CN112057119B - End effector - Google Patents
End effector Download PDFInfo
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- CN112057119B CN112057119B CN202010957667.6A CN202010957667A CN112057119B CN 112057119 B CN112057119 B CN 112057119B CN 202010957667 A CN202010957667 A CN 202010957667A CN 112057119 B CN112057119 B CN 112057119B
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- positioning
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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
-
- 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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention provides an end effector, which relates to the technical field of surgical instruments and comprises an effector shell, a positioning sleeve main body and a clamping ring assembly, wherein the effector shell is provided with a through hole penetrating through the effector shell; the positioning sleeve comprises a positioning sleeve body and a clamping ring assembly, wherein the positioning sleeve body and the clamping ring assembly are arranged in a through hole, a plurality of positioning holes are formed in the circumferential direction of the positioning sleeve body, and positioning parts extending into the positioning sleeve body are arranged in the positioning holes. The invention provides an end effector, wherein an operation part is arranged in an effector shell, and when the operation part is arranged in the effector shell, the operation part penetrates through a positioning sleeve main body; when the axial movement of the operation component along the through hole needs to be limited, the positioning piece is inserted into the positioning sleeve main body and the annular groove of the operation component under the action of the pressing annular groove of the clamping ring main body, so that the axial movement of the operation component can be limited, and the rotation of the operation component is not influenced.
Description
Technical Field
The invention relates to the technical field of surgical instruments, in particular to an end effector.
Background
The end effector is at the extreme end of the robot, and after the end effector is mounted with a working component, the working component can be operated to perform work.
Disclosure of Invention
The invention aims to provide an end effector to solve the technical problems that the existing end effector is complex in structure and is not easy to replace operation parts.
The invention provides an end effector, which comprises an effector shell, a positioning sleeve main body and a snap ring assembly, wherein the effector shell is provided with a through hole penetrating through the effector shell;
the positioning sleeve main body and the clamping ring assembly are arranged in the through hole, a plurality of positioning holes are formed in the circumferential direction of the positioning sleeve main body, positioning pieces extending into the positioning sleeve main body are arranged in the positioning holes, and the positioning pieces can be inserted into annular grooves of the operation parts to limit the axial movement of the operation parts along the through hole;
the snap ring subassembly has the annular of exerting pressure, the annular of exerting pressure can overlap and establish outside the positioning sleeve main part, makes the setting element can stretch into in the positioning sleeve main part.
Further, the through hole comprises a primary through hole and a secondary through hole which are communicated in sequence, and the inner diameter of the primary through hole is larger than that of the secondary through hole;
the positioning sleeve main body comprises a front positioning sleeve, a limiting sleeve and a rear positioning sleeve which are sequentially connected, the front positioning sleeve can be inserted into the secondary perforation, and the limiting sleeve is clamped at a step formed by the primary perforation and the secondary perforation; the rear positioning sleeve is positioned in the first-stage perforation;
the positioning holes are formed in the circumferential direction of the rear positioning sleeve; the snap ring assembly is arranged in the first-level through hole, and the snap ring assembly is adjacent to the rear positioning sleeve.
Further, the snap ring subassembly is including the snap ring main part and the snap ring handle that connect gradually, being close to of snap ring main part back position sleeve's one end is provided with apply pressure the annular, the internal diameter of the annular of applying pressure diminishes from preceding position sleeve to back position sleeve's direction gradually.
Further, the outer diameter of the pressing ring groove is larger than that of the rest part of the clamp ring main body, and the pressing ring groove enables the clamp ring main body to form a shaft shoulder;
a sealing flange is screwed at one end of the primary through hole, which is far away from the secondary through hole, and the sealing flange is sleeved on the clamping ring main body;
and the shaft shoulder and the part of the clamping ring main body between the sealing flanges are sleeved with a pressure applying spring, and the pressure applying spring applies pressure to the shaft shoulder under the action of the sealing flanges.
Further, the snap ring main part keep away from the intra-annular of the one end of exerting pressure annular is provided with the screw thread, the snap ring handle can be followed keep away from exert pressure annular the one end of snap ring main part stretch into the intra-annular of snap ring main part and with snap ring main part spiro union.
Further, still include the swivel sleeve main part, the swivel sleeve main part sets up in the second grade perforation, just the swivel sleeve main part with the fenestrate coaxial setting of second grade, just the both ends of swivel sleeve main part all are provided with the bearing.
Further, the device also comprises a cone sleeve, wherein the cone sleeve is in threaded connection with one end of the actuator shell, and a hole in the cone sleeve is communicated with the secondary through hole.
Furthermore, the inner holes of the conical sleeve are arranged in a gradient mode, and the diameters of the holes in the conical sleeve are sequentially increased from one end connected with the actuator shell to the other end.
Furthermore, the positioning piece comprises a telescopic part and a reset part, the reset part is connected with one end of the telescopic part, and the other end of the telescopic part is inserted into the positioning hole;
the telescopic part is sleeved with a return spring, the return spring is in contact with the return part, and the return part is enabled to have a trend of moving away from the rear positioning sleeve.
Furthermore, a limiting groove is formed in the positioning sleeve body along the circumferential direction of the positioning hole, and the lower end of the reset spring is located in the limiting groove.
The invention provides an end effector, wherein an operation part is arranged in an effector shell, and when the operation part is arranged in the effector shell, the operation part penetrates through a positioning sleeve main body; when the axial movement of the operation part along the through hole needs to be limited, under the action of the pressure applying ring groove of the clamping ring main body, the positioning piece is inserted into the positioning sleeve main body and inserted into the ring groove of the operation part, the axial movement of the operation part can be limited at the moment, the rotation of the operation part is not influenced, the clamping ring assembly is pushed when the operation part is fixed and only needs to be installed, the pressure applying ring groove is sleeved outside the positioning sleeve main body, the positioning piece is pressed into the positioning hole, the fixing of the operation part is completed, the structure of the end effector is simpler, and the difficulty in replacing the operation part is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an end effector provided in an embodiment of the present invention, on which a working component is mounted;
FIG. 2 is a cross-sectional view A-A of the end effector of FIG. 1 with the working elements mounted thereto;
FIG. 3 is a partial enlarged view B of the schematic structural view of the end effector shown in FIG. 2;
FIG. 4 is a mechanical schematic diagram of a working member used in conjunction with the end effector of FIG. 1;
FIG. 5 is a schematic view of the internal structure of the end effector shown in FIG. 1;
fig. 6 is a schematic view of the internal structure of the actuator housing shown in fig. 1.
Icon: 100-an actuator housing; 200-a work component; 201-an annular groove; 300-positioning the sleeve body; 301-front positioning sleeve; 302-a limit sleeve; 303-rear positioning sleeve; 400-a pressure spring; 500-a positioning element; 501-a telescopic part; 502-a reset portion; 600-a limit groove; 700-a return spring; 800-positioning holes; 900-rotating sleeve body; 901-a bearing; 110-a snap ring assembly; 111-a snap ring body; 1111-a pressure applying ring groove; 112-snap ring handle; 120-sealing flange; 130-cone sleeve; 140-a through-hole; 141-primary perforation; 142-secondary perforation.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 6, the present invention provides an end effector, which includes an effector housing 100, a positioning sleeve body 300, and a snap ring assembly 110, wherein the effector housing 100 is provided with a through hole 140 penetrating through the effector housing 100;
the positioning sleeve main body 300 and the snap ring assembly 110 are arranged in the through hole 140, a plurality of positioning holes 800 are arranged in the circumferential direction of the positioning sleeve main body 300, and a positioning piece 500 extending into the positioning sleeve main body 300 is arranged in each positioning hole 800; the positioning member 500 can be inserted into the annular groove 201 of the working component 200 to limit the axial movement of the working component 200 along the through hole 140;
the snap ring assembly 110 has a pressure applying ring groove 1111, the pressure applying ring groove 1111 can be sleeved outside the positioning sleeve body 300, so that the positioning member 500 can extend into the positioning sleeve body 300.
In some embodiments, the end effector housing 100 may also include other features, such as a mounting portion for mounting with an end effector, typically by which the end effector is mounted to a robot, typically an arm of the robot.
In some embodiments, the actuator housing 100 penetrates through the through hole 140, the operation component 200 can be installed in the through hole 140, the positioning sleeve body 300 is disposed in the through hole 140, the positioning sleeve body 300 is sleeved on the operation component 200, when the annular groove 201 on the operation component 200 is located at the positioning sleeve body 300, the snap ring assembly 110 is moved towards the positioning sleeve body 300, the pressing annular groove 1111 gradually contacts the positioning member 500, the lower end of the positioning member 500 is firmly inserted into the annular groove 201, and the lower end of the positioning member 500 cannot be moved out of the annular groove 201 due to the limitation of the pressing annular groove 1111 at the upper end of the positioning member 500, so that the operation component 200 is firmly positioned in the positioning sleeve body 300, and cannot move along the axial direction of the through hole 140, and the fixing does not affect the rotation of the operation component 200.
As shown in fig. 5 and fig. 6, based on the above embodiment, further, the penetrating hole 140 includes a primary perforation 141 and a secondary perforation 142 which are sequentially communicated, and an inner diameter of the primary perforation 141 is larger than an inner diameter of the secondary perforation 142;
the positioning sleeve body 300 comprises a front positioning sleeve 301, a limiting sleeve 302 and a rear positioning sleeve 303 which are sequentially connected, the front positioning sleeve 301 can be inserted into the secondary perforation 142, and the limiting sleeve 302 is clamped at a step formed by the primary perforation 141 and the secondary perforation 142; the rear positioning sleeve 303 is positioned in the primary through hole 141;
the positioning holes 800 are formed in the circumferential direction of the rear positioning sleeve 303; the snap ring assembly 110 is disposed in the first-stage through hole 141, and the snap ring assembly 110 is disposed adjacent to the rear positioning sleeve 303.
The inner diameter of the first-stage perforation 141 of the through hole 140 is larger than the inner diameter of the second-stage perforation 142, so that a step is formed at the joint of the first-stage perforation 141 and the second-stage perforation 142, when the positioning sleeve main body 300 is installed in the through hole 140, the front positioning sleeve 301 of the positioning sleeve main body 300 firstly enters the first-stage perforation 141 of the through hole 140 and enters the second-stage perforation 142, the limiting sleeve 302 on the positioning sleeve main body 300 is clamped at the step, the positioning sleeve main body 300 is installed in place, and at the moment, the rear positioning sleeve 303 of the positioning sleeve main body 300 is located in the.
Based on the above embodiment, further, the snap ring assembly 110 includes a snap ring main body 111 and a snap ring handle 112 which are connected in sequence, the pressure applying ring groove 1111 is disposed at one end of the snap ring main body 111 close to the rear positioning sleeve 303, and the inner diameter of the pressure applying ring groove 1111 is gradually reduced from the front positioning sleeve 301 to the rear positioning sleeve 303.
The clamping-replacing body of the clamping ring assembly 110 is provided with the pressure applying ring groove 1111, because the inner diameter of the pressure applying ring groove 1111 is gradually reduced, when the clamping ring assembly 110 moves towards the positioning sleeve body 300, the inner diameter of the part of the pressure applying ring groove 1111, which is firstly larger than that of the positioning element 500, is gradually reduced along with the gradual movement of the pressure applying ring groove 1111, so that the pressure applying ring groove 1111 gradually applies pressure to the positioning element 500, the positioning element 500 is gradually extended into the positioning hole 800 until the pressure applying ring groove 1111 covers a plurality of positioning elements 500, and at this time, the lower end of the positioning element 500 is inserted into the ring groove 201 of the operation component 200; the pressing ring groove 1111 is always sleeved outside the positioning member 500, so that the lower end of the positioning member 500 is always inserted into the ring groove 201 of the operation member 200, and the operation member 200 is restricted from moving in the axial direction of the through hole 140 without affecting the rotation of the operation member 200.
Based on the above embodiment, as shown in fig. 3, further, the outer diameter of the pressing ring groove 1111 is larger than that of the rest of the snap ring main body 111, and the pressing ring groove 1111 forms a shoulder of the snap ring main body 111;
a sealing flange 120 is screwed at one end of the primary through hole 141, which is far away from the secondary through hole 142, and the sealing flange 120 is sleeved on the clamp ring main body 111;
and the part of the clamp ring main body 111 between the shaft shoulder and the sealing flange 120 is sleeved with a pressure spring 400, and the pressure spring 400 applies pressure to the shaft shoulder under the action of the sealing flange 120.
In some embodiments, in order to make the pressing ring groove 1111 always sleeve the positioning member 500, the pressing spring 400 is disposed on the snap ring main body 111, when the sealing flange 120 is screwed to the stone at the first-stage perforation 141, the pressing spring 400 is in a compressed state, the pressing spring 400 can make the snap ring main body 111 have a tendency to move towards the positioning sleeve main body 300, and make the positioning sleeve main body 300 have a tendency to move towards the second-stage perforation 142, the limiting tower cylinder of the positioning cylinder main body is clamped at the step, so as to ensure that the positioning sleeve main body 300 cannot move towards the second-stage perforation 142, so that the rotating ring groove is always sleeve the positioning member 500, and ensure that the positioning member 500 cannot move out of the ring groove 201 of the operation member 200, and the operation member 200 cannot.
Based on the above embodiment, further, a thread is provided in the ring of the end of the snap ring main body 111 far away from the pressing ring groove 1111, and the snap ring handle 112 can extend into the ring of the snap ring main body 111 from the end of the snap ring main body 111 far away from the pressing ring groove 1111 and is screwed with the snap ring main body 111.
In order to facilitate the movement of the snap ring assembly 110, the snap ring assembly 110 comprises a snap ring handle 112, and the snap ring handle 112 is also provided with a hole, so that the installation of the working component 200 is not influenced; when the clamping ring handle 112 is installed, the clamping ring handle 112 is separated from the clamping ring main body 111, and after the sealing flange 120 is sleeved on the clamping ring main body 111, the clamping ring handle 112 is installed; this facilitates handling of the snap ring assembly 110 without affecting the mounting of the sealing flange 120.
Based on the above embodiment, further, the rotating sleeve further includes a rotating sleeve main body 900, the rotating sleeve main body 900 is disposed in the second-stage through hole 142, the rotating sleeve main body 900 and the second-stage through hole 142 are coaxially disposed, and bearings 901 are disposed at two ends of the rotating sleeve main body 900.
In order to make the operation component 200 rotate smoothly in the actuator casing 100, a rotary sleeve main body 900 is arranged in the secondary through hole 142, the rotary sleeve main body 900 is made of beryllium copper, and a rod-shaped part of the operation component 200 is positioned in the rotary sleeve main body 900; in order to reduce friction between the working member 200 and the rotary sleeve main body 900, bearings 901 are provided at both ends of the rotary sleeve main body 900, and the bearings 901 are fitted over the working member 200.
Based on the above embodiment, further, a cone sleeve 130 is further included, the cone sleeve 130 is screwed with one end of the actuator casing 100, and the hole in the cone sleeve 130 is communicated with the secondary through hole 142.
Further, the bores in the cone sleeve 130 are arranged in a gradient, and the diameters of the bores in the cone sleeve 130 increase sequentially from one end connected to the actuator housing 100 to the other end.
The cone sleeve 130 facilitates installation of the swivel sleeve body 900 within the actuator housing 100 by separating the cone sleeve 130 from the actuator housing 100, inserting the swivel sleeve body 900 into the secondary bore 142, and then threading the cone sleeve 130 onto the actuator body.
The taper sleeve 130 also provides for connection of the end effector to other components, typically with an inner diameter of the bore in the taper sleeve 130 corresponding to a working component 200, thereby increasing versatility.
Further, the positioning member 500 includes a telescopic portion 501 and a reset portion 502, the reset portion 502 is connected to one end of the telescopic portion 501, and the other end of the telescopic portion 501 is inserted into the positioning hole 800;
a return spring 700 is sleeved outside the telescopic part 501, and the return spring 700 contacts the return part 502 and makes the return part 502 have a tendency to move away from the rear positioning sleeve 303.
The contact surface of the reset part 502 of the positioning element 500 and the pressing ring groove 1111 is an arc-shaped surface, and the arc-shaped surface can play a role in guiding, so that the pressing ring groove 1111 is sleeved on the positioning sleeve main body 300 with the positioning element 500.
The surface of the expansion part 501 contacting the annular groove 201 of the working member 200 is also an arc surface, so that the friction force of the positioning member 500 sliding relative to the working member 200 can be reduced.
Further, a limiting groove 600 is formed in the positioning sleeve body 300 along the circumferential direction of the positioning hole 800, and the lower end of the return spring 700 is located in the limiting groove 600.
In order to prevent the return spring 700 from shaking when the positioning member 500 is reset, the return spring 700 is disposed in the stopper groove 600, and the groove of the stopper groove 600 is lowered on a plane, thereby providing a stable support to the return spring 700.
The invention provides an end effector, wherein an operation part 200 is arranged in an actuator shell 100, and when the operation part 200 is arranged in the actuator shell 100, the operation part 200 passes through a positioning sleeve main body 300; when the axial movement of the working component 200 along the through hole 140 needs to be limited, the positioning element 500 is inserted into the positioning sleeve body 300 and into the annular groove 201 of the working component 200 under the action of the pressing annular groove 1111 of the clamping ring body 111, the axial movement of the working component 200 can be limited at this time, the rotation of the working component 200 is not influenced, the clamping ring assembly 110 is pushed only when the mounting is needed during the fixing, the pressing annular groove 1111 is sleeved outside the positioning sleeve body 300, the positioning element 500 is pressed into the positioning hole 800, the fixing of the working component 200 is completed, the structure of the end effector is simpler, and the difficulty in replacing the working component 200 is reduced.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. An end effector is characterized by comprising an effector shell, a positioning sleeve main body and a clamping ring assembly, wherein the effector shell is provided with a through hole penetrating through the effector shell;
the positioning sleeve main body and the clamping ring assembly are arranged in the through hole, a plurality of positioning holes are formed in the circumferential direction of the positioning sleeve main body, positioning pieces extending into the positioning sleeve main body are arranged in the positioning holes, and the positioning pieces can be inserted into annular grooves of the operation parts to limit the axial movement of the operation parts along the through hole;
the clamping ring assembly is provided with a pressure applying ring groove, and the pressure applying ring groove can be sleeved outside the positioning sleeve main body so that the positioning piece can extend into the positioning sleeve main body;
the through hole comprises a primary through hole and a secondary through hole which are communicated in sequence, and the inner diameter of the primary through hole is larger than that of the secondary through hole;
the positioning sleeve main body comprises a front positioning sleeve, a limiting sleeve and a rear positioning sleeve which are sequentially connected, the front positioning sleeve can be inserted into the secondary perforation, and the limiting sleeve is clamped at a step formed by the primary perforation and the secondary perforation; the rear positioning sleeve is positioned in the first-stage perforation;
the positioning holes are formed in the circumferential direction of the rear positioning sleeve; the snap ring assembly is arranged in the primary through hole and is arranged adjacent to the rear positioning sleeve;
the positioning piece comprises a telescopic part and a reset part, the reset part is connected with one end of the telescopic part, and the other end of the telescopic part is inserted into the positioning hole;
a return spring is sleeved outside the telescopic part and is in contact with the return part, and the return part has a tendency of moving away from the rear positioning sleeve;
and a limiting groove is formed in the positioning sleeve body along the circumferential direction of the positioning hole, and the lower end of the reset spring is positioned in the limiting groove.
2. The end effector as claimed in claim 1, wherein the snap ring assembly includes a snap ring body and a snap ring catch connected in series, one end of the snap ring body adjacent to the rear retainer sleeve is provided with the pressure applying ring groove, and an inner diameter of the pressure applying ring groove is gradually reduced from the front retainer sleeve to the rear retainer sleeve.
3. The end effector as claimed in claim 2, wherein an outer diameter of the pressing ring groove is larger than an outer diameter of the remaining portion of the snap ring body, the pressing ring groove forming the snap ring body into a shoulder;
a sealing flange is screwed at one end of the primary through hole, which is far away from the secondary through hole, the sealing flange is sleeved on the snap ring main body,
and the shaft shoulder and the part of the clamping ring main body between the sealing flanges are sleeved with a pressure applying spring, and the pressure applying spring applies pressure to the shaft shoulder under the action of the sealing flanges.
4. The end effector as claimed in claim 2, wherein a thread is provided in a ring of an end of the snap ring body remote from the pressure applying ring groove, and the snap ring handle is capable of protruding into the ring of the snap ring body from the end of the snap ring body remote from the pressure applying ring groove and is screw-coupled with the snap ring body.
5. The end effector as claimed in claim 4, further comprising a rotary sleeve body disposed within the secondary bore coaxially disposed with the secondary bore and provided with bearings at both ends thereof.
6. The end effector as claimed in claim 5, further comprising a cone sleeve threadably engaged with one end of the effector housing, and wherein a bore within the cone sleeve communicates with the secondary bore.
7. The end effector as claimed in claim 6, wherein the bore in the tapered sleeve is arranged in a gradient and the diameter of the bore in the tapered sleeve increases in order from end to end of connection with the effector housing.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010957667.6A CN112057119B (en) | 2020-09-11 | 2020-09-11 | End effector |
| PCT/CN2020/124402 WO2022052237A1 (en) | 2020-09-11 | 2020-10-28 | End effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010957667.6A CN112057119B (en) | 2020-09-11 | 2020-09-11 | End effector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112057119A CN112057119A (en) | 2020-12-11 |
| CN112057119B true CN112057119B (en) | 2021-05-18 |
Family
ID=73695420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010957667.6A Active CN112057119B (en) | 2020-09-11 | 2020-09-11 | End effector |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112057119B (en) |
| WO (1) | WO2022052237A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113598956B (en) * | 2021-09-30 | 2021-12-10 | 杭州键嘉机器人有限公司 | Orthopedic surgery robot tail end execution device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6129392A (en) * | 1995-04-13 | 2000-10-10 | Karl Storz Gmbh & Co. Kg | Coupler for tubular-shaft instruments |
| CN102665591A (en) * | 2009-10-01 | 2012-09-12 | 马科外科公司 | Tool, kit-of-parts for multi-functional tool, and robotic system for same |
| CN109646113A (en) * | 2019-01-30 | 2019-04-19 | 杭州键嘉机器人有限公司 | Match the end effector mechanism of joint replacement surgery robot |
| CN109806003A (en) * | 2019-01-30 | 2019-05-28 | 杭州键嘉机器人有限公司 | Execute bar, operating robot and robot localization method using the execution bar |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3100512C2 (en) * | 1981-01-10 | 1984-07-12 | Gustav Neuhäuser oHG Präzisionswerkzeugfabrik, 7130 Mühlacker | Quick change chuck |
| CN109771036B (en) * | 2019-03-15 | 2021-10-29 | 上海电气集团股份有限公司 | End effector device |
| CN110439901A (en) * | 2019-08-30 | 2019-11-12 | 上海理工大学 | A kind of rod piece unilateral locking device |
-
2020
- 2020-09-11 CN CN202010957667.6A patent/CN112057119B/en active Active
- 2020-10-28 WO PCT/CN2020/124402 patent/WO2022052237A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6129392A (en) * | 1995-04-13 | 2000-10-10 | Karl Storz Gmbh & Co. Kg | Coupler for tubular-shaft instruments |
| CN102665591A (en) * | 2009-10-01 | 2012-09-12 | 马科外科公司 | Tool, kit-of-parts for multi-functional tool, and robotic system for same |
| CN109646113A (en) * | 2019-01-30 | 2019-04-19 | 杭州键嘉机器人有限公司 | Match the end effector mechanism of joint replacement surgery robot |
| CN109806003A (en) * | 2019-01-30 | 2019-05-28 | 杭州键嘉机器人有限公司 | Execute bar, operating robot and robot localization method using the execution bar |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022052237A1 (en) | 2022-03-17 |
| CN112057119A (en) | 2020-12-11 |
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| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Room 305 and 306, building 8, No. 181, Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou, Zhejiang 311100 Patentee after: Hangzhou Jianjia Medical Technology Co.,Ltd. Address before: 311100 room 401-1, building 1, 1818-2, Wenyi West Road, Yuhang street, Yuhang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU JIANJIA ROBOT Co.,Ltd. |