, and brake plate is located at waist rotation member right side
Side, the brake lever are close to brake plate.As described above, one end of operative doctor presses lever component, lever assembly surround
Itself and support plate hinged place tilting, lever assembly drive brake rotary components to rotate by the connection component that brakes, and brake rotary components
Driving brake bar rotates, and the crest line of brake lever is against towards a left side on brake plate, and it is right to be against waist rotation member in turn, on the left of brake plate
On end face, waist rotation member is braked；When the other end of staff's presses lever component makes lever assembly reset, thick stick
Bar assembly drives brake rotary components to reversely rotate by the connection component that brakes, and brake rotary components driving brake bar reversely revolves
Turn, the crest line of brake lever leaves brake plate and no longer brake plate driven to be moved to the left and brake waist rotation member.
In above-mentioned brake structure, the brake rotary components include the brake rotating seat being fixedly connected with brake lever and stop
The brake swingle that vehicle rotating seat is fixedly connected；The brake connection component includes that second brake hinged with brake swingle connects
Extension bar, the first brake connecting rod being fixedly connected with the second brake connecting rod；The lever assembly includes 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 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 brake plate；
The base body is equipped with upright bar, and the top of upright bar is equipped with third sliding pin, is combined with lever on third sliding pin, is opened in the middle part of lever
If the bar shaped sliding slot being slidably matched with third sliding pin, the lever assembly in the left end and brake structure of lever is hinged, the right side of lever
End and the second lever assembly in the second brake structure are hinged.As described above, brake structure and the second brake structure or so pair
Claim setting, the structure and function of the two is identical, and in operation, operative doctor presses lever assembly, you can drive second by lever
Lever assembly links, and similarly, operative doctor presses the second lever assembly, you can is linked by lever activation lever component.Linkage
Brake structure and the second brake structure simultaneously the right end and left end of waist rotation member are braked.
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 annular solid being fixed on waist rotation member, a pair on annular solid
Brake(-holder) block, the solution lock slide being slidably arranged on annular solid；Brake disc is fixed in the large arm, a pair of of brake(-holder) block is symmetrical
It is arranged in the periphery of brake disc, one end of a pair of of brake(-holder) block is hinged and other end elastic connection；The solution lock slide elastic connection
On annular solid, 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 shape of a pair of of brake(-holder) block
Block.As described above, in operation, four finger grippings in operative doctor proficiency live in manipulator, and residue one refers to pressable wedge block, pushes away
Dynamic solution center translation of the lock slide to annular solid, wedge block travel in one end of a pair of of brake(-holder) block elastic connection to open a pair of of system
Movable plate, in this way, 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 annular solid is fixed on by supporting block on waist rotation member；The supporting block
It is equipped with swivel pin；The pair of brake(-holder) block includes the second brake(-holder) block positioned at first brake(-holder) block in left side and positioned at right side, the
The left end of the left end of one brake(-holder) block and the second brake(-holder) block is hinged on swivel pin, the right end of the first brake(-holder) block and the second brake(-holder) block
Right 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 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.By above stating
Bright, the first adjustable spring has and makes the trend that the first brake(-holder) block and the second brake(-holder) block close up, and the first fore-set and the second fore-set
Setting then has 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 operative doctor push solution lock slide to
When the center translation of annular solid, the first positioning pin and the second positioning pin are detached from first positioning hole and second location hole, meanwhile, wedge shape
Block stretches between the first brake(-holder) block right end and the second brake(-holder) block right end, and is opened；After operative doctor discharges solution lock slide,
Lock slide is solved to reset, wedge block leaves the first brake(-holder) block right end and the second brake(-holder) block right end, meanwhile, the first positioning pin and second is determined
Position 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 annular solid, which is equipped with, erects block, erects block and is equipped with the second adjustable spring,
Block, the other end connection solution lock slide of the second adjustable spring are erect in one end connection of second adjustable spring.
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 tool changing device of the present invention；
Fig. 2 is the combining structure schematic diagram of forearm 24, swing arm 80, tool changing device 30 in Fig. 1；
Fig. 3 is that tool changing device 30 conceals the structural schematic diagram after cutter clamping disk 300 in Fig. 2；
Fig. 4 is the structural schematic diagram of driving mechanism 60 in Fig. 3；
Fig. 5 is the combining structure schematic diagram of rotary components 61 and latch components 62 in Fig. 4；
Fig. 6 is the structural schematic diagram of drive component 63 in Fig. 4.
Fig. 7 is the combining structure schematic diagram of brake structure 70, the second brake structure 700 in Fig. 1；
Fig. 8 is the structural schematic diagram of brake structure 70 in Fig. 7；
Fig. 9 is the structural schematic diagram of large arm brake structure 90 in Fig. 1；
Figure 10 is the structural schematic diagram that lock slide 923 is solved in Fig. 9.
Symbol description in figure：
10, base body；11, first level guide rail；12, the second horizontal guide rail；13, first level sliding block；130, the second system
Movable plate；14, the second horizontal slider；140, brake plate；
21, waist rotation member；22, large arm；23, manipulator；24, forearm；
30, tool changing device；300, cutter clamping disk；
51, linking arm；52, shell；520, basal disc；521, support column；
60, driving mechanism；61, rotary components；611, rotating seat；612, the 5th gear；613, the 6th gear；614, it positions
Bar；62, latch components；621, vertical bar；622, horizon bar；63, drive component；631, annulus；632, tooth section；633, radial convex
Portion；634, ring gear；635, the 7th gear；
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；
80, swing arm；81, first gear；82, second gear；84, the 4th gear；85, the first synchronous pulley；86, third
Axis；87, the second synchronous pulley；88, synchronous belt；89, rotating disk；
90, large arm brake structure；912, brake disc；921, annular solid；922, brake(-holder) block；9221, the first adjustable spring；
9222, location hole；923, lock slide is solved；924, wedge block；925, supporting block；927, positioning pin；928, block is erect；9281,
Two adjustable springs.
Specific implementation mode
Such as Fig. 1, a kind of operating robot equipped with tool changing device, including base body 10, the waist that is articulated on base body turn
Component 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,
It is articulated in the swing arm 80 of forearm front end, driving swings the first driving unit of arm swing, the tool changing mounted on swing arm front end
The second driving unit that device 30, driving tool changing device rotate；Central axis when the swing arm swing is in tool changing device
Rotation centerline, waist rotation member around base body rotate, large arm around waist rotation member rotate.
In conjunction with Fig. 2 to Fig. 6, the tool changing device includes cutter clamping disk 300, drives the driving machine of cutter clamping disc spins
Structure 60；The driving mechanism includes rotary components 61, latch components 62, drive component 63；The rotary components include rotating seat
611, fixed the 5th gear 612 and the 6th gear 613 for being set in rotating seat periphery；The latch components include being fixed at
The vertical bar 621 of rotating seat side, the torsional spring being set in vertical bar, the horizon bar 622 being articulated at the top of vertical bar；The torsion
The top of spring is fixed on horizon bar, and the bottom end of torsional spring is fixed in vertical bar, under the torsion of torsional spring, a left side for the horizon bar
End is against on the 5th gear；The driving component includes the annulus 631 for being driven by driving device and being rotated, the center of annulus rotation
Line deviates the center line of rotating seat rotation, and the madial wall of annulus is equipped with tooth section 632 and radial lugs 633, tooth section and radial convex
Portion is setting up and down, and the 6th gears of tooth Duan Keyu engagement, radial lugs can contact the right end of horizon bar and horizon bar is made to swing, and work as diameter
When so that horizon bar is swung to protrusion, the 6th gear starts to engage with tooth section；The cutter clamping disk is fixedly connected with rotating seat.
The tool changing device 30 includes the linking arm 51 being mounted on swing arm 80, setting shell 52 on the connecting arm,
The driving mechanism 60 is mounted in shell, and the cutter clamping disk 300 is fixedly connected with rotating seat 611.
In the rotary components 61 of tool changing device 30, the rotating seat is articulated on the basal disc 520 in shell 52, the basal disc
It is fixed in shell, rotating seat is equipped with a pair of of locating rod 614, and the cutter clamping disk 300 is fixed on a pair of of locating rod
On；Vertical bar 621 in the latch components 62 is fixed on basal disc, and the 5th gear 612 and the 6th gear 613 are located at basal disc
Both sides.The basal disc 520 is fixed on by support column 521 in shell 52, and the support column is located in annulus 631 and positioned at rotation
The side of seat 611.
In the drive component 63 of tool changing device 30, the annulus 631 is articulated in shell 52, and the driving device includes solid
Surely the ring gear 634 that is set on annulus lateral wall, the 7th gear 635 engaged with ring gear couple and are mounted on the 7th gear
Third motor in shell.
If the front end of Fig. 2, the forearm 24 open up a spill gap, the swing arm 80 is articulated in spill gap.Institute
State the first transmission list that the first driving unit includes the first motor being mounted on forearm 24, connection first motor and swing arm
Member；First gear unit include be articulated on forearm and be coaxially disposed second gear 82 and third gear, be articulated in it is small
On arm and coaxial arrangement the 4th gear 84 and the first synchronous pulley 85, be articulated on forearm third axis 86, be fixedly mounted on
The second synchronous pulley 87 on third axis；First gear 81 is installed, first gear and the on the output shaft of the first motor
Two gears engage, and third gear is engaged with the 4th gear, and the first synchronous pulley is coupled by synchronous belt 88 with the second synchronous pulley,
Third axis is fixedly connected with swing arm.Second driving unit includes installation the second motor on a swing arm, the second transmission
Unit；Second gear unit includes the retarder coupled with the second motor output shaft, the rotation being connect with retarder output end
Turntable 89, tool changing device 30 are installed on the rotating pan.
In conjunction with Fig. 7, Fig. 8, the base body 10 is equipped with 11 and second horizontal guide rail of symmetrical first level guide rail
12, first level sliding block 13 is sliding combined on first level guide rail, and it is horizontal sliding that second is sliding combined on the second horizontal guide rail
Block 14,21 horizontal cross of the waist rotation member setting, the left and right ends of waist rotation member are cylindrical, the left end pivot joint of waist rotation member
In first level sliding block, the right end of waist rotation member is articulated in the second horizontal slider；The large arm 22 is vertically arranged, large arm
Bottom end is articulated in the middle part of waist rotation member, and the manipulator 23 is mounted on the top of large arm, and the forearm 24 is fixed on large arm
Middle part, the swing arm 80 are mounted on the top of forearm.
Above-mentioned base body 10 be equipped with brake structure 70, brake structure include a pair of of the support plate 701 being fixed on base body,
Brake rotary components 72 that the brake lever 71 that is articulated on a pair of of support plate, one end are fixedly connected with brake lever, one end are revolved with brake
Turn the hinged brake connection component 73 of the component other end, the lever assembly 74 hinged with the brake connection component other end, lever group
It is hinged on support plate in the middle part of part, the cross section of the brake lever is in regular hexagon；Second horizontal slider 14 is equipped with system
Movable plate 140, brake plate are connect with the second horizontal slider by spring, and brake plate is located at the side of 21 right side of waist rotation member, institute
It states brake lever and is close to brake plate.The brake rotary components 72 include the brake rotating seat 721 being fixedly connected with brake lever 71, with
The brake swingle 722 that brake rotating seat is fixedly connected；The brake connection component 73 includes hinged with brake swingle the
Two brake connecting rods 732, the first brake connecting rod 731 being fixedly connected with the second brake connecting rod；The lever assembly 74 wraps
The brake liner plate 742 for including the brake bearing 741 hinged with first brake connecting rod, being fixedly connected with brake bearing, the brake
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 second spring, and the second brake plate is located at the side of 21 left side of waist rotation member, second brake lever
It is close to the second brake plate.The base body is equipped with upright bar 75, and the top of upright bar is equipped with third sliding pin 76, coordinates on third sliding pin
Have lever 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 it is hinged, the second lever assembly in the right end of lever and the second brake structure 700 is hinged.
In conjunction with Fig. 1, Fig. 9, Figure 10, the waist rotation member 21 is equipped with large arm brake structure 90, the large arm brake structure
Including be fixed on waist rotation member annular solid 921, a pair of of brake(-holder) block 922 on annular solid, be slidably arranged in
Solution lock slide 923 on annular solid；Brake disc is fixed in the large arm, a pair of of brake(-holder) block is symmetrical set in brake disc
One end of periphery, a pair of of brake(-holder) block is hinged and other end elastic connection；The solution lock slide elastic connection is on annular solid, unlock
Sliding block be equipped with 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 large arm brake structure 90, the annular solid is fixed on by supporting block 925 on waist rotation member；Supporting block is equipped with
Swivel pin；The pair of brake(-holder) block includes the second brake(-holder) block positioned at first brake(-holder) block in left side and positioned at right side, the first braking
The left end of the left end of piece and the second brake(-holder) block is hinged on swivel pin, and the right end of the first brake(-holder) block and the right end of the second brake(-holder) block are logical
Cross 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 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 912.
In 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 with before wedge block
After be arranged solution lock slide on；The pair of positioning pin includes the first positioning pin and the second positioning pin being symmetrical set, institute
The right end for stating the first brake(-holder) block is equipped with first positioning hole 9222, and the right end of the second brake(-holder) block is equipped with second location hole, is stretched first
Under the elastic force of contracting 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
Positioning pin can be correspondingly inserted into first positioning hole and second location hole.
In large arm brake structure 90, the annular solid, 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 operating robot equipped with tool changing device of the present invention is as follows：
First, operative doctor hand-held operation hand 23 rotates large arm 22 or waist rotation member 21, or makes waist rotation member 21 along the
One horizontal guide rail 11 and the translation of the second horizontal guide rail 12, make the tool changing device 30 on swing arm 80 is close to wait at operation.
Second, under the driving of the first driving unit, the swing of swing arm 80 can drive tool changing device 30 thereon to swing,
Under the driving of the second driving unit, tool changing device 30 is rotatable.
Third, in tool changing device 30, the driving device driving annulus rotation in driving mechanism 60, when radial lugs 633 connect
When contacting the right end of horizon bar 622, horizon bar is around the certain angle of 621 horizontal hunting of vertical bar, the left end of horizon bar and the
Five gears 612 disengage, in this way, rotating seat 611 is in free state not by the lock of latch components 62；At the same time,
Tooth section 632 on 631 madial wall of annulus, i.e., one section of tooth on annulus madial wall, starts to engage, and drive with the 6th gear 613
6th gear 612 and the rotating seat 611 for being secured to connection rotate, and rotating seat drives cutter clamping disk 300 to rotate；Work as rotating seat
When 611 rotation predetermined angular, tooth section 632 is disengaged with the 6th gear 613, meanwhile, the right end of horizon bar 622 also with radial convex
Portion 633 disengages, and horizon bar resets under the action of torsional spring, and the left end of horizon bar is against again on the 5th gear 612, specifically
For, the left end of horizon bar is stuck between the tooth of the 5th gear to limit the rotation of rotating seat 611；So far, cutter clamping disk with
The rotation of rotating seat 611 and rotate horizontally predetermined angular.Clamping rotates with certain in the operation tool of cutter clamping disk 300
Angle, operative doctor need to operation tool be in operating position.
4th, make in the rotation of the swing of swing arm 80, the rotation of entire tool changing device 30, large arm 22 and waist rotation member 21
Under, operative doctor is operated sufferer.
The above content is only 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 (7)
1. a kind of operating robot equipped with tool changing device, including base body (10), the waist rotation member that is articulated on base body
(21), the large arm (22) that is articulated on waist rotation member, in large arm manipulator (23), the forearm that is fixed in large arm
(24), it is articulated in the swing arm (80) of forearm front end, driving swings the first driving unit of arm swing, is mounted on swing arm front end
Tool changing device (30), driving tool changing device rotation the second driving unit；It is described swing arm swing when central axis in
The rotation centerline of tool changing device, waist rotation member are rotated around base body, and large arm is rotated around waist rotation member；It is characterized in that：
The tool changing device includes cutter clamping disk (300), drives the driving mechanism (60) of cutter clamping disc spins；The driving
Mechanism includes rotary components (61), latch components (62), drive component (63)；The rotary components include rotating seat (611), consolidate
Surely the 5th gear (612) and the 6th gear (613) of rotating seat periphery are set in；The latch components include being fixed at rotation
The vertical bar (621) of swivel base side, the torsional spring being set in vertical bar, the horizon bar (622) being articulated at the top of vertical bar；It is described
The top of torsional spring is fixed on horizon bar, and the bottom end of torsional spring is fixed in vertical bar, under the torsion of torsional spring, the horizon bar
Left end is against on the 5th gear；The driving component includes the annulus (631) for being driven by driving device and being rotated, annulus rotation
Center line deviates the center line of rotating seat rotation, and the madial wall of annulus is equipped with tooth section (632) and radial lugs (633), tooth section
Setting up and down with radial lugs, tooth section can be engaged with the 6th gear, and radial lugs are capable of the right end of exposure level bar and make water
Flat bar is swung, and when radial lugs make horizon bar swing, the 6th gear starts to engage with tooth section；The cutter clamping disk, which is fixed, to be connected
Connect rotating seat；
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 swing arm (80) be mounted on forearm top；
The base body (10) is equipped with first brake structure (70), and first brake structure includes a pair being fixed on base body
First support plate (701), the first brake bar (71) being articulated on a pair of first support plate, one end are fixedly connected with first brake bar
First brake rotary components (72), one end and the hinged first brake connection component (73) of the first brake rotary components other end,
First lever assembly (74) hinged with the first brake connection component other end is hinged on first in the middle part of the first lever assembly
On plate, the cross section of the first brake bar is in regular hexagon；Second horizontal slider (14) is equipped with the first brake plate
(140), the first brake plate is connect with the second horizontal slider by the first spring, and the first brake plate is located at waist rotation member (21) right end
The side in face, the first brake bar are close to the first brake plate；
The first brake rotary components (72) include the brake rotating seat (721) being fixedly connected with first brake bar (71), with
The brake swingle (722) that brake rotating seat is fixedly connected；The first brake connection component (73) include and brake swingle
The first brake connecting rod (731) that hinged second 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).
2. a kind of operating robot equipped with tool changing device as described in claim 1, it is characterised in that：The tool changing device
(30) include the linking arm (51) being mounted on swing arm (80), the shell (52) of setting on the connecting arm, the driving mechanism
(60) it is mounted in shell.
3. a kind of operating robot equipped with tool changing device as claimed in claim 2, it is characterised in that：Tool changing device (30)
In rotary components (61), the rotating seat is articulated on the basal disc (520) in shell (52), and the basal disc is fixed at shell
Interior, rotating seat is equipped with a pair of of locating rod (614), and the cutter clamping disk (300) is fixed in a pair of of locating rod；The lock
Vertical bar (621) in component (62) is fixed on basal disc, and the 5th gear (612) and the 6th gear (613) are located at the two of basal disc
Side；
The basal disc (520) is fixed on by support column (521) in shell (52), the support column be located at annulus (631) it is interior and
Side positioned at rotating seat (611).
4. a kind of operating robot equipped with tool changing device as described in claim 1, it is characterised in that：Tool changing device (30)
In drive component (63), the annulus (631) is articulated in shell (52), and the driving device includes that fixation is set in outside annulus
Ring gear (634) on side wall, the 7th gear (635) engaged with ring gear couple with the 7th gear and the in shell
Three motors.
5. a kind of operating robot equipped with tool changing device as described in claim 1, it is characterised in that：The forearm (24)
Front end opens up a spill gap, and the swing arm (80) is articulated in spill gap；
First driving unit includes the first motor being mounted on forearm (24), couples the first of first motor and swing arm
Gear unit；First gear unit include be articulated on forearm and be coaxially disposed second gear (82) and third gear,
It is articulated in the 4th gear (84) and the first synchronous pulley (85) that on forearm and are coaxially disposed, the third axis being articulated on forearm
(86), the second synchronous pulley (87) being fixedly mounted on third axis；First tooth is installed on the output shaft of the first motor
It takes turns (81), first gear is engaged with second gear, and third gear is engaged with the 4th gear, and the first synchronous pulley passes through synchronous belt
(88) couple with the second synchronous pulley, third axis is fixedly connected with swing arm；
Second driving unit includes the second motor, the second gear unit of installation on a swing arm；Second transmission is single
Member includes the retarder coupled with the second motor output shaft, the rotating disk (89) being connect with retarder output end, tool changing device
(30) it installs on the rotating pan.
6. a kind of operating robot equipped with tool changing device as described in claim 1, it is characterised in that：The base body (10)
It is equipped with the second brake structure (700), the second brake structure includes the second support plate of a pair being fixed on base body (10), pivot joint
What the second brake lever, one end on a pair of second support plate were fixedly connected with the second brake lever second brakes rotary components, one end
The second hinged brake connection component and the second brake connection component other end are hinged with the second brake rotary components other end
Second lever assembly is hinged on the second support plate in the middle part of the second lever assembly, and the cross section of second brake lever is in positive six
Side shape；The first level sliding block (13) is equipped with the second brake plate (130), and the second brake plate and first level sliding block pass through the
Two springs connect, and the second brake plate is located at the side of waist rotation member (21) left side, and second brake lever is close to the second braking
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.
7. a kind of operating robot equipped with tool changing device 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 annular solid being fixed on waist rotation member
(921), a pair of of brake(-holder) block (922) on annular solid, the solution lock slide (923) being slidably arranged on annular solid；It is described
Brake disc is fixed in large arm, a pair of of brake(-holder) block is symmetrical set in the periphery of brake disc, and one end of a pair of of brake(-holder) block is hinged
And other end elastic connection；For the solution lock slide elastic connection on annular solid, solution lock slide, which is equipped with, can travel in a pair
Brake(-holder) block elastic connection one end is to open the wedge block (924) of a pair of of brake(-holder) block；
The annular solid is fixed on by supporting block (925) on waist rotation member；Supporting block is equipped with swivel pin；The pair of braking
Piece includes the second brake(-holder) block positioned at first brake(-holder) block in left side and positioned at right side, the left end of the first brake(-holder) block and the second brake(-holder) block
Left end be hinged on swivel pin, 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)
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 the second fore-set, the first fore-set and
Second fore-set is 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 system
The equal semicircular in shape of movable plate, 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 be correspondingly inserted into
In first positioning hole and second location hole；
The annular solid, which is equipped with, erects block (928), erects block and is equipped with the second adjustable spring (9281), the second adjustable spring
Block, the other end connection solution lock slide of the second adjustable spring are erect in one end connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610841207.0A CN106361439B (en) | 2016-09-21 | 2016-09-21 | A kind of operating robot equipped with tool changing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610841207.0A CN106361439B (en) | 2016-09-21 | 2016-09-21 | A kind of operating robot equipped with tool changing device |
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| Publication Number | Publication Date |
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| CN106361439A CN106361439A (en) | 2017-02-01 |
| CN106361439B true CN106361439B (en) | 2018-10-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610841207.0A Active CN106361439B (en) | 2016-09-21 | 2016-09-21 | A kind of operating robot equipped with tool changing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113118611B (en) * | 2021-03-03 | 2022-05-31 | 邢台职业技术学院 | Wear-resistant and high-temperature-resistant friction stir welding device and working method thereof |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9002518B2 (en) * | 2003-06-30 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
| AU2012332099A1 (en) * | 2011-11-04 | 2014-05-15 | The Johns Hopkins University | Steady hand micromanipulation robot |
| CN105881524B (en) * | 2016-05-28 | 2018-01-12 | 台州风达机器人科技有限公司 | A kind of forearm is provided with the robot that the fixed anglec of rotation performs end |
| CN105922250B (en) * | 2016-05-28 | 2018-08-14 | 郭河平 | A kind of robot for being equipped with rotation and executing end |
| CN105922251B (en) * | 2016-05-28 | 2017-12-22 | 徐州市柯瑞斯电机制造有限公司 | A kind of forearm is provided with the six-joint robot of mechanical arm assembly |
| CN105922281B (en) * | 2016-05-28 | 2017-12-22 | 徐州市柯瑞斯电机制造有限公司 | A kind of mechanical arm assembly of light-duty six axles all-purpose robot |
| CN105904450B (en) * | 2016-05-28 | 2017-12-05 | 深圳市华东兴科技有限公司 | A kind of pcb board transfer robot provided with rotating machine arm |
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