CN107320194B - Stop device with redundant design - Google Patents
Stop device with redundant design Download PDFInfo
- Publication number
- CN107320194B CN107320194B CN201710646127.4A CN201710646127A CN107320194B CN 107320194 B CN107320194 B CN 107320194B CN 201710646127 A CN201710646127 A CN 201710646127A CN 107320194 B CN107320194 B CN 107320194B
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- Prior art keywords
- supporting part
- buffer
- vertical guide
- guide rail
- supporting
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Mechanical Engineering (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Vibration Dampers (AREA)
Abstract
The invention discloses a limiting device with a redundant design, which is characterized by comprising a first supporting part fixedly arranged on the outer wall of an upright post, wherein one side of the first supporting part is provided with a buffer device for absorbing impact force; the first supporting part is connected with the second supporting part through a second connecting part. The invention can control the mechanical arm to move in the limit stroke, and has good safety and stability.
Description
Technical Field
The invention relates to a limiting device with a redundant design, and belongs to the technical field of medical instruments.
Background
The operating personnel of the operating table trolley need to work in a sterile environment to help the main operating table physician complete instrument and endoscope replacement and other work required by the operation. To ensure patient safety, the actions of the operating table operator are prioritized over the actions of the main operating table physician. The operation trolley operator helps doctors to complete various complex operations in the surgical operation through the operation trolley, and can effectively reduce the operation risk of patients and shorten the operation time. Thus, the surgical trolley needs to have sufficient flexibility, rigidity and strength to meet the delicate operating requirements of the physician. Because the mechanical arm drives the surgical instrument to complete the operation, the driving capability of the mechanical arm is required to be higher in the surgical process, and multi-angle action of the mechanical arm in a limit stroke is required. However, in the prior art, the mechanical arm collides in the moving process to generate impact, so that the limiting device is easy to lose efficacy, the overall safety and stability of the operation trolley are reduced, and the operation quality is reduced.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a spacing device with a redundant design, which can control the movement of a mechanical arm within a limit stroke, and has good safety and stability.
In order to achieve the purpose, the invention adopts the following technical scheme: a limiting device with a redundant design is characterized by comprising a first supporting part fixedly arranged on the outer wall of an upright post, wherein one side of the first supporting part is provided with a buffer device for absorbing impact force, the buffer device comprises a second supporting part arranged on one side of the first supporting part, the second supporting part is connected with the first supporting part through a first connecting part, one side of the second supporting part is fixedly provided with a third supporting part, and one side of the third supporting part is provided with a buffer part for absorbing the impact force; the first supporting part is connected with the second supporting part through a second connecting part.
The first connecting part is a pin shaft or an end head.
When the first connecting portion is the end, the beginning of end is fixed to be set up on the second supporting part, the end of end is worn out first supporting part.
The number of the second connecting parts is two, and the two second connecting parts are arranged on two sides of the first connecting part at intervals.
And the two second connecting parts are screws, and the two screws respectively penetrate through threaded holes formed in the first supporting part.
The buffer part is connected to one side of the third support part through a screw.
The buffer part is arranged to be a buffer pad, and the buffer pad is made of silicon rubber.
Be provided with on the outer wall of stand to the guide rail immediately slide on the guide rail and be provided with the slider fixedly on the slider be provided with the base that is used for installing the arm, buffer portion connects the third supporting part orientation one side of base.
When the vertical guide rail is a plurality of, it is a plurality of vertical guide rail interval arrangement is in on the outer wall all around the stand, each vertical guide rail all with the outer wall fixed connection of stand one side.
And cantilever beams are respectively arranged at the top and the bottom of the base, and are in contact with the buffer part when the base is positioned at the limit stroke of the vertical guide rail.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the invention is provided with the first connecting part, so that the first supporting part and the second supporting part can be quickly connected together, the buffer device can be prevented from loosening from the first connecting part under the collision working condition, and the buffer device can be prevented from being separated from the first supporting part due to the action of gravity.
2. The two second connecting parts are arranged, so that the first supporting part and the second supporting part are further fastened, the stability of the limiting device can be ensured under the condition that the first connecting part fails, and the safety of the limiting device is further improved.
3. The buffer part is arranged to be a buffer pad, the buffer pad is made of silicon rubber, and the buffer pad has certain hardness, so that partial impact generated when the base collides with the corresponding buffer pad can be absorbed, and the safety and the stability of the invention are further improved.
4. The number of the vertical guide rails can be one or more, the mechanical arm can realize the installation and combination of one arm to four arms and different positions, the invention has good flexibility and can meet the working environment required by the operation.
5. The limiting device can be widely applied to the working conditions that the limiting is needed and the collision impact force needs to be buffered, and has the advantages of simple structure and convenient use.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the following briefly introduces the drawings required in the description of the embodiments:
fig. 1 is a schematic structural view of the present invention.
Detailed Description
The following detailed description will be given with reference to the accompanying drawings and examples to explain how to apply the technical means to solve the technical problems and to achieve the technical effects. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention. The directional terms used in the present invention, such as "upper", "lower", "inner", "outer", etc., are used solely in conjunction with the attached drawings. Accordingly, the directional terms used are used for explanation and understanding of the present invention, and are not used for limiting the present invention.
As shown in fig. 1, the limiting device with a redundant design according to the present invention includes a first supporting portion 2 fixedly disposed on an outer wall of a vertical column 1, and a buffering device 3 for absorbing an impact force is disposed at one side of the first supporting portion 2. The buffer device 3 includes a second support portion 31 provided at one side of the first support portion 2, and the second support portion 31 is connected to the first support portion 2 by a first connection portion 32. A third support part 33 is fixedly provided at one side of the second support part 31, a buffer part 34 for absorbing impact force is provided at one side of the third support part 33, and the first support part 2 and the second support part 31 are connected by a second connecting part.
In the above embodiments, the first connecting portion 32 is a pin or a head. Not only can prevent that buffer 3 from taking off with the pine of first supporting part 2 under the operating mode of collision, can prevent buffer 3 moreover because of the effect of gravity and the separation of first supporting part 2.
In the above embodiment, when the first connecting portion 32 is a tip, the start end of the tip 32 is fixedly disposed on the second supporting portion 31, and the end of the tip 32 penetrates through the first supporting portion 2.
In the above embodiment, the tip 32 is provided in a cylindrical shape.
In the above embodiments, the number of the second connection portions is one or more, and the second connection portions may be designed according to actual needs.
In the above embodiment, when the number of the second connection portions is two, the two second connection portions are disposed at intervals on both sides of the first connection portion 32.
In the above embodiment, the two second connecting portions are screws, and the two screws respectively pass through the threaded holes 21 formed in the first supporting portion 2.
In the above embodiment, the buffer part 34 is connected to one side of the third support part 33 by a screw, and the structure is simple and the use is convenient.
In the above embodiment, the buffer portion 34 is provided as a cushion pad, and the cushion pad 34 is made of silicon rubber. The cushion pad 34 has a certain hardness and can absorb a part of the impact.
In the above embodiment, the vertical guide rail is provided on the outer wall of the column 1, the slider 4 is slidably provided on the vertical guide rail, the base 5 for mounting the robot arm is fixedly provided on the slider 4, and the buffer portion 34 is connected to the side of the third support portion 33 facing the base 5.
In the above embodiment, when the number of the vertical guide rails is multiple, the multiple vertical guide rails are arranged on the peripheral outer wall of the upright post 1 at intervals, and each vertical guide rail is fixedly connected with the outer wall of one side of the upright post 1.
In the above embodiment, the cantilever beams 6 are provided on the top and bottom of the base 5, respectively, and when the base 5 is positioned at the limit stroke of the vertical guide rail, the cantilever beams 6 collide with and contact the buffer portions 34. When the cantilever beam 6 collides with the buffer portion 34, the generated impact is transmitted to the buffer portion 34 through the cantilever beam 6.
When the mechanical arm is used, the mechanical arm is fixedly arranged at the top and the bottom of the upright post 1, so that the mechanical arm can move in the limit stroke of the upright post 1. When the cantilever beam 6 collides with the buffer portion 34 when the base 5 moves to the limit stroke, the generated impact is transmitted to the buffer portion 34 through the cantilever beam 6, and the buffer portion 34 can absorb part of the impact. Meanwhile, under the combined action of the first connecting part 32 and the second connecting part, the stability and the safety of the limiting device can be ensured. Even if the first connecting part 32 or the second connecting part fails, the stability and safety of the limiting device can be ensured.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (1)
1. A limiting device with a redundant design is characterized by comprising a first supporting part fixedly arranged on the outer wall of an upright post, wherein one side of the first supporting part is provided with a buffer device for absorbing impact force, the buffer device comprises a second supporting part arranged on one side of the first supporting part, the second supporting part is connected with the first supporting part through a first connecting part, one side of the second supporting part is fixedly provided with a third supporting part, and one side of the third supporting part is provided with a buffer part for absorbing the impact force; the first supporting part and the second supporting part are connected through a second connecting part;
the first connecting part is a pin shaft or an end head; when the first connecting part is an end head, the starting end of the end head is fixedly arranged on the second supporting part, and the tail end of the end head penetrates out of the first supporting part;
the number of the second connecting parts is two, and the two second connecting parts are arranged at two sides of the first connecting part at intervals;
the two second connecting parts are screws, and the two screws respectively penetrate through threaded holes formed in the first supporting part;
the buffer part is connected to one side of the third support part through a screw;
the buffer part is a buffer pad made of silicon rubber;
a vertical guide rail is arranged on the outer wall of the upright column, a sliding block is arranged on the vertical guide rail in a sliding manner, a base used for mounting a mechanical arm is fixedly arranged on the sliding block, and the buffer part is connected to one side, facing the base, of the third supporting part;
when a plurality of vertical guide rails are arranged, the vertical guide rails are arranged on the outer wall of the periphery of the upright post at intervals, and each vertical guide rail is fixedly connected with the outer wall of one side of the upright post;
and the top and the bottom of the base are respectively provided with a cantilever beam, and when the base is positioned at the limit stroke of the vertical guide rail, the cantilever beams are in contact with the buffer part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710646127.4A CN107320194B (en) | 2017-07-31 | 2017-07-31 | Stop device with redundant design |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710646127.4A CN107320194B (en) | 2017-07-31 | 2017-07-31 | Stop device with redundant design |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107320194A CN107320194A (en) | 2017-11-07 |
| CN107320194B true CN107320194B (en) | 2023-04-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710646127.4A Active CN107320194B (en) | 2017-07-31 | 2017-07-31 | Stop device with redundant design |
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| Country | Link |
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| CN (1) | CN107320194B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0679660A (en) * | 1992-09-03 | 1994-03-22 | Matsushita Electric Ind Co Ltd | Robot |
| CN103846928A (en) * | 2012-11-29 | 2014-06-11 | 许俊荣 | Limit and slide mechanism |
| CN203911648U (en) * | 2014-04-29 | 2014-10-29 | 上海宇航***工程研究所 | Redundancy position-restricted damping system |
| CN205272028U (en) * | 2015-11-12 | 2016-06-01 | 李有明 | Collateral branch props formula single armed manipulator |
| CN106001640A (en) * | 2016-05-13 | 2016-10-12 | 韩永亮 | Mechanical arm stroke limiting device for automatic lathe |
| CN106737562A (en) * | 2016-11-25 | 2017-05-31 | 南陵县襄荷产业协会 | A kind of mechanical arm with anticollision mechanism |
| CN207870970U (en) * | 2017-07-31 | 2018-09-18 | 成都中科博恩思医学机器人有限公司 | A kind of limiting device with Redundancy Design |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE69940850D1 (en) * | 1998-08-04 | 2009-06-18 | Intuitive Surgical Inc | Articular device for positioning a manipulator for robotic surgery |
-
2017
- 2017-07-31 CN CN201710646127.4A patent/CN107320194B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0679660A (en) * | 1992-09-03 | 1994-03-22 | Matsushita Electric Ind Co Ltd | Robot |
| CN103846928A (en) * | 2012-11-29 | 2014-06-11 | 许俊荣 | Limit and slide mechanism |
| CN203911648U (en) * | 2014-04-29 | 2014-10-29 | 上海宇航***工程研究所 | Redundancy position-restricted damping system |
| CN205272028U (en) * | 2015-11-12 | 2016-06-01 | 李有明 | Collateral branch props formula single armed manipulator |
| CN106001640A (en) * | 2016-05-13 | 2016-10-12 | 韩永亮 | Mechanical arm stroke limiting device for automatic lathe |
| CN106737562A (en) * | 2016-11-25 | 2017-05-31 | 南陵县襄荷产业协会 | A kind of mechanical arm with anticollision mechanism |
| CN207870970U (en) * | 2017-07-31 | 2018-09-18 | 成都中科博恩思医学机器人有限公司 | A kind of limiting device with Redundancy Design |
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| Publication number | Publication date |
|---|---|
| CN107320194A (en) | 2017-11-07 |
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| CB02 | Change of applicant information |
Address after: 610041 1 / F, building 7, zone B, Tianfu Software Park, high tech Zone, Chengdu, Sichuan Applicant after: CHENGDU BORNS MEDICAL ROBOTICS Inc. Address before: 610041 1 / F, building 7, zone B, Tianfu Software Park, high tech Zone, Chengdu, Sichuan Applicant before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
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| GR01 | Patent grant |